Gear shifting method, device and equipment based on automatic parking assistance and medium

Abstract

The invention relates to a gear shifting method, device and equipment based on automatic parking assistance and a medium, and relates to the technical field of vehicles, and the method comprises the steps that when it is detected that a target gear shifting condition is met after it is detected that a vehicle meets an automatic parking gear shifting strategy triggering enabling condition, a to-be-virtualized accelerator is obtained to be zero, and the command oil pressure of a first clutch is reduced to be zero; a plurality of control stages of the second clutch are controlled according to a preset control strategy, and when the target gear of the vehicle is a forward gear and the current vehicle speed is a reverse negative value, the vehicle is controlled to be driven in the current vehicle speed direction or when the target gear is a reverse gear and the current vehicle speed is a forward driving positive value, the current driving vehicle speed is multiplied by negative 1 to drive; and switching the current gear to the target gear until the current vehicle speed is the same as the driving direction of the target gear or the vehicle speed of the vehicle is reduced to zero. By the adoption of the technical scheme, rapid gear shifting is carried out under the condition that the safety of the whole vehicle is guaranteed, and the driving smoothness and driving continuity during automatic parking driving are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle control, and particularly to a shifting method, device, equipment and medium based on automatic parking assistance. Background Art

[0002] With the development of intelligent assisted driving technology, most of the current newly mass-produced traditional fuel vehicles, pure electric vehicles, and hybrid vehicles are equipped with intelligent assisted driving technology. Among them, the use of automatic parking assistance (APA, Automatic Parking Assist) technology is relatively common. With the development of intelligent driving assistance technology, corresponding traditional technologies such as engines and transmissions also need to always follow the requirements of current intelligent driving technology to ensure the logical rationality and safety of current vehicle driving.

[0003] In practical applications, the usage scenarios of automatic parking are relatively complex, and different usage scenarios require different control strategies to ensure the safety and comfort of automatic parking. Summary of the Invention

[0004] To solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a shifting method, device, equipment and medium based on automatic parking assistance.

[0005] An embodiment of the present disclosure provides a shifting method based on automatic parking assistance, which is applied to a vehicle. The method includes: detecting whether the vehicle meets the enabling condition for triggering the automatic parking shifting strategy, and when the vehicle meets the enabling condition for triggering the automatic parking shifting strategy, detecting whether the target shifting condition is met; when the target shifting condition is met, responding to the shifting instruction, obtaining that the virtual throttle is zero and reducing the command oil pressure of the first clutch to zero according to a preset step oil pressure, and controlling multiple control stages of the second clutch according to a preset control strategy; when the target gear of the vehicle is the forward gear and the current vehicle speed is a negative value in reverse, controlling the vehicle to maintain the current vehicle speed direction; or, when the target gear is the reverse gear and the current vehicle speed is a positive value in forward, multiplying the current driving vehicle speed by negative one to drive until the current vehicle speed is the same as the driving direction of the target gear; or, when the vehicle speed is reduced to zero, switching the current gear to the target gear.

[0006] Optionally, the detecting whether the vehicle meets the enabling condition for triggering the automatic parking shifting strategy includes: detecting whether the shift strategy enabling calibration quantity is a preset calibration quantity; detecting whether the gear shift enabling flag bit is a preset flag bit; detecting whether the automatic parking system activation identifier is a preset identifier; detecting whether the information interaction between multiple controllers is normal; detecting whether the virtual throttle signal, the actual engine torque and the demand torque signal communication are normal.

[0007] Optionally, when the vehicle satisfies the enabling condition for triggering the automatic parking shift strategy, detecting whether the target shift condition is satisfied includes: when the shift strategy enabling calibration quantity is the preset calibration quantity, the gear shift enabling flag bit based on is the preset flag bit, whether the automatic parking system activation identifier is the preset identifier, the information interaction between the multiple controllers is normal, and the virtual throttle signal, the actual engine torque, and the demand torque signal communicate normally, determining that the enabling condition for triggering the automatic parking shift strategy is satisfied; judging whether the current gear is the forward gear and whether the slope is greater than the preset negative slope percentage; or, judging whether the current gear is the reverse gear and whether the slope is less than the preset slope percentage; when the current gear is the forward gear, judging whether the target gear requested to be shifted by the vehicle is the reverse gear; or, when the current gear is the reverse gear, judging whether the target gear requested to be shifted by the vehicle is the forward gear; detecting whether the virtual throttle issued by the current engine or the hybrid vehicle controller changes from a power throttle to zero; detecting whether the requested torque of the current engine or the hybrid vehicle controller is greater than the preset torque, and detecting the tire slip information of the vehicle within a preset time period.

[0008] Optionally, controlling the multiple control stages of the second clutch according to a preset control strategy includes: obtaining the first control stage, the second control stage, and the third control stage of the second clutch; determining the control time of the first control stage based on the current virtual throttle and vehicle speed of the vehicle, and completing the first control stage according to the control time and entering the second control stage. Obtain the oil pressure change rate based on the current vehicle speed of the vehicle, and execute the second control stage according to the oil pressure change rate and then enter the third control stage; obtain the pressure increase control value based on the current virtual throttle and vehicle speed of the vehicle, and execute the third control stage based on the pressure increase control value, and determine the exit time of the third control stage according to the control pressure value and the current virtual throttle, and exit the third control stage at the exit time.

[0009] Optionally, the method further includes: during the target shift process, obtaining that the target shift process is greater than the preset process percentage; or, if the control stage of the second clutch is the target control stage, sending a request to allow driving to the automatic parking system.

[0010] Optionally, the method further includes: when the target shift condition is not satisfied, after the automatic parking system changes the virtual throttle target value to zero, setting the brake switch to one.

[0011] Optionally, the method further includes: when the vehicle does not meet the enabling condition for triggering the automatic parking shift strategy, during a safe shifting process, obtaining that the safe shifting process is greater than a preset process percentage; or, when the control stage of the second clutch is in a target control stage, sending a permission to drive request to the automatic parking system.

[0012] Embodiments of the present disclosure further provide a shifting device based on automatic parking assistance, which is applied to a vehicle. The device includes: a first detection module, configured to detect whether the vehicle meets the enabling condition for triggering the automatic parking shift strategy; a second detection module, configured to detect whether a target shifting condition is met when the vehicle meets the enabling condition for triggering the automatic parking shift strategy; a first control module, configured to, when the target shifting condition is met, respond to a shifting instruction, obtain that a virtual throttle to be zero, and reduce the command oil pressure of the first clutch to zero in accordance with a preset step oil pressure; a second control module, configured to control multiple control stages of the second clutch in accordance with a preset control strategy; a processing module, configured to, when a target gear of the vehicle is a forward gear and a current vehicle speed is a negative value in reverse, control the vehicle to maintain the current vehicle speed direction; or, when the target gear is a reverse gear and the current vehicle speed is a positive value in forward, multiply the current driving vehicle speed by negative one to drive until the current vehicle speed is the same as the driving direction of the target gear; or, when the vehicle speed is reduced to zero, switch the current gear to the target gear.

[0013] Embodiments of the present disclosure further provide an electronic device, which includes: a processor; a memory for storing executable instructions executable by the processor; the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the shifting method based on automatic parking assistance provided by the embodiments of the present disclosure.

[0014] Embodiments of the present disclosure further provide a computer-readable storage medium, where the storage medium stores a computer program, and the computer program is used to execute the shifting method based on automatic parking assistance provided by the embodiments of the present disclosure.

[0015] Embodiments of the present disclosure further provide a computer program product, including a computer program, where the computer program, when executed by a processor, implements the shifting method based on automatic parking assistance provided by the embodiments of the present application.

[0016] The technical solutions provided by the embodiments of the present disclosure have the following advantages compared with the prior art: The shifting scheme based on automatic parking assistance provided by the embodiments of the present disclosure detects whether the vehicle meets the enabling conditions for triggering the automatic parking shifting strategy, and when the vehicle meets the enabling conditions for triggering the automatic parking shifting strategy, it detects whether the target shifting conditions are met. When the target shifting conditions are met, it responds to the shifting instruction, obtains that the virtual throttle to be zero and reduces the command oil pressure of the first clutch to zero in accordance with a preset step oil pressure, and controls multiple control stages of the second clutch in accordance with a preset control strategy. When the target gear of the vehicle is the forward gear and the current vehicle speed is a negative value for reverse driving, it controls the vehicle to maintain the current vehicle speed direction; or, when the target gear is the reverse gear and the current vehicle speed is a positive value for forward driving, it multiplies the current driving vehicle speed by negative one for driving until the current vehicle speed is the same as the driving direction of the target gear; or, when the vehicle speed is reduced to zero, it switches the current gear to the target gear. By adopting the above technical solutions, by identifying the current environmental conditions and judging whether to perform rapid shifting, the shifting time is saved, and the driving smoothness and driving coherence during automatic parking are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In combination with the accompanying drawings and with reference to the following specific embodiments, the above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic, and the original components and elements are not necessarily drawn to scale.

[0018] Figure 1 It is a flowchart showing a shifting method based on automatic parking assistance provided by an embodiment of the present disclosure; Figure 2 It is an example diagram showing a shifting method based on automatic parking assistance provided by an embodiment of the present disclosure; Figure 3 It is a structural diagram showing a shifting device based on automatic parking assistance provided by an embodiment of the present disclosure; Figure 4 It is a structural diagram showing an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the accompanying drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0020] It should be understood that the various steps described in the method embodiments of the present disclosure can be executed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this regard.

[0021] As used herein, the term "comprising" and its variations are open-ended, that is, "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0022] It should be noted that the concepts such as "first", "second", etc. mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0023] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0024] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0025] Specifically, in the automatic parking technology, the automatic parking is a test according to the current parking environment, traffic congestion, width of the parking space, etc. Therefore, the usage scenarios of automatic parking are relatively complex. Based on the different driving scenarios of the parking position, for example, whether the current parking road condition is flat or has a slope, whether the current road condition is a paved road, whether there are potholes, stone obstacles, speed bumps, etc., which affect the engine torque output control, clutch pressure control, etc. when parking automatically.

[0026] Based on the above different usage scenarios, the embodiments of the present disclosure adjust the current shifting strategy to adapt to the complex and changeable usage requirements under intelligence, ensuring that the shifting can be quickly responded to and the active safety of shifting is guaranteed, improving the smoothness and coherence of the automatic parking driving.

[0027] Figure 1 It is a schematic flow chart of a shifting method based on automatic parking assistance provided by an embodiment of the present disclosure. This method can be executed by a shifting device based on automatic parking assistance, where the device can be implemented by software and / or hardware and is generally integrated in an electronic device. As Figure 1 shown, this method includes: Step 101: Detect whether the vehicle meets the enabling conditions for the automatic parking shift strategy. When the vehicle meets the enabling conditions for the automatic parking shift strategy, detect whether the target shift conditions are met.

[0028] In the embodiments of the present disclosure, the automatic parking shift strategy is to determine whether the current vehicle is in the automatic parking function, whether the current communications of APA, ECU (Electronic Control Unit), TCU (Transmission Control Unit), etc. are normal, and to ensure the current driving road conditions, etc.

[0029] In the embodiments of the present disclosure, first, it is determined whether the enabling condition "flg_APASftActiveEnb" for the automatic parking shift strategy of the vehicle needs to be activated, that is, to detect whether the shift strategy enabling calibration quantity is a preset calibration quantity. Specifically, the shift strategy enabling calibration quantity "flg_APASftEnb" dedicated to automatic parking is set for platform software processing. Whether it matches a vehicle with automatic parking or not, this platform software can be used. Whether to turn on this function or whether the currently matched vehicle has this function; or it is for the need of testing according to the needs of calibration engineers during the calibration test, to turn off or on this function. That is to say, it is determined whether the shift strategy enabling calibration quantity is a preset calibration quantity through the preset calibration quantity to indicate whether to enable the automatic parking shift strategy.

[0030] Further, it is detected whether the gear shift enabling flag bit is a preset flag bit. Specifically, flag bits "flg_APASftEnb_DR" and "flg_APASftEnb_RD" are set for the shift from the forward gear to the reverse gear (DR, Drive Reverse) or from the reverse gear to the forward gear (RD, Reverse Drive); for example, the DR gear shift does not need to trigger the fast shift strategy because when shifting from the forward gear to the reverse gear, due to the visual impact on the driver when reversing, if the shift is too fast, it is easy to cause an accident when the driver is not paying attention. Therefore, this flag bit can be set according to the customer's needs or the actual situation of the vehicle to determine whether to turn it on.

[0031] Further, it is detected whether the automatic parking system activation identifier is a preset identifier. Specifically, when the automatic parking system works normally, the current automatic parking system activation identifier is a preset identifier, that is, "flg_APASysActive = 1". This indicates that the driver has triggered the automatic parking function through a button, and the vehicle assisted driving system drives according to the set route in real-time recognition, including turning, moving forward or reversing the vehicle, until the vehicle safely stops in the parking space, and then the automatic parking function stops working.

[0032] Further, detect whether the information interaction between multiple controllers is normal. Specifically, the information interaction between current controllers such as APA, ECU, and TCU is normal, without communication faults, etc., further ensuring that the information sent by the current controllers is correct and real-time.

[0033] Further, detect whether the communication of the virtual throttle signal, the actual engine torque, and the demanded torque signal is normal. Specifically, the communication of the virtual throttle signal, the actual engine torque, and the demanded torque signal required for the current TCU to shift gears is normal, without communication faults, and the sent values are normal. Ensure that the input shaft torque of the transmission mechanism calculated based on the virtual throttle signal and the engine torque during gear shifting is normal, so that the clutch during gear shifting or at the start of driving can be engaged with the correct oil pressure, preventing problems such as slipping and burning of the clutch caused by insufficient clutch engagement pressure.

[0034] In the embodiment of the present disclosure, when the shift strategy enable calibration value is a preset calibration value, the gear shift enable flag bit based on the gear position change is a preset flag bit, whether the automatic parking system activation identifier is a preset identifier, the information interaction between multiple controllers is normal, and the communication of the virtual throttle signal, the actual engine torque, and the demanded torque signal is normal, it is determined that the automatic parking shift strategy trigger enable condition is satisfied.

[0035] Thus, based on the activation enable trigger of the shift strategy for automatic parking, that is, "flg_APASftActiveEnb = 1", the purpose is to ensure that under the enable of automatic parking, each module is in the correct working state, ensuring that the transmission mechanism can be enabled based on the shift strategy for automatic parking, normally triggering the active safety shift strategy and the quick shift strategy. In the embodiment of the present disclosure, the target shift condition refers to the quick shift condition.

[0036] Further, detect whether the target shift condition is satisfied, including: determining whether the current gear is a forward gear and whether the slope is greater than the preset negative slope percentage value; or, determining whether the current gear is a reverse gear and whether the slope is less than the preset slope percentage value; when the current gear is a forward gear, determining whether the target gear requested by the vehicle is a reverse gear; or, when the current gear is a reverse gear, determining whether the target gear requested by the vehicle is a forward gear; detecting whether the virtual throttle sent by the current engine or the hybrid vehicle controller changes from a power throttle to zero; detecting whether the requested torque of the current engine or the hybrid vehicle controller is greater than the preset torque, and detecting the tire slip information of the vehicle within a preset time period.

[0037] Specifically, based on the activation enabling of the previous automatic parking gear shifting strategy, "flg_APASftActiveEnb = 1" is triggered, that is, the enabling condition for the automatic parking gear shifting strategy is met. Further, it is determined whether the current gear is the forward gear and whether the slope is greater than the preset negative percentage of the slope; or, it is determined whether the current gear is the reverse gear and whether the slope is greater than the preset percentage of the slope.

[0038] Specifically, when the current slope and gear meet the automatic parking gear shifting strategy, the current gear "st_CurrGear" is in the D gear, and when the slope is greater than the preset negative percentage of the slope, such as -8%, rapid gear shifting is allowed; if the slope is small in the current D gear and the vehicle is on a large downhill slope (such as a -20% slope), and if there is a forward vehicle speed and the vehicle has not come to a complete stop at this time, or if the braking system does not have sufficient braking force to stop the vehicle, the transmission mechanism shifts gears, quickly reduces the pressure of the clutch in the D gear to 0, and starts to fill and close the second clutch (OC (Over Change) clutch, wet dual clutch) in the R gear. When the power transmission chain has not been fully engaged and the braking force may be insufficient, the vehicle is likely to roll backward when going downhill, posing a safety risk. In this working condition, rapid gear shifting cannot be carried out to meet the rapid gear shifting under the automatic parking function and improve the gear shifting response of the transmission mechanism.

[0039] Similarly, if the current gear "st_CurrGear" is in the R gear and the slope is less than the preset percentage of the slope, such as 8%, rapid gear shifting is allowed; to improve the gear shifting speed of the transmission mechanism, enhance the driving coherence and smoothness of automatic parking, and also improve the drivability under the function of matching automatic parking. Similarly, if the gear shifting slope is large at this time and the current driving gear is in the reverse gear, there may be a risk of the vehicle rolling backward under the rapid gear shifting logic.

[0040] Further, when the current gear is the forward gear, it is determined whether the target gear requested by the vehicle is the reverse gear; or, when the current gear is the reverse gear, it is determined whether the target gear requested by the vehicle is the forward gear. Specifically, based on the change in the parking route of the automatic parking system, the target gear "st_APAGearReq" requested for the driving direction change. If the requested gear for the driving direction of automatic parking changes, for example, currently in the D gear and the request becomes "st_APAGearReq = R"; or currently in the R gear and the request becomes "st_APAGearReq = D".

[0041] Further, it is detected whether the virtual throttle issued by the current engine or the hybrid vehicle controller changes from a powered throttle to zero. Specifically, after the parking route of the automatic parking system changes, the virtual throttle issued by the current engine or the HCU (Hybrid Control Unit) changes from a powered throttle (non-zero) to zero. This indicates that after the automatic parking system issues a gear change requirement based on route planning, the throttle is changed to zero to start decelerating.

[0042] Further, it is detected whether the requested torque of the current engine or the hybrid vehicle controller is greater than the preset torque and the tire slip information of the vehicle within a preset time period. Specifically, before there is a reversing requirement based on the automatic parking system, it is necessary to detect whether any of the following situations have occurred. Only when the following two situations do not occur can it be determined that the target shift condition is met. First, the requested torque of the engine or the HCU is relatively large. Here, the preset torque is the driving torque on a normal paved road surface plus a certain value, such as 100 Nm. If there is no large slope on the road surface, such a problem will not occur on a normal paved and flat road surface. Unless there are speed bumps, stones, branches, potholes, or mounds, muddy road conditions, etc. in the current automatic parking route trajectory. In such driving road conditions, if you want to drive smoothly, the vehicle speed will increase a certain torque through recognition. If the fast shifting strategy is continued in such road conditions, it may be impossible to keep the wheels in the original driving state. Second, the situation of continuous tire slip is detected, indicating that there is a certain degree of uncontrollability in the current road conditions. For example, the current road surface may have snow, the current road surface is relatively slippery, etc. Therefore, the fast shifting strategy will not be executed to ensure driving safety; among them, the preset time period is selected and set according to actual application needs.

[0043] Thus, the target shift condition is met, that is, the fast shift state based on automatic parking activates "flg_APASftActive = 1", allowing the gear request issued due to the change in the driving trajectory of automatic parking at this time to perform fast shifting, improving the driving smoothness and driving coherence of automatic parking, as well as increasing the parking speed of automatic parking and shortening the time.

[0044] Step 102: When the target shift condition is met, respond to the shift command, obtain that the virtual throttle is zero, reduce the command oil pressure of the first clutch to zero according to the preset step oil pressure, and control multiple control stages of the second clutch according to the preset control strategy.

[0045] Specifically, when a general RD or DR shift is performed, there are two clutches for oil pressure switching. One clutch for oil discharge is the first clutch, the OG clutch (Over-drive Gear Change clutch), and the other clutch for oil filling and engagement is the second clutch, the OC clutch. When the automatic parking system has a reversing requirement and issues a gear shift, the fast gear shift strategy starts to be executed when the virtual throttle is 0. At this time, through road condition detection and judgment, the current road condition is relatively flat, and it is relatively safe to shift gears without braking or at a certain vehicle speed.

[0046] Specifically, when the fast gear shift strategy is executed, the command oil pressure of the OG clutch is directly discharged to 0 bar at a preset step length, such as 10 ms of oil pressure.

[0047] Furthermore, multiple control stages of the second clutch are controlled according to a preset control strategy. Specifically, the first control stage, the second control stage, and the third control stage of the second clutch are obtained; the control time of the first control stage is determined based on the current virtual throttle and vehicle speed of the vehicle, and the first control stage is completed according to the control time and enters the second control stage. The oil pressure change rate is obtained based on the current vehicle speed of the vehicle, and after the second control stage is executed according to the oil pressure change rate, it enters the third control stage; the pressure increase control value is obtained based on the current virtual throttle and vehicle speed of the vehicle, and the third control stage is executed based on the pressure increase control value, and the exit time of the third control stage is determined according to the control pressure value and the current virtual throttle, and the third control stage is exited at the exit time.

[0048] Specifically, for the control of oil filling and engagement of the OC clutch, the normal oil pressure engagement control includes control stages such as OpenWait (opening wait), oil filling, KP (Kiss Point, the key stage in the process of the clutch from complete separation to starting to transmit torque), SpdStart (pedal start), SpdChg (pedal change), SpdEnd (pedal end), SpdSyn (pedal synchronization), Lock, etc., and the control is relatively fine. In order to perform gear shifting quickly, the control stages of the OC clutch in the embodiments of the present disclosure are streamlined into the following stages: oil filling, KP (the first control stage), SpdStart (the second control stage), SpdSyn (the third control stage), Lock.

[0049] Specifically, based on the current control, the control methods for each stage that need to be changed according to the automatic parking rapid gear shift requirements are as follows: The OpenWait stage is mainly used for a waiting process before the OC clutch of the target gear needs to be engaged after the OG clutch of the previous gear has unloaded oil. The purpose is to prevent the current OG clutch from affecting the control of the OC clutch because the oil unloading process may be relatively slow. However, in the rapid gear shift logic, the OG clutch reduces the command oil pressure to 0 bar at a preset step (such as 10 ms), which improves the oil unloading smoothness of the OG clutch. Therefore, OpenWait can mask this stage by marking the time as 0 according to the requirements.

[0050] Specifically, in the first control stage, that is, the KP stage, according to the driving emergency level of the whole vehicle based on the current virtual throttle and vehicle speed, which is manifested by the emergency level of the whole vehicle's reversing during current automatic parking, to determine the holding time of the current KP stage. If the throttle is larger and the vehicle speed is higher, the holding time of the KP stage is shorter, and it quickly exits to ensure that the pressure of the current OC clutch can ensure the quick tightening and engagement of the clutch, transmit torque, and prevent the clutch from slipping and burning due to insufficient clutch pressure and inability to quickly engage. See Table 1 for the control time (ms) of the KP stage for the virtual throttle and vehicle speed.

[0051] Table 1

[0052] Therefore, the control time is obtained by querying Table 1 based on the current virtual throttle and vehicle speed of the vehicle, and the first control stage is completed according to the control time.

[0053] Specifically, in the second control stage, that is, the SpdStart stage, by increasing the compensation of the pressure change rate of the oil pressure based on the vehicle speed change; because under the control of the rapid clutch action during current rapid gear shift, the vehicle speed may still be reversed, so it is very necessary to control the oil pressure based on the vehicle speed at the beginning of the SpdStart speed change. Before the automatic parking brake signal is issued, the vehicle speed can be linearly decelerated and reversed, so the preset oil pressure change rate based on the current vehicle speed (with direction) is shown in Table 2.

[0054] Table 2

[0055] Thus, according to Table 2 above, it is the compensation value of the control oil pressure change rate based on the vehicle speed, that is, the oil pressure rise is slowed down on the basis of the original change rate.

[0056] It should be noted that for the original control stage, such as the SpdChg stage which has a relatively long time and the oil pressure in this stage can be replaced by other means. In order to shorten the shift time, the pressure control of the SpdStart and SpdSyn stages is directly used for transition and replacement. Thus, the shift time can be saved by about 500 ms.

[0057] It should be noted that the oil pressure control in the SpdEnd stage is similar to the control method of SpdSyn. This stage of control can be directly cancelled and replaced by SpdSyn, which can save the shift time by about 100 - 200 ms.

[0058] Specifically, in the third control stage, that is, the pressure control method in the SpdSyn stage, on the basis of the original control, a pressure control method jointly controlled by the virtual throttle issued by APA and the current vehicle speed is added. Also, the exit time of SpdSyn needs to be determined according to the magnitude of the command pressure value of the current clutch and the magnitude of the virtual throttle issued by APA, ensuring that the pressure of the current clutch quickly engages based on the requirements of APA, can quickly exit the SpdSyn stage, and the clutch can be directly tightened in the next step. The pressure growth control method based on the APA virtual throttle and the current vehicle speed is shown in Table 3 (bar).

[0059] Table 3

[0060] Furthermore, for the exit time of the SpdSyn stage, the virtual throttle requested by APA and the control pressure of the current clutch also need to be used to determine whether to quickly exit. The time (ms) is shown in Table 4.

[0061] Table 4

[0062] It should be noted that the above control time and control pressure are preset values, and the specific calibration values need to be determined according to the currently matched transmission or the control methods of the whole vehicle and APA.

[0063] Step 103, when the target gear of the vehicle is the forward gear and the current vehicle speed is a negative value for reverse, control the vehicle to maintain the current vehicle speed direction; or, when the target gear is the reverse gear and the current vehicle speed is a positive value for forward, multiply the current driving vehicle speed by -1 for driving until the current vehicle speed is the same as the driving direction of the target gear; or, when the vehicle speed drops to zero, switch the current gear to the target gear.

[0064] In the embodiments of the present disclosure, for the determination of the vehicle speed direction, if the current target gear is the D gear (forward gear) and the current vehicle speed is a negative value for reverse driving, the current vehicle speed direction is maintained; if the current target gear is the R gear (reverse gear) and the current vehicle speed is a positive value for forward driving, the current driving vehicle speed is multiplied by (-1). When the current vehicle speed has been changed to be consistent with the driving direction of the current target gear, or the vehicle speed is quickly reduced to 0 through braking, the pressure of the OC clutch can be quickly and normally engaged, so as to switch the current gear to the target gear.

[0065] It should be noted that the control methods in other clutch control stages remain unchanged.

[0066] The shifting scheme based on automatic parking assistance provided by the embodiments of the present disclosure detects whether the vehicle meets the enabling conditions for triggering the automatic parking shifting strategy, and when the vehicle meets the enabling conditions for triggering the automatic parking shifting strategy, it detects whether the target shifting conditions are met. When the target shifting conditions are met, in response to the shifting instruction, it obtains that the virtual throttle to be zero and reduces the command oil pressure of the first clutch to zero according to a preset step oil pressure, and controls multiple control stages of the second clutch according to a preset control strategy. When the target gear of the vehicle is the forward gear and the current vehicle speed is a negative value for reverse driving, it controls the vehicle to maintain the current vehicle speed direction; or, when the target gear is the reverse gear and the current vehicle speed is a positive value for forward driving, it multiplies the current driving vehicle speed by negative one to drive until the current vehicle speed is the same as the driving direction of the target gear; or, when the vehicle speed is reduced to zero, it switches the current gear to the target gear. By adopting the above technical solution, by identifying the current environmental conditions, it is judged whether to perform a quick shift, which saves the shifting time and improves the driving smoothness and driving coherence during automatic parking.

[0067] In some embodiments, the method further includes: during the target shifting process, obtaining that the target shifting progress is greater than a preset progress percentage; or, when the control stage of the second clutch is in the target control stage, sending a driving permission request to the automatic parking system.

[0068] Specifically, when implementing the fast shifting strategy, during the shifting process, when the shifting progress is greater than a preset progress percentage, such as 80%, or when the control stage of the current OC clutch is in the target control stage, such as SpdEnd and above, a request for allowing driving is sent to the automatic parking system.

[0069] In some embodiments, the method further includes: when the target shifting conditions are not met, after the automatic parking system changes the virtual throttle target value to zero, the brake switch is set to one.

[0070] Specifically, if the above conditions for rapid gear shifting based on automatic parking are not met, after the automatic parking system changes the virtual throttle target value to 0 and sets the brake switch to 1, or when the current brake depth is greater than 60%, gear shifting can be performed after the throttle and brake meet the conditions. Regardless of whether the current road condition has a large slope or the current wheels are running on an uneven road surface such as a speed bump, there will be no safety risk caused by vehicle rollback.

[0071] In some embodiments, the method further includes: when the vehicle does not meet the enabling conditions for triggering the automatic parking gear shifting strategy, during the safe gear shifting process, obtaining that the safe gear shifting process is greater than a preset process percentage; or, when the control stage of the second clutch is in the target control stage, sending a request to allow driving to the automatic parking system.

[0072] Specifically, when the rapid gear shifting function based on automatic parking is not activated, i.e., "flg_APASftActive = 0", and during the current safe gear shifting process, the gear shifting process is greater than a preset process percentage such as 80%, or when the control stage of the current OC clutch is in the target control stage such as SpdSyn and above, a gear-based request to allow driving can be sent to the automatic parking system. After receiving the current request sent by the TCU, the automatic parking system starts to continue the parking drive according to the driving trajectory.

[0073] Therefore, considering safety and saving gear shifting time, it is not necessary to wait until the current gear has been fully switched to the target gear to allow driving. Because when the gear shifting process is greater than a preset process percentage such as 80%, it indicates that based on the current actual speed ratio and the speed ratio relatively close to the target gear, and the speed change has basically been completed, meeting the requirements for safe driving. Or when the control stage of the current OC clutch is above SpdSyn, at this stage or above, the clutch pressure is basically above 8 bar, and the clutch can fully transmit the low torque and low speed clutch torque under the current automatic parking.

[0074] Exemplarily, such as Figure 2As shown in the figure, it includes: Step 2.1: Determine whether it is in the automatic parking condition and whether there is a gear shifting requirement for reversing, that is, detect whether the vehicle meets the enabling conditions for triggering the automatic parking gear shifting strategy; if not, continue to execute the judgment in Step 2.1; if so, execute Step 2.2: Determine whether the current road condition, virtual throttle, etc. meet the requirements for rapid gear shifting, that is, detect whether the target gear shifting conditions are met; if so, execute Step 2.3: Perform rapid influence control on the OG clutch and OC clutch for rapid gear shifting; if not, execute Step 2.4: Execute the active safety gear shifting strategy, that is, the normal gear shifting strategy; after Step 2.3, execute Step 2.5: The automatic parking performs parking according to the allowable driving request of the TCU; Step 2.6: Determine whether the parking is completed; if so, end; if not, continue to execute the judgment in Step 2.1.

[0075] Specifically, based on the gear shifting requirements of automatic parking, the TCU can perform rapid gear shifting while ensuring the safety of the whole vehicle. By identifying the current road condition, such as whether there is a large slope, whether there is a speed bump, etc., it is judged whether to perform rapid gear shifting, which saves the gear shifting time and improves the driving smoothness and driving coherence during automatic parking.

[0076] Therefore, according to the reversing requirements of the driving trajectory of the current automatic parking and the detection of the current driving road condition of the whole vehicle, it is judged whether rapid gear shifting is needed. Under the rapid gear shifting logic, the gear shifting time is saved, the driving smoothness and driving coherence during automatic parking are improved, and rapid gear shifting and reversing are performed while ensuring the gear shifting quality.

[0077] In addition, even when the slope of the current road condition is large, there are speed bumps, stones, potholed roads, mounds, etc. on the driving road surface, or when driving safety is affected due to snow or slippery road surface, the driving safety in the current gear shifting situation will not trigger the rapid gear shifting strategy. Only when the whole vehicle is braked during the current automatic parking can gear shifting be performed. And in order to prevent the time from being too long in this situation, according to the current gear shifting process and the gear shifting stage of the OC clutch, a request for allowing driving is sent to the APA in advance, which further improves the driving safety in non-smooth road conditions and shortens the gear shifting waiting time, improving the driving quality.

[0078] Figure 3 The figure is a schematic structural diagram of a gear shifting device based on automatic parking assistance provided by an embodiment of the present disclosure. This device can be implemented by software and / or hardware and is generally integrated in an electronic device. As Figure 3 shown, applied to a vehicle, the device includes: A first detection module 301, configured to detect whether the vehicle meets the enabling conditions for triggering the automatic parking gear shifting strategy.

[0079] The second detection module 302 is configured to detect whether the target gear shifting condition is met when the vehicle meets the automatic parking gear shifting strategy triggering enabling condition.

[0080] The first control module 303 is configured to, when the target gear shifting condition is met, respond to the gear shifting instruction, obtain that the virtual throttle is zero, and reduce the command oil pressure of the first clutch to zero in accordance with a preset step oil pressure.

[0081] The second control module 304 is configured to control multiple control stages of the second clutch according to a preset control strategy.

[0082] The processing module 305 is configured to, when the target gear of the vehicle is the forward gear and the current vehicle speed is a negative value for reverse driving, control the vehicle to maintain the current vehicle speed direction; or, when the target gear is the reverse gear and the current vehicle speed is a positive value for forward driving, multiply the current driving vehicle speed by negative one and drive until the current vehicle speed is the same as the driving direction of the target gear; or, when the vehicle speed is reduced to zero, switch the current gear to the target gear.

[0083] Optionally, the first detection module 301 is specifically configured to: detect whether the gear shifting strategy enabling calibration quantity is a preset calibration quantity; detect whether the gear shifting enabling flag bit is a preset flag bit; detect whether the automatic parking system activation identifier is a preset identifier; detect whether the information interaction between multiple controllers is normal; detect whether the virtual throttle signal, the actual engine torque, and the demand torque signal communication are normal.

[0084] Optionally, the second detection module 302 is specifically configured to: determine that the automatic parking gear shifting strategy triggering enabling condition is met when the gear shifting strategy enabling calibration quantity is the preset calibration quantity, the gear shifting enabling flag bit is the preset flag bit, the automatic parking system activation identifier is the preset identifier, the information interaction between multiple controllers is normal, and the virtual throttle signal, the actual engine torque, and the demand torque signal communication are normal; determine whether the current gear is the forward gear and whether the slope is greater than a preset negative slope percentage value; or, determine whether the current gear is the reverse gear and whether the slope is less than a preset slope percentage value; when the current gear is the forward gear, determine whether the target gear requested by the vehicle is the reverse gear; or, when the current gear is the reverse gear, determine whether the target gear requested by the vehicle is the forward gear; detect whether the virtual throttle issued by the current engine or the hybrid vehicle controller changes from a power throttle to zero; detect whether the requested torque of the current engine or the hybrid vehicle controller is greater than a preset torque, and detect the tire slip information of the vehicle within a preset time period.

[0085] Optionally, the second control module 304 is specifically configured to: obtain the first control stage, the second control stage, and the third control stage of the second clutch; determine the control time of the first control stage based on the current virtual throttle and vehicle speed of the vehicle, and complete the first control stage according to the control time and enter the second control stage, obtain the oil pressure change rate based on the current vehicle speed of the vehicle, and execute the second control stage according to the oil pressure change rate and then enter the third control stage; obtain the pressure increase control value based on the current virtual throttle and vehicle speed of the vehicle, and execute the third control stage based on the pressure increase control value, and determine the exit time of the third control stage according to the control pressure value and the current virtual throttle, and exit the third control stage at the exit time.

[0086] Optionally, the device further includes: a third control module, configured to obtain that a target shift process is greater than a preset process percentage during a target shift process; or, if the control stage of the second clutch is in a target control stage, send a permission-to-drive request to the automatic parking system.

[0087] Optionally, the device further includes: a fourth control module, configured to, when the target shift condition is not met, after the automatic parking system changes the virtual throttle target value to zero, set the brake switch to one.

[0088] Optionally, the device further includes: a fifth control module, configured to, when the vehicle does not meet the enabling condition for triggering the automatic parking shift strategy, obtain that a safe shift process is greater than a preset process percentage during a safe shift process; or, if the control stage of the second clutch is in a target control stage, send a permission-to-drive request to the automatic parking system.

[0089] The shift device based on automatic parking assistance provided by the embodiments of the present disclosure can execute the shift method based on automatic parking assistance provided by any embodiment of the present disclosure, and has corresponding functional modules and beneficial effects for executing the method.

[0090] The embodiments of the present disclosure also provide a computer program product, including a computer program / instructions, which when executed by a processor implement the shift method based on automatic parking assistance provided by any embodiment of the present disclosure.

[0091] Figure 4 It is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. Specifically refer to the following Figure 4, which shows a schematic structural diagram suitable for implementing the electronic device 400 in the embodiments of the present disclosure. The electronic device 400 in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The illustrated electronic device is merely an example and should not impose any limitations on the functions and usage scope of the embodiments of the present disclosure.

[0092] As Figure 4 shown, the electronic device 400 may include a processing device 401 (such as a central processing unit, a graphics processing unit, etc.), which may perform various appropriate actions and processes according to the program stored in the ROM 402 (ROM is a read-only memory) or the program loaded from the storage device 408 into the RAM 403 (RAM is a random access memory). In the RAM 403, various programs and data required for the operation of the electronic device 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other through a bus 404. The I / O interface 405 (I / O is input / output) is also connected to the bus 404.

[0093] Generally, the following devices may be connected to the I / O interface 405: an input device 406 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 407 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 408 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 409. The communication device 409 may allow the electronic device 400 to communicate with other devices wirelessly or wiredly to exchange data. Although Figure 4 the illustrated electronic device 400 has various devices, it should be understood that it is not required to implement or have all the illustrated devices. Instead, more or fewer devices may be implemented or had.

[0094] Particularly, according to the embodiments of the present disclosure, the process described above with reference to the flowchart may be implemented as a computer software program. For example, the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program codes for performing the methods shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from the network through the communication device 409, or installed from the storage device 408, or installed from the ROM 402. When the computer program is executed by the processing device 401, the above-mentioned functions defined in the shift method based on automatic parking assistance in the embodiments of the present disclosure are executed.

[0095] It should be noted that the above-mentioned computer-readable medium in the present disclosure may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable signal medium may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0096] In some embodiments, the client and the server may communicate using any currently known or future-developed network protocol such as HTTP (Hyper Text Transfer Protocol), and may be interconnected with digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include local area networks ("LANs"), wide area networks ("WANs"), the Internet (e.g., the Internet), and end-to-end networks (e.g., ad hoc end-to-end networks), as well as any currently known or future-developed networks.

[0097] The above-mentioned computer-readable medium may be included in the above-mentioned electronic device; or it may exist separately and not be assembled into the electronic device.

[0098] The above computer-readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to: detect whether the vehicle meets the enabling condition for triggering the automatic parking shift strategy, and when the vehicle meets the enabling condition for triggering the automatic parking shift strategy, detect whether the target shift condition is met. When the target shift condition is met, respond to the shift instruction, obtain that the virtual throttle to be zero and reduce the command oil pressure of the first clutch to zero in accordance with a preset step oil pressure, and control multiple control stages of the second clutch in accordance with a preset control strategy. When the target gear of the vehicle is the forward gear and the current vehicle speed is a negative value for reverse driving, control the vehicle to maintain the current vehicle speed and direction; or, when the target gear is the reverse gear and the current vehicle speed is a positive value for forward driving, multiply the current driving vehicle speed by -1 for driving until the current vehicle speed is in the same driving direction as the target gear; or, when the vehicle speed is reduced to zero, switch the current gear to the target gear.

[0099] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages or combinations thereof. The programming languages include, but are not limited to, object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partially on the user's computer, execute as a stand-alone software package, execute partially on the user's computer and partially on a remote computer, or execute entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0100] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0101] The units involved in the embodiments of the present disclosure can be implemented in software or in hardware. In some cases, the name of a unit does not constitute a limitation on the unit itself.

[0102] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. By way of example and without limitation, the types of hardware logic components that can be used include: Field Programmable Gate Arrays (FPGA), Application Specific Integrated Circuits (ASIC), Application Specific Standard Products (ASSP), System on a Chip (SOC), Complex Programmable Logic Devices (CPLD), and the like.

[0103] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM or Flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0104] According to one or more embodiments of the present disclosure, the present disclosure provides an electronic device, including: a processor; a memory for storing executable instructions of the processor; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement any one of the shift methods based on automatic parking assistance provided by the present disclosure.

[0105] According to one or more embodiments of the present disclosure, the present disclosure provides a computer-readable storage medium storing a computer program for executing any one of the shift methods based on automatic parking assistance provided by the present disclosure.

[0106] The above description is only a preferred embodiment of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present disclosure.

[0107] In addition, although the operations are depicted in a particular order, this should not be construed as requiring that the operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features described in the context of separate embodiments may also be implemented combinatorially in a single embodiment. Conversely, the various features described in the context of a single embodiment may also be implemented separately or in any suitable sub-combination in multiple embodiments.

[0108] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. On the contrary, the specific features and acts described above are merely example forms for implementing the claims.

Claims

1. A shifting method based on automatic parking assist, characterized in that, Applied to a vehicle, the method includes: Detect whether the vehicle meets the enabling condition for triggering the automatic parking shift strategy, and when the vehicle meets the enabling condition for triggering the automatic parking shift strategy, detect whether the target shift condition is met; When the target shift condition is met, in response to the shift command, obtain that the virtual throttle is zero and reduce the command oil pressure of the first clutch to zero in accordance with a preset step oil pressure, and control multiple control stages of the second clutch in accordance with a preset control strategy; When the target gear of the vehicle is the forward gear and the current vehicle speed is a negative value for reverse, control the vehicle to maintain the current vehicle speed direction; or, when the target gear is the reverse gear and the current vehicle speed is a positive value for forward, multiply the current driving vehicle speed by negative one to drive until the current vehicle speed is the same as the driving direction of the target gear; or, when the vehicle speed is reduced to zero, switch the current gear to the target gear.

2. The shift method based on automatic parking assistance according to claim 1, wherein The detecting whether the vehicle meets the enabling condition for triggering the automatic parking shift strategy includes: Detect whether the shift strategy enabling calibration quantity is a preset calibration quantity; Detect whether the gear shift enabling flag bit based on is a preset flag bit; Detect whether the automatic parking system activation identifier is a preset identifier; Detect whether the information interaction between multiple controllers is normal; Detect whether the communication of the virtual throttle signal, the actual engine torque, and the demand torque signal is normal.

3. The shift method based on automatic parking assistance according to claim 2, wherein, The detecting whether the target shift condition is met when the vehicle meets the enabling condition for triggering the automatic parking shift strategy includes: When the shift strategy enabling calibration quantity is the preset calibration quantity, the gear shift enabling flag bit based on is the preset flag bit, whether the automatic parking system activation identifier is the preset identifier, the information interaction between multiple controllers is normal, and the communication of the virtual throttle signal, the actual engine torque, and the demand torque signal is normal, it is determined that the enabling condition for triggering the automatic parking shift strategy is met; Judge whether the current gear is the forward gear and whether the slope is greater than the preset negative slope percentage; or, judge whether the current gear is the reverse gear and whether the slope is less than the preset slope percentage; When the current gear is the forward gear, judge whether the target gear requested by the vehicle is the reverse gear; or, when the current gear is the reverse gear, judge whether the target gear requested by the vehicle is the forward gear; Detect whether the virtual throttle issued by the current engine or the hybrid vehicle controller changes from a power throttle to zero; Detect whether the requested torque of the current engine or the hybrid vehicle controller is greater than the preset torque and detect the tire slip information of the vehicle within a preset time period.

4. The shift method based on automatic parking assistance according to claim 1, wherein The controlling multiple control stages of the second clutch in accordance with a preset control strategy includes: Obtain the first control stage, the second control stage, and the third control stage of the second clutch; Determine the control time of the first control stage based on the current virtual throttle and vehicle speed of the vehicle, complete the first control stage according to the control time, and enter the second control stage. Obtain the oil pressure change rate based on the current vehicle speed of the vehicle, and execute the second control stage according to the oil pressure change rate and then enter the third control stage; Obtain the pressure increase control value based on the current virtual throttle and vehicle speed of the vehicle, execute the third control stage based on the pressure increase control value, and determine the exit time of the third control stage according to the control pressure value and the current virtual throttle, and exit the third control stage at the exit time.

5. The shift method based on automatic parking assistance according to claim 1, characterized in that, The method further includes: During the target gear shift process, obtain that the target gear shift process is greater than the preset process percentage; or, if the control stage of the second clutch is in the target control stage, send a permission to drive request to the automatic parking system.

6. The shift method based on automatic parking assistance according to claim 1, wherein The method further includes: When the target gear shift condition is not met, after the automatic parking system changes the virtual throttle target value to zero, set the brake switch to one.

7. The shift method based on automatic parking assistance according to claim 1, wherein The method further includes: When the vehicle does not meet the enabling condition for triggering the automatic parking gear shift strategy, during the safe gear shift process, obtain that the safe gear shift process is greater than the preset process percentage; or, if the control stage of the second clutch is in the target control stage, send a permission to drive request to the automatic parking system.

8. A shift device based on automatic parking assistance, characterized in that, Applied to a vehicle, the device includes: A first detection module, configured to detect whether the vehicle meets the enabling condition for triggering the automatic parking gear shift strategy; A second detection module, configured to detect whether the target gear shift condition is met when the vehicle meets the enabling condition for triggering the automatic parking gear shift strategy; A first control module, configured to, when the target gear shift condition is met, respond to the gear shift instruction, obtain that the virtual throttle to be zero and reduce the command oil pressure of the first clutch to zero in accordance with a preset step oil pressure; A second control module, configured to control multiple control stages of the second clutch according to a preset control strategy; A processing module, configured to, when the target gear of the vehicle is the forward gear and the current vehicle speed is a negative value for reverse driving, control the vehicle to maintain the current vehicle speed direction; or, when the target gear is the reverse gear and the current vehicle speed is a positive value for forward driving, multiply the current driving vehicle speed by negative one to drive until the current vehicle speed is the same as the driving direction of the target gear; or, when the vehicle speed of the vehicle is reduced to zero, switch the current gear to the target gear.

9. An electronic device, characterized in that, The electronic device includes: A processor; A memory for storing executable instructions of the processor; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the gear shift method based on automatic parking assistance according to any one of claims 1-7 above.

10. A computer-readable storage medium, characterized in that, A storage medium stores a computer program, and the computer program is used to execute the gear shift method based on automatic parking assistance according to any one of claims 1-7 above.

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