Method and device for controlling automatic parking function AVH

Abstract

The invention relates to a control method of an automatic parking function AVH. The method comprises the steps that it is determined that the automatic parking function AVH exits due to the fact that a driver deeply steps on a brake; judging whether the driver completely loosens the brake pedal or not; and reactivating the automatic parking function AVH according to the behavior of a driver stepping on the brake pedal during the period that the brake pedal is not completely released. The invention further relates to control equipment of the AVH, a computer readable storage medium and a vehicle braking system.

Description

Technical Field

[0001] The present application relates to the field of automatic parking control, and more particularly, to a control method and device for an automatic vehicle hold (AVH) function, a computer-readable storage medium, and a vehicle braking system. Background Art

[0002] The automatic vehicle hold (AVH) function is an automatic braking function. For example, when stopping at a red light, the AVH function will automatically lock the wheels to prevent the vehicle from rolling backward. When the green light comes on, after gently stepping on the accelerator, the AVH function will unlock the wheels, and then the driver can slowly step on the accelerator to accelerate. In this way, the driver does not need to frequently switch between the D, N, and P gears, the operation is convenient and fast, and unnecessary vehicle sliding can be avoided.

[0003] For some vehicles equipped with the AVH function, the AVH function can be exited by deeply stepping on the brake pedal. However, in the prior art, if the brake pedal is not fully released, the AVH function cannot be activated again, resulting in the vehicle rolling freely. Summary of the Invention

[0004] According to one aspect of the present application, there is provided a control method for an automatic vehicle hold (AVH) function, the method including: determining that the AVH function exits due to the driver deeply stepping on the brake; determining whether the driver fully releases the brake pedal; and during the period when the brake pedal is not fully released, reactivating the AVH function according to the driver's behavior of stepping on the brake pedal.

[0005] As a supplement or replacement to the above solution, in the above method, during the period when the brake pedal is not fully released, reactivating the AVH function according to the driver's behavior of stepping on the brake pedal includes: during the period when the brake pedal is not fully released, determining whether the release degree of the brake pedal has exceeded a first threshold; when the release degree has exceeded the first threshold, determining whether the brake pedal is stepped on again and has exceeded a second threshold; and when the brake pedal is stepped on again and has exceeded the second threshold, reactivating the AVH function.

[0006] As a supplement or replacement to the above solution, in the above method, the first threshold and the second threshold are characterized by a master cylinder pressure value, a stroke of the brake pedal, or a pedal force requested by the driver on the brake pedal.

[0007] As a supplement or replacement to the above solution, in the above method, when the absolute value of the deviation between the current pressure value after the driver starts to release the brake pedal and the peak pressure value when starting to release the brake pedal is greater than the first threshold, it is determined that the degree of release has exceeded the first threshold; and when the absolute value of the deviation between the current pressure value after the driver starts to apply additional braking again and the valley pressure value when the driver starts to apply the additional brake pedal is greater than the second threshold, it is determined that the brake pedal has been pressed again and has exceeded the second threshold.

[0008] According to another aspect of the present application, there is provided a control device for an automatic vehicle hold (AVH) function, the device comprising: a determination device for determining that the automatic vehicle hold (AVH) function exits due to the driver deeply pressing the brake; a judgment device for judging whether the driver completely releases the brake pedal; and an activation device for reactivating the automatic vehicle hold (AVH) function according to the driver's behavior of stepping on the brake pedal during the period when the brake pedal is not completely released.

[0009] As a supplement or replacement to the above solution, in the above device, the activation device comprises: a first judgment unit for judging whether the degree of release of the brake pedal has exceeded a first threshold during the period when the brake pedal is not completely released; a second judgment unit for judging whether the brake pedal has been pressed again and has exceeded a second threshold when the degree of release has exceeded the first threshold; and an activation unit for reactivating the automatic vehicle hold (AVH) function when the brake pedal has been pressed again and has exceeded the second threshold.

[0010] As a supplement or replacement to the above solution, in the above device, the first threshold and the second threshold are characterized by the master cylinder pressure value, the stroke of the brake pedal, or the pedal force requested by the driver on the brake pedal.

[0011] As a supplement or replacement to the above solution, in the above device, the first judgment unit is configured to determine that the degree of release has exceeded the first threshold when the absolute value of the deviation between the current pressure value after the driver starts to release the brake pedal and the peak pressure value when starting to release the brake pedal is greater than the first threshold; and the second judgment unit is configured to determine that the brake pedal has been pressed again and has exceeded the second threshold when the absolute value of the deviation between the current pressure value after the driver starts to apply additional braking again and the valley pressure value when the driver starts to apply the additional brake pedal is greater than the second threshold.

[0012] According to yet another aspect of the present application, there is provided a computer-readable storage medium, the medium comprising instructions that, when executed, perform the method as described above.

[0013] According to another aspect of the present application, a vehicle braking system is provided, and the vehicle braking system includes the device as described above.

[0014] The control solution of the automatic vehicle hold (AVH) function of the present application further determines whether the driver completely releases the brake pedal after determining that the AVH function exits due to the driver deeply stepping on the brake; during the period when the driver does not completely release the brake pedal, the AVH function is reactivated according to the driver's behavior of stepping on the brake pedal. In this way, the AVH function can be reactivated during the period when the driver does not completely release the brake pedal after exiting AVH by deeply stepping on the brake, thereby reducing the chance of the vehicle rolling freely (especially when it is very close to the vehicle in front). BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other objects and advantages of the present application will become more fully apparent from the following detailed description in conjunction with the accompanying drawings, in which the same or similar elements are denoted by the same reference numerals.

[0016] Figure 1 FIG. shows a schematic flowchart of a control method for an automatic vehicle hold (AVH) function according to an embodiment of the present application;

[0017] Figure 2 FIG. shows a schematic structural diagram of a control device for an automatic vehicle hold (AVH) function according to an embodiment of the present application;

[0018] Figure 3 FIG. shows a schematic flowchart of a control method for an automatic vehicle hold (AVH) function according to an embodiment of the present application; and

[0019] Figure 4 FIG. shows a timing diagram of the master cylinder pressure, brake pedal application, and activation of the automatic vehicle hold (AVH) function during the control of the AVH function according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] Hereinafter, the control solution of the automatic vehicle hold (AVH) function according to the exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0021] Figure 1 FIG. shows a schematic flowchart of a control method 1000 for an automatic vehicle hold (AVH) function according to an embodiment of the present application. As Figure 1 shown, the control method 1000 includes:

[0022] In step S110, it is determined that the automatic vehicle hold (AVH) function exits due to the driver deeply stepping on the brake;

[0023] In step S120, it is determined whether the driver completely releases the brake pedal; and

[0024] In step S130, during the period when the brake pedal is not fully released, the automatic parking function AVH is reactivated according to the driver's behavior of stepping on the brake pedal.

[0025] In one embodiment, the exit of the automatic parking function AVH due to the driver stepping deeply on the brake can be determined by judging whether the master cylinder pressure exceeds a preset exit threshold. Generally speaking, as the driver increases the force of stepping on the brake pedal, the master cylinder pressure will also increase. In one embodiment, when the master cylinder pressure is greater than the preset exit threshold (such as Figure 4 the shown P_deact), the automatic parking function AVH will exit.

[0026] In step S120, it is judged whether the driver has fully released the brake pedal. This step 120 can also be determined by judging the value of the master cylinder pressure, for example, judging whether the master cylinder pressure approaches zero or is lower than a certain preset threshold.

[0027] If not, that is, the driver has not fully released the brake pedal, then different from the prior art, the technical solution of the embodiment of the present application can reactivate the automatic parking function AVH according to the driver's behavior of stepping on the brake pedal during the period when the brake pedal is not fully released. In one embodiment, step S130 may include: during the period when the brake pedal is not fully released, judging whether the release degree of the brake pedal has exceeded a first threshold; when the release degree has exceeded the first threshold, judging whether the brake pedal is stepped on again and has exceeded a second threshold; and when the brake pedal is stepped on again and has exceeded the second threshold, reactivating the automatic parking function AVH.

[0028] In one or more embodiments, the first threshold and the second threshold can be characterized by the master cylinder pressure value, the stroke of the brake pedal, the pedal force requested by the driver on the brake pedal, or other characteristic values that can reflect the driver's intention.

[0029] In one embodiment, when the first threshold and the second threshold are characterized by the master cylinder pressure value, when the absolute value of the deviation between the current pressure value after the driver starts to release the brake pedal and the peak pressure value when starting to release the brake pedal is greater than the first threshold, it is determined that the release degree has exceeded the first threshold; when the absolute value of the deviation between the current pressure value after the driver starts to additionally apply the brake again and the valley pressure value when the driver starts to additionally step on the brake pedal is greater than the second threshold, it is determined that the brake pedal is stepped on again and has exceeded the second threshold. It should be noted that the magnitudes of the first threshold and the second threshold can be calibrated according to actual needs and are not specifically limited in the context of the present application.

[0030] Figure 3shows a detailed flowchart of a control method 3000 for an automatic vehicle hold (AVH) function according to an embodiment of the present application. As Figure 3 shown, the entire process starts at step S310, at which time the automatic vehicle hold (AVH) function is in an activated state. Next, at step S320, it is determined whether the automatic vehicle hold (AVH) function exits due to a deep depression of the brake pedal. If so, step S330 is further executed; otherwise, it jumps to step S380, that is, no action is taken. At step S330, it is further determined whether the brake pedal is fully released. If so, step S350 is executed; otherwise, step S340 is executed. At step S350, when the brake pedal has been fully released, it is determined in a conventional manner whether the automatic vehicle hold (AVH) function is activated. If satisfied, the automatic vehicle hold (AVH) function is reactivated at step S370. At step S340, it is determined whether the degree of release of the brake pedal has exceeded a certain threshold value (for example, a first threshold value); if so, step S360 is further executed; otherwise, it jumps to step S380 without taking any action. At step S360, it is determined whether the brake pedal is depressed again and whether the pressure value exceeds a preset minimum threshold value (for example, a second threshold value). If so, step S370 is executed to reactivate the automatic vehicle hold (AVH) function; otherwise, it jumps to step S380 without taking any action.

[0031] Refer to Figure 4 , which shows a timing diagram of the master cylinder pressure, brake pedal application, and activation of the automatic vehicle hold (AVH) function during the control of the automatic vehicle hold (AVH) function according to an embodiment of the present application. As Figure 4 shown, 410 shows the timing diagram of the master cylinder pressure, 420 shows the timing diagram of the brake pedal application (wherein, the driver stepping on the brake pedal is shown as "high level", otherwise as "low level"), and 430 shows the timing diagram of the activation of the automatic vehicle hold (AVH) function (wherein, when the AVH function is activated, it is shown as "high level", otherwise as "low level"). From Figure 4It can be known that at the beginning, after the automatic parking function is activated, even if the driver does not step on the brake pedal, the master cylinder pressure remains at P_hold. At this time, when the driver deeply steps on the brake pedal, the master cylinder pressure increases accordingly (exceeding P_hold) and gradually approaches point A. During the process of approaching point A, when the master cylinder pressure exceeds P_deact, the automatic parking function exits at this time. After the driver deeply steps on the brake pedal to exit the automatic parking function, the driver then partially releases the brake pedal (the master cylinder pressure drops to point B), and then steps on the brake pedal again (pressurizing to point C). Since the pressure difference between point A and point B is greater than the first threshold ⊿p_ReleaseBrakeOffset (i.e., the release degree is greater than the first threshold), and the pressure difference between point C and point B is greater than the second threshold ⊿p_ActOffset (i.e., the brake pedal is stepped on again and has exceeded the second threshold), the automatic parking function AVH is reactivated at point C. After point C, even if the driver subsequently completely releases the brake pedal, the master cylinder pressure will at least remain above P_hold. In contrast, in the prior art, even if the master cylinder pressure changes as shown in block 415 due to the driver's operation, the automatic parking function AVH cannot be reactivated. This will cause the wheels to roll freely, bringing a bad driving experience.

[0032] In addition, it is easy for those skilled in the art to understand that the control method of the automatic parking function AVH provided by one or more of the above embodiments of the present application can be implemented by a computer program. For example, the computer program is included in a computer program product, and when the computer program is executed by a processor, it implements the control method of the automatic parking function AVH of one or more embodiments of the present application. Another example is that when a computer-readable storage medium (such as a USB flash drive) storing the computer program is connected to a computer, running the computer program can execute the control method of the automatic parking function AVH of one or more embodiments of the present application.

[0033] Reference Figure 2 , Figure 2 shows a schematic structural diagram of a control device 2000 for an automatic parking function AVH according to an embodiment of the present application. As Figure 2 shown, the control device 2000 for the automatic parking function AVH includes: a determination device 210, a judgment device 220, and an activation device 230. Among them, the determination device 210 is used to determine that the automatic parking function AVH exits due to the driver deeply stepping on the brake; the judgment device 220 is used to judge whether the driver completely releases the brake pedal; and the activation device 230 is used to reactivate the automatic parking function AVH according to the driver's behavior of stepping on the brake pedal during the period when the brake pedal is not completely released.

[0034] In one embodiment, the determination device 210 is configured to determine that the automatic vehicle hold (AVH) function exits due to the driver deeply stepping on the brake by determining whether the master cylinder pressure exceeds a preset exit threshold. Generally, as the driver increases the force on the brake pedal, the master cylinder pressure also increases. In one embodiment, when the master cylinder pressure is greater than the preset exit threshold (such as Figure 4 P_deact shown), the determination device 210 is configured to determine that the AVH function exits due to the driver deeply stepping on the brake.

[0035] The judgment device 220 is configured to judge whether the driver completely releases the brake pedal. In one embodiment, the judgment device 220 is configured to judge whether the driver completely releases the brake pedal by judging the value of the master cylinder pressure. For example, the judgment device 220 is configured to judge that the driver completely releases the brake pedal when judging that the master cylinder pressure approaches zero or is lower than a certain preset threshold.

[0036] If the judgment device 220 judges that the driver does not completely release the brake pedal, different from the prior art, the activation device 230 is configured to reactivate the AVH function according to the driver's behavior of stepping on the brake pedal during the period when the brake pedal is not completely released. In one embodiment, the activation device 230 includes: a first judgment unit configured to judge whether the release degree of the brake pedal has exceeded a first threshold during the period when the brake pedal is not completely released; a second judgment unit configured to judge whether the brake pedal is stepped on again and has exceeded a second threshold when the release degree has exceeded the first threshold; and an activation unit configured to reactivate the AVH function when the brake pedal is stepped on again and has exceeded the second threshold.

[0037] In one or more embodiments, the first threshold and the second threshold can be characterized by the master cylinder pressure value, the stroke of the brake pedal, the pedal force requested by the driver on the brake pedal, or other characteristic values that can reflect the driver's intention.

[0038] In one embodiment, the first judgment unit is configured to determine that the release degree has exceeded the first threshold when the absolute value of the deviation between the current pressure value after the driver starts to release the brake pedal and the peak pressure value when starting to release the brake pedal is greater than the first threshold; and the second judgment unit is configured to determine that the brake pedal is stepped on again and has exceeded the second threshold when the absolute value of the deviation between the current pressure value after the driver starts to additionally brake again and the valley pressure value when the driver starts to additionally step on the brake pedal is greater than the second threshold.

[0039] It should be noted that the magnitudes of the first threshold and the second threshold can be calibrated according to actual needs and are not specifically limited in the context of this application.

[0040] In one or more embodiments, the control device 2000 for the above-mentioned automatic vehicle hold function AVH can be integrated into various types of vehicle braking systems, including but not limited to the electronic stability program ESP, the intelligent integrated braking system IPB, etc.

[0041] In summary, the control solution for the automatic vehicle hold function AVH of the present application further determines whether the driver completely releases the brake pedal after determining that the automatic vehicle hold function AVH exits due to the driver deeply stepping on the brake pedal; during the period when the driver does not completely release the brake pedal, the automatic vehicle hold function AVH is reactivated according to the driver's behavior of stepping on the brake pedal. In this way, the automatic vehicle hold function can be reactivated during the period when the driver does not completely release the brake pedal after deeply stepping on the brake to exit AVH, thereby reducing the chance of the vehicle rolling freely (especially when it is very close to the vehicle in front).

[0042] The above examples mainly illustrate the control solution for the automatic vehicle hold function AVH of the embodiments of the present application. Although only some of the embodiments of the present application (for example, through the master cylinder pressure) are described, those of ordinary skill in the art should understand that the present application can be implemented in many other forms (for example, through the travel of the brake pedal, the pedal force requested by the driver on the brake pedal, or other characteristic values that can reflect the driver's intention) without departing from its gist and scope. Therefore, the examples and embodiments shown are regarded as illustrative rather than restrictive, and the present application may cover various modifications and substitutions without departing from the spirit and scope of the present application as defined by the various claims.

Claims

1. A control method for an automatic vehicle hold function AVH, characterized in that, The method includes: Determining that the automatic vehicle hold function AVH exits due to the driver deeply stepping on the brake; Judging whether the driver completely releases the brake pedal; and During the period when the brake pedal is not completely released, reactivating the automatic vehicle hold function AVH according to the driver's behavior of stepping on the brake pedal.

2. The method according to claim 1, wherein During the period when the brake pedal is not completely released, reactivating the automatic vehicle hold function AVH according to the driver's behavior of stepping on the brake pedal includes: During the period when the brake pedal is not completely released, judging whether the degree of release of the brake pedal has exceeded a first threshold; When the degree of release has exceeded the first threshold, judging whether the brake pedal is stepped on again and has exceeded a second threshold; and When the brake pedal is stepped on again and has exceeded the second threshold, reactivating the automatic vehicle hold function AVH.

3. The method according to claim 2, wherein The first threshold and the second threshold are characterized by the master cylinder pressure value, the stroke of the brake pedal, or the pedal force requested by the driver on the brake pedal.

4. The method according to claim 3, wherein, When the absolute value of the deviation between the current pressure value after the driver starts to release the brake pedal and the peak pressure value when starting to release the brake pedal is greater than the first threshold, it is determined that the degree of release has exceeded the first threshold; And When the absolute value of the deviation between the current pressure value after the driver starts to additionally brake again and the valley pressure value when the driver starts to additionally step on the brake pedal is greater than the second threshold, it is determined that the brake pedal is stepped on again and has exceeded the second threshold.

5. A control device for an automatic vehicle holding function AVH, characterized in that, The device includes: A determination device for determining that the automatic vehicle hold function AVH exits due to the driver deeply stepping on the brake; A judgment device for judging whether the driver completely releases the brake pedal; and An activation device for reactivating the automatic vehicle hold function AVH according to the driver's behavior of stepping on the brake pedal during the period when the brake pedal is not completely released.

6. The device according to claim 5, wherein, The activation device includes: A first judgment unit for judging whether the degree of release of the brake pedal has exceeded a first threshold during the period when the brake pedal is not completely released; A second judgment unit for judging whether the brake pedal is stepped on again and has exceeded a second threshold when the degree of release has exceeded the first threshold; and An activation unit for reactivating the automatic vehicle hold function AVH when the brake pedal is stepped on again and has exceeded the second threshold.

7. The device according to claim 6, wherein The first threshold and the second threshold are characterized by the master cylinder pressure value, the stroke of the brake pedal, or the pedal force requested by the driver on the brake pedal.

8. The device according to claim 7, wherein The first judgment unit is configured to determine that the degree of release has exceeded the first threshold when the absolute value of the deviation between the current pressure value after the driver starts to release the brake pedal and the peak pressure value when starting to release the brake pedal is greater than the first threshold; And The second judgment unit is configured to determine that the brake pedal is stepped on again and has exceeded the second threshold when the absolute value of the deviation between the current pressure value after the driver starts to additionally brake again and the valley pressure value when the driver starts to additionally step on the brake pedal is greater than the second threshold.

9. A computer-readable storage medium, characterized in that, The medium includes instructions that, when executed, perform the method according to any one of claims 1 to 4.

10. A vehicle braking system, characterized in that, The vehicle braking system includes the device according to any one of claims 5 to 8.

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