Vehicle ramp parking auxiliary control method

Abstract

The invention belongs to the field of vehicle ramp parking, and particularly relates to a vehicle ramp parking auxiliary control method. Comprising a wheel speed sensor signal, a brake pedal force or pedal travel sensor signal, an accelerator pedal sensor signal, a power motor controller signal, a gearbox controller signal and a suspension attitude and vehicle body pitch angle sensor signal. According to the vehicle ramp parking auxiliary control method, the ramp parking auxiliary function is enabled to be activated under the condition that safety conditions are met by arranging the braking system ECU controller, detecting the multiple sensors and accurately judging vehicle state information, the vehicle is effectively prevented from sliding down, meanwhile, clear visual and voice prompts are provided, and the safety of the vehicle is improved. A driver can easily open or close the function and visually know the function state and the opening failure reason, and therefore the safety of ramp parking and the driving convenience are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle ramp parking, and particularly to a vehicle ramp parking assistance control method. Background Technique

[0002] Autonomous parking, especially autonomous valet parking technology, is one of the important developments in the fields of intelligent transportation and autonomous driving in recent years. Autonomous parking, especially autonomous valet parking, means that a vehicle can independently complete the whole process from finding a parking space, parking in the space to picking up the vehicle and leaving without driver intervention. This technology mainly relies on the comprehensive application of technologies such as high-precision positioning, autonomous driving technology, parking lot coordination, and cloud platform.

[0003] Currently, in the prior art, when a passenger vehicle parks on a large-angle slope, there is a situation where all wheels cannot be fully locked by relying on the driver's foot force operation, and the adhesion between the ground and the tires cannot be fully utilized, resulting in the vehicle being unable to safely park on the slope and having a risk of sliding; the prior art mainly applies the AUTOHOLD automatic parking / automatic release function to ramp parking. This function is suitable for conventional ramp parking. When encountering special large parking conditions such as slopes of 30% to 100%, the temporary parking requirements of the vehicle still cannot be met according to the conventional pressure setting. In view of this, we propose a... Summary of the Invention

[0004] The main object of the present invention is to provide a vehicle ramp parking assistance control method, which can solve the problems raised in the above background technique.

[0005] To achieve the above object, a vehicle ramp parking assistance control method proposed by the present invention is characterized by including the following steps:

[0006] S1. The brake system ECU controller obtains vehicle state information, including wheel speed sensor signals, brake pedal force or pedal travel sensor signals, accelerator pedal sensor signals, power motor controller signals, transmission controller signals, suspension attitude and vehicle body pitch angle sensor signals, and judges whether it meets the vehicle ramp parking assistance function activation rule, the vehicle ramp parking assistance function activation rule and the vehicle ramp parking assistance function exit rule based on the vehicle state information. If so, the corresponding function stage is realized. The vehicle ramp parking assistance function activation rule is specifically as follows:

[0007] S2. The driver's side door is closed, the driver is wearing a seat belt, and the vehicle is in D, N or R gear;

[0008] When the above conditions are met simultaneously, the vehicle ramp parking assistance function can be activated;

[0009] The driver operates the software switch of the vehicle ramp parking assist function to turn on or off the function. The instrument vehicle ramp parking assist function icon is constantly on, and there is an instrument prompt that the vehicle ramp parking assist function is turned on. If any of the above conditions are not met, the vehicle instrument controller will inform the user of the reason for the failure to turn on.

[0010] S3. As a further optimization solution, the vehicle ramp parking assist function can turn on or off the brake actuator, body controller, and parking control button through the software switch on the car machine screen.

[0011] The activation rules of the vehicle ramp parking assist function are as follows:

[0012] The driver's side door is closed;

[0013] The driver has fastened the seat belt;

[0014] The whole vehicle is in D, N, or R gear;

[0015] The brake pedal is depressed with a pedal force ≥ A (N) or the brake pedal travel ≥ B (mm), or both conditions are met simultaneously;

[0016] The vehicle speed is reduced to below C km / h;

[0017] The slope where the vehicle is located ≥ D%;

[0018] The accelerator pedal is in the zero position;

[0019] The slope of the ramp where the vehicle is located exceeds the designed safe parking slope of the vehicle;

[0020] When all of the above conditions are met simultaneously, the vehicle ramp parking assist function can be activated;

[0021] When the vehicle ramp parking assist function is activated, the instrument vehicle ramp parking assist function indicator light is constantly on and there is a voice prompt, the brake tail light is lit, and the brake system ECU calculates in real time the required front and rear axle wheel clamping forces for vehicle slope parking and the current braking clamping forces provided by the front and rear brakes, and compares the two. If the braking force provided at the wheel edge is greater than the required clamping force for parking, the current braking force is executed. If the braking force provided at the wheel edge is less than the required clamping force for parking, the brake clamping force is actively increased to the required value to meet the parking requirement;

[0022] S5. When the vehicle stops, it will continuously monitor in real time within a certain period of time for vehicle rollback caused by insufficient braking force provided by the vehicle. If there is rollback, the braking force will be actively increased to the maximum value to meet the temporary parking requirement. After the vehicle stops, the driver needs to keep the brake pedal depressed with the foot to stay stationary;

[0023] S6. When the driver wants to drive the vehicle away, the braking force can be gradually reduced and released by operating the accelerator pedal.

[0024] Preferably, it includes the following devices:

[0025] A brake system ECU controller, which is used to receive information from wheel speed sensors, brake pedal force or pedal travel sensors, etc., and processes these signals through algorithms to achieve precise control of braking force. The ECU controller can adjust the distribution of braking force and braking time according to different driving states and the driver's braking requirements to ensure safe and stable braking of the vehicle under various road conditions;

[0026] A wheel speed sensor, which is a sensor used to measure the rotational speed of the wheel. It detects the rotational movement of the wheel and converts the rotational speed information of the wheel into an electrical signal output. These signals are used in active safety systems such as ABS and ESP to achieve precise monitoring and control of the wheel slip state, thereby preventing wheel lock-up or excessive wheel spin and improving the braking performance and driving stability of the vehicle;

[0027] A brake pedal force or pedal travel sensor, which is used to monitor the force or travel of the driver stepping on the brake pedal. These sensors convert the driver's braking intention into an electrical signal output and transmit it to the brake system ECU controller. The ECU controller judges the driver's braking requirements based on these signals and adjusts the output of the brake system accordingly to achieve precise braking control;

[0028] An accelerator pedal sensor, which is used to detect the depth and speed of the driver stepping on the accelerator pedal. It converts the position information of the accelerator pedal into an electrical signal output and transmits it to the engine control unit. The engine control unit precisely controls the fuel injection and ignition timing of the engine based on these signals and other sensor signals, such as engine speed, intake air volume, etc., to achieve precise adjustment of the engine power output;

[0029] A power motor controller, which is used to receive instructions from the vehicle controller and control parameters such as the rotational speed, torque, and power of the motor according to these instructions. The power motor controller achieves precise control of the motor output by modulating the input voltage and current of the motor to meet the driving requirements of the vehicle;

[0030] A transmission controller, which is used to precisely manage the vehicle's transmission system. It receives information from various vehicle sensors, such as vehicle speed, engine speed, driver intention, etc., and controls the gear shifting operation of the transmission according to this information. The transmission controller optimizes the vehicle's power performance and fuel economy by precisely controlling the gear shifting timing and process;

[0031] The brake actuator is a key actuator in the braking system. It receives instructions from the braking system ECU controller and controls the braking actions of the brakes according to these instructions. The brake actuator precisely controls the braking performance of the vehicle by changing the braking torque of the brakes;

[0032] The suspension attitude and body pitch angle sensors are used to monitor the suspension attitude of the vehicle and the pitch angle of the body. They convert the attitude information of the suspension and the body into electrical signals for output and transmit them to the body controller. The body controller adjusts the hardness and height of the suspension based on this information to optimize the handling performance and riding comfort of the vehicle;

[0033] The body controller is used to receive information from various sensors, such as the door status, window status, lighting status, etc., and control the operation of these systems based on this information. The body controller provides a convenient, comfortable and safe driving environment for the driver by precisely controlling the switches and states of these systems;

[0034] The parking control button, when the driver presses the parking control button, it sends a signal to the body controller. The body controller controls the action of the parking brake based on this signal to achieve the parking function of the vehicle;

[0035] The vehicle instrument controller is used to receive information from various systems, such as vehicle speed, engine speed, fuel quantity, etc., and display this information on the instrument panel. The vehicle instrument controller helps the driver timely understand the operating status of the vehicle by precisely displaying this information to ensure driving safety.

[0036] Preferably, the further optimization scheme includes: in the case of the vehicle going uphill at a large angle, when the braking force of the rear wheels is insufficient, the braking force of the vehicle can also be increased by combining the parking brake and the service brake; when the vehicle starts to drive away, the system monitors the comparison between the power output torque and the braking torque, and gradually reduces the braking force and increases the driving force to prevent the risk of the vehicle slipping when starting; after the vehicle stops, the vehicle ramp parking assist function can work in coordination with other vehicle braking assist functions such as the uphill assist and traction control system.

[0037] Preferably, for the further optimization scheme, the supplementary content of the vehicle ramp parking assist function is as follows: when the vehicle ramp parking assist function is activated and the parking brake is pulled up, the vehicle computer voice warns that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road surface with a smaller slope for parking.

[0038] Preferably, for the further optimization scheme, the supplementary content of the vehicle ramp parking assist function is as follows: when the vehicle ramp parking assist function is activated and the seat belt is opened, the vehicle computer voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road surface with a smaller slope for parking.

[0039] Preferably, for a further optimized solution, the supplementary content of the vehicle ramp parking assist function is as follows: When the vehicle ramp parking assist function is activated and there is a relevant system failure, the in-vehicle voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road surface with a smaller slope for parking.

[0040] Preferably, for a further optimized solution, the supplementary content of the vehicle ramp parking assist function is as follows: When the vehicle ramp parking assist function is activated and the vehicle shuts off, the in-vehicle voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road surface with a smaller slope for parking.

[0041] Preferably, for a further optimized solution, the supplementary content of the vehicle ramp parking assist function is as follows: When the vehicle ramp parking assist function is activated and the power gear is exited, the in-vehicle voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road surface with a smaller slope for parking; when the vehicle ramp parking assist function is activated and the driver's door is opened, the in-vehicle voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road surface with a smaller slope for parking.

[0042] Preferably, the vehicle ramp parking assist function exit rules are as follows: When the vehicle ramp parking assist function is activated and the braking pedal force is less than the preset value, the vehicle ramp parking assist function gradually exits after a few seconds of delay; when the vehicle ramp parking assist function is activated and the power output torque is greater than the braking demand torque value, the ramp parking assist exits immediately; when the vehicle ramp parking assist function is activated and the ramp parking assist function switch is turned off, a voice prompt indicates that there is a risk of the vehicle slipping on the current slope, and it can be confirmed again to complete the exit.

[0043] Preferably, in the above examples, any number of all the modules can be combined into one module for implementation, or any one of the modules can be split into multiple modules. Or at least part of the functions of one or more of these modules can be combined with part of the functions of other modules and implemented in one module.

[0044] The present invention provides a vehicle ramp parking assist control method. It has the following beneficial effects:

[0045] (1) For this vehicle ramp parking assist control method, through the detection of multiple sensors by the set braking system ECU controller, by accurately judging the vehicle state information, the ramp parking assist function is activated under safe conditions, effectively preventing the vehicle from sliding. At the same time, clear visual and voice prompts are provided, enabling the driver to easily turn on or off the function and intuitively understand the function status and the reason for the failure to turn on, thus significantly improving the safety of ramp parking and the convenience of driving.

[0046] (2) The vehicle ramp parking assist control method enables the system to calculate in real time and intelligently adjust the brake clamping force to meet the parking requirements, effectively avoiding the risk of rolling back due to insufficient braking force. At the same time, the ramp parking assist function can work in coordination with other vehicle braking assist functions to further enhance the stability and safety of the vehicle under complex ramp road conditions.

[0047] (3) The vehicle ramp parking assist control method features flexible system module design. Some or all modules can be selected according to actual needs to implement functions, facilitating system upgrade and maintenance. Meanwhile, when the function is activated and deactivated, the system gives voice warnings and prompts to guide the driver to change the parking location at an unsafe slope or to operate the vehicle safely and orderly when the function is deactivated, embodying the characteristics of user-friendly design. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0049] Figure 1 It is the system structure schematic diagram of the present invention;

[0050] Figure 2 It is the method flow chart of the present invention.

[0051] The realization of the objectives, functional features, and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0053] Please refer to Figure 1-2 , the present invention provides a vehicle ramp parking assist control method, characterized by including the following steps:

[0054] S1. The brake system ECU controller obtains vehicle status information, including wheel speed sensor signals, brake pedal force or pedal travel sensor signals, accelerator pedal sensor signals, power motor controller signals, transmission controller signals, suspension attitude and vehicle body pitch angle sensor signals. Based on the vehicle status information, it determines whether the vehicle ramp parking assist function activation rule, the vehicle ramp parking assist function activation rule, and the vehicle ramp parking assist function deactivation rule are met. If so, the corresponding function stage is implemented. The vehicle ramp parking assist function activation rule is as follows:

[0055] The driver's door on the driver's side is closed, the driver is buckled up, and the vehicle is in D, N, or R gear;

[0056] When the above conditions are met simultaneously, the vehicle ramp parking assist function can be activated;

[0057] The driver operates the software switch of the vehicle ramp parking assist function to turn the function on or off. The vehicle ramp parking assist function icon on the instrument panel is always on, and there is an instrument prompt indicating that the vehicle ramp parking assist function is activated. If any of the above conditions are not met, the vehicle instrument controller notifies the user of the reason for the activation failure.

[0058] S3. As a further optimization solution, the vehicle ramp parking assist function can turn on or off the brake actuator, body controller, and parking control button through the software switch on the in-vehicle screen.

[0059] The vehicle ramp parking assist function activation rule is as follows:

[0060] The driver's door on the driver's side is closed;

[0061] The driver is buckled up;

[0062] The vehicle is in D, N, or R gear;

[0063] The brake pedal is depressed with a pedal force ≥ A (N) or the brake pedal travel ≥ B (mm), or both conditions are met simultaneously;

[0064] The vehicle speed is reduced to less than C km / h;

[0065] The slope where the vehicle is located ≥ D%;

[0066] The accelerator pedal is in the zero position;

[0067] The slope of the ramp where the vehicle is located exceeds the designed safe parking slope of the vehicle;

[0068] When the above conditions are met simultaneously, the vehicle ramp parking assist function can be activated;

[0069] S4. The vehicle ramp parking assist function is activated. The instrument vehicle ramp parking assist function indicator light is constantly on with a voice prompt, the brake tail lights are lit, and the brake system ECU calculates in real time the clamping forces required for the front and rear axle wheels to park on the slope and the braking clamping forces provided by the current front and rear brakes, and compares the two. If the braking force provided at the wheel end is greater than the clamping force required for parking, the current braking force is executed. If the braking force provided at the wheel end is less than the clamping force required for parking, the brake clamping force is actively increased to the required value to meet the parking requirement;

[0070] S5. After the vehicle stops, it monitors in real time within a certain period of time the vehicle rollback caused by insufficient braking force provided by the vehicle. If there is rollback, the braking force will be actively increased to the maximum value to meet the temporary parking requirement. After the vehicle stops, the driver needs to keep their foot on the brake pedal at all times to stay stationary;

[0071] S6. When the driver wants to drive the vehicle away, the braking force can be gradually reduced and released by stepping on the accelerator pedal.

[0072] The vehicle ramp parking assist control method includes the following devices:

[0073] The brake system ECU controller is used to receive information from the wheel speed sensor, brake pedal force or pedal travel sensor, etc., and processes these signals through algorithms to achieve precise control of the braking force. The ECU controller can adjust the distribution of the braking force and the braking time according to different driving states and the driver's braking requirements to ensure that the vehicle can brake safely and stably under various road conditions;

[0074] The wheel speed sensor is a sensor used to measure the wheel speed. It detects the rotational movement of the wheel and converts the wheel speed information into an electrical signal output. These signals are used in active safety systems such as ABS and ESP to achieve precise monitoring and control of the wheel slip state, thereby preventing the wheels from locking or over-sliding and improving the braking performance and driving stability of the vehicle;

[0075] The brake pedal force or pedal travel sensor is used to monitor the force or travel of the driver stepping on the brake pedal. These sensors convert the driver's braking intention into an electrical signal output and transmit it to the brake system ECU controller. The ECU controller judges the driver's braking requirement based on these signals and adjusts the output of the brake system accordingly to achieve precise braking control;

[0076] The accelerator pedal sensor is used to detect the depth and speed of the driver stepping on the accelerator pedal. It converts the position information of the accelerator pedal into an electrical signal output and transmits it to the engine control unit. The engine control unit precisely controls the fuel injection and ignition timing of the engine based on these signals and other sensor signals, such as engine speed, intake air volume, etc., to achieve precise adjustment of the engine power output;

[0077] The power motor controller is used to receive instructions from the vehicle controller and control parameters such as the speed, torque, and power of the motor according to these instructions. The power motor controller realizes precise control of the motor output by modulating the input voltage and current of the motor, so as to meet the driving requirements of the vehicle;

[0078] The transmission controller is used to precisely manage the vehicle's transmission system. It receives information from various vehicle sensors, such as vehicle speed, engine speed, driver intention, etc., and controls the shifting operation of the transmission according to this information. The transmission controller realizes the optimization of the vehicle's power performance and fuel economy by precisely controlling the shifting timing and process;

[0079] The brake actuator is a key actuator in the braking system. It receives instructions from the brake system ECU controller and controls the braking action of the brake according to these instructions. The brake actuator realizes precise control of the vehicle's braking performance by changing the braking torque of the brake;

[0080] The suspension attitude and body pitch angle sensors are used to monitor the suspension attitude of the vehicle and the pitch angle of the body. They convert the attitude information of the suspension and the body into electrical signals for output and transmit them to the body controller. The body controller adjusts the hardness and height of the suspension according to this information to optimize the vehicle's handling performance and riding comfort;

[0081] The body controller is used to receive information from various sensors, such as door status, window status, lighting status, etc., and control the operation of these systems according to this information. The body controller provides a convenient, comfortable, and safe driving environment for the driver by precisely controlling the switches and states of these systems;

[0082] The parking control button, when the driver presses the parking control button, it sends a signal to the body controller, and the body controller controls the action of the parking brake according to this signal to realize the parking function of the vehicle;

[0083] The vehicle instrument controller is used to receive information from various systems, such as vehicle speed, engine speed, fuel quantity, etc., and display this information on the instrument panel. The vehicle instrument controller helps the driver timely understand the operating state of the vehicle by precisely displaying this information to ensure driving safety.

[0084] Further optimization solutions include: when the vehicle is going uphill at a large angle and the braking force of the rear wheels is insufficient, the braking force of the vehicle can be increased by combining the parking brake and the service brake; when the vehicle starts to move, the system monitors the comparison between the power output torque and the braking torque, and gradually reduces the braking force and increases the driving force to prevent the risk of the vehicle slipping when starting; after the vehicle stops, the vehicle ramp parking assist function can work in coordination with other vehicle braking assist functions such as the uphill assist and traction control system, etc.

[0085] For the further optimization solution, the supplementary content of the vehicle ramp parking assist function is as follows: when the vehicle ramp parking assist function is activated and the parking brake is pulled up, the in-vehicle voice warns that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road surface with a smaller slope for parking.

[0086] For the further optimization solution, the supplementary content of the vehicle ramp parking assist function is as follows: when the vehicle ramp parking assist function is activated and the seat belt is unbuckled, the in-vehicle voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road surface with a smaller slope for parking.

[0087] For the further optimization solution, the supplementary content of the vehicle ramp parking assist function is as follows: when the vehicle ramp parking assist function is activated and there is a fault in the relevant system, the in-vehicle voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road surface with a smaller slope for parking.

[0088] For the further optimization solution, the supplementary content of the vehicle ramp parking assist function is as follows: when the vehicle ramp parking assist function is activated and the vehicle engine is turned off, the in-vehicle voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road surface with a smaller slope for parking.

[0089] For the further optimization solution, the supplementary content of the vehicle ramp parking assist function is as follows: when the vehicle ramp parking assist function is activated and the power gear is exited, the in-vehicle voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road surface with a smaller slope for parking; when the vehicle ramp parking assist function is activated and the driver's door is opened, the in-vehicle voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road surface with a smaller slope for parking.

[0090] The exit rules of the vehicle ramp parking assist function are as follows: when the vehicle ramp parking assist function is activated and the braking pedal force is less than the preset value, the vehicle ramp parking assist function gradually exits after a few seconds of delay; when the vehicle ramp parking assist function is activated and the power output torque is greater than the braking demand torque value, the ramp parking assist exits immediately; when the vehicle ramp parking assist function is activated and the ramp parking assist function switch is turned off, the voice prompts that there is a risk of the vehicle slipping on the current slope, and you can confirm again and then complete the exit.

[0091] In the above examples, any number of all modules can be combined and implemented in one module, or any one of the modules can be split into multiple modules. Or at least part of the functions of one or more of these modules can be combined with part of the functions of other modules and implemented in one module.

[0092] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A vehicle slope parking assistance control method, characterized in that: The following steps are involved: S1. The brake system ECU controller obtains vehicle status information, including wheel speed sensor signals, brake pedal force or pedal travel sensor signals, accelerator pedal sensor signals, power motor controller signals, gearbox controller signals, suspension attitude and vehicle body pitch angle sensor signals, and determines whether the vehicle ramp parking assist function activation rules, vehicle ramp parking assist function activation rules and vehicle ramp parking assist function exit rules are met based on the vehicle status information. If so, the corresponding function stage is implemented. The vehicle ramp parking assist function activation rules are as follows: S2: The driver's door is closed, the driver has fastened his seat belt, and the vehicle is in gear D, N or R; If the above conditions are met at the same time, the vehicle ramp parking assist function can be turned on; The driver operates the vehicle's hill parking assist function software switch to turn the function on or off. The vehicle's hill parking assist function icon on the instrument panel is always on, and the instrument panel prompts that the vehicle's hill parking assist function is turned on. If any of the above conditions are not met, the vehicle's instrument controller informs the user of the reason for the failure to turn on. S3. As a further optimization solution, the vehicle slope parking assist function can turn on or off the brake actuator, body controller and parking control button through the vehicle screen software switch. The activation rules of the vehicle hill parking assist function are as follows: The main driver's door is closed; The driver has fastened his seat belt; The vehicle is in D, N or R gear; The brake pedal is depressed with a pedal force ≥ A (N) or a brake pedal travel ≥ B (mm), or both conditions are met at the same time; The vehicle speed is reduced to below C km / h; The slope of the vehicle is ≥D%; The accelerator pedal is in the 0 position; The slope of the ramp where the vehicle is located exceeds the designed safe parking slope of the vehicle; If the above conditions are met at the same time, the vehicle's hill parking assist function can be activated; S4. The vehicle's ramp parking assist function is activated. The vehicle's ramp parking assist function indicator light is constant with a voice prompt, the brake tail light is on, and the brake system ECU calculates the front and rear axle wheel clamping force required for the vehicle to park on a slope and the brake clamping force provided by the current front and rear brakes in real time, and compares the two. If the braking force provided by the wheel side is greater than the clamping force required for parking, the current braking force is executed. If the braking force provided by the wheel side is less than the clamping force required for parking, the brake clamping force is actively increased to the required value to meet the parking requirement; S5. After the vehicle stops, the vehicle will be monitored in real time for a certain period of time if it is sliding down a slope due to insufficient braking force provided by the vehicle. If there is a sliding down slope, the braking force will be actively increased to the maximum value to meet the temporary parking needs. After the vehicle stops, the driver needs to keep his foot on the brake pedal to keep it still; S6. When the driver wants to drive the vehicle away, he can gradually reduce and release the braking force by pressing the accelerator pedal.

2. A vehicle slope parking assist control method according to claim 1, comprising the following devices: The brake system ECU controller is used to receive information from wheel speed sensors, brake pedal force or pedal travel sensors, etc., and process these signals through algorithms to achieve precise control of the braking force. The ECU controller can adjust the distribution of braking force and braking time according to different driving conditions and the driver's braking needs to ensure that the vehicle can brake safely and stably under various road conditions; Wheel speed sensor is a sensor used to measure wheel speed. It detects the rotational motion of the wheel and converts the wheel speed information into electrical signal output. These signals are used in active safety systems such as ABS and ESP to accurately monitor and control the wheel slip state, thereby preventing wheel locking or excessive slip and improving the vehicle's braking performance and driving stability. Brake pedal force or pedal travel sensors are used to monitor the force or travel of the driver's brake pedal. These sensors convert the driver's braking intention into electrical signal output and transmit it to the brake system ECU controller. The ECU controller determines the driver's braking needs based on these signals and adjusts the output of the brake system accordingly to achieve precise braking control; The accelerator pedal sensor is used to detect the depth and speed of the driver's pressing of the accelerator pedal. It converts the position information of the accelerator pedal into an electrical signal output and transmits it to the engine control unit. The engine control unit accurately controls the engine's fuel injection and ignition timing based on these signals and other sensor signals, such as engine speed and intake volume, so as to achieve precise adjustment of the engine's power output; The power motor controller is used to receive instructions from the vehicle controller and control the motor's speed, torque, power and other parameters according to these instructions. The power motor controller achieves precise control of the motor output by modulating the motor's input voltage and current to meet the vehicle's driving requirements; The transmission controller is used to accurately manage the vehicle's transmission system. It receives information from various vehicle sensors, such as vehicle speed, engine speed, driver intention, etc., and controls the transmission's shifting operation based on this information. The transmission controller optimizes the vehicle's power and fuel economy by accurately controlling the shifting timing and process. The brake actuator is a key actuator in the brake system. It receives instructions from the brake system ECU controller and controls the braking action of the brake according to these instructions. The brake actuator achieves precise control of the vehicle's braking performance by changing the braking torque of the brake. Suspension attitude and body pitch angle sensors are used to monitor the suspension attitude and body pitch angle of the vehicle. They convert the suspension and body attitude information into electrical signal output and transmit it to the body controller. The body controller adjusts the hardness and height of the suspension based on this information to optimize the vehicle's handling performance and ride comfort; The body controller is used to receive information from various sensors, such as door status, window status, lighting status, etc., and control the operation of these systems based on this information. The body controller provides the driver with a convenient, comfortable and safe driving environment by accurately controlling the switch and status of these systems; The parking control button is used for when the driver presses the parking control button, it will send a signal to the body controller, and the body controller controls the action of the parking brake according to the signal to realize the parking function of the vehicle; The vehicle instrument controller is used to receive information from various systems, such as vehicle speed, engine speed, fuel level, etc., and display this information on the dashboard. The vehicle instrument controller helps the driver to understand the vehicle's operating status in a timely manner and ensure driving safety by accurately displaying this information.

3. According to the vehicle slope parking assistance control method of claim 1, further optimization scheme includes: When the vehicle is going uphill at a large angle, if the rear wheel braking force is insufficient, the vehicle braking force can be increased by combining the parking brake and the service brake; When the vehicle is moving away, the system monitors the comparison between the power output torque and the braking force torque, gradually reduces the braking force and increases the driving force to prevent the danger of the vehicle slipping when starting; after the vehicle stops, the vehicle's slope parking assist function can work in conjunction with other vehicle braking assist functions such as the uphill assist drive anti-skid system.

4. According to the vehicle slope parking assistance control method of claim 1, the scheme is further optimized, and the vehicle slope parking assistance function is supplemented as follows: when the vehicle slope parking assistance function is activated, the parking handbrake is pulled up, and the vehicle computer voice warns that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road with a smaller slope for parking.

5. According to the vehicle slope parking assistance control method of claim 1, the scheme is further optimized, and the vehicle slope parking assistance function is supplemented as follows: when the vehicle slope parking assistance function is activated, the seat belt is on, and the vehicle computer voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road surface or a road with a smaller slope for parking.

6. According to the vehicle slope parking assistance control method of claim 1, the scheme is further optimized, and the vehicle slope parking assistance function is supplemented as follows: when the vehicle slope parking assistance function is activated, if the relevant system fails, the vehicle computer voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road or a road with a smaller slope for parking.

7. According to the vehicle slope parking assistance control method of claim 1, the scheme is further optimized, and the vehicle slope parking assistance function is supplemented as follows: when the vehicle slope parking assistance function is activated, the vehicle is turned off, and the vehicle computer voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road or a road with a smaller slope for parking.

8. According to the vehicle slope parking assistance control method of claim 1, a further optimized solution is provided, wherein the vehicle slope parking assistance function is supplemented as follows: when the vehicle slope parking assistance function is activated, the power gear is exited, and the vehicle computer voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road or a road with a smaller slope for parking; when the vehicle slope parking assistance function is activated, the main driving door is opened, and the vehicle computer voice prompts that the current slope exceeds the safe parking slope requirement, and it is recommended to change to a flatter road or a road with a smaller slope for parking.

9. According to the vehicle slope parking assist control method of claim 1, the vehicle slope parking assist function exit rules are as follows: when the vehicle slope parking assist function is activated, the brake pedal force is less than a preset value, the vehicle slope parking assist function is gradually exited after a delay of several seconds; when the vehicle slope parking assist function is activated, the power output torque is greater than the braking demand torque value, the slope parking assist is immediately exited; when the vehicle slope parking assist function is activated, the slope parking assist function switch is turned off, and a voice prompt is given that there is a risk of the vehicle slipping on the current slope, and the exit can be completed after confirmation again.

10. The vehicle slope parking assist control method according to claim 1, wherein in the above example, any number of all modules can be combined into one module, or any one module can be divided into multiple modules. Or at least part of the functions of one or more modules can be combined with part of the functions of other modules and implemented in one module.

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