Automatic parking control method and system and computer storage medium

Abstract

The embodiment of the invention discloses an automatic parking control method and system and a computer storage medium. The automatic parking control method comprises the steps that the slope sliding speed threshold value of an automobile and the maximum slope sliding gradient threshold value of the automobile are obtained; performing graded monitoring on the real-time speed of the automobile; if the real-time vehicle speed reaches a slope sliding vehicle speed threshold value, requesting to activate an AVH system; whether the real-time gradient of the automobile reaches the maximum gradient threshold value or not is judged; and if the real-time gradient exceeds the maximum gradient threshold value, activating the AVH system when the AVH system switch is turned on and the automobile system has no fault.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of automobile braking technology, and more particularly to an automatic parking control method, system, and computer storage medium. Background Art

[0002] Automatic Vehicle Hold (AVH) is an intelligent driver assistance system designed to simplify parking maneuvers and enhance driving convenience. When activated, it automatically applies the brakes to keep the vehicle stationary at traffic lights or during brief stops, eliminating the need to manually apply the parking brake or electronic parking brake, thus alleviating the driver's workload.

[0003] The Automatic Vehicle Hold (AVH) system is a comfort feature that uses hydraulic braking to hold the vehicle stationary for a relatively long time on a slope or ground surface, then automatically releases the brakes upon detecting a start signal. This is very useful for drivers, especially those with automatic transmissions, making driving easier when stopped at red lights, starting on slopes, or in traffic jams. However, on steep slopes, the vehicle's lack of creeping power can cause it to roll down the slope. Summary of the Invention

[0004] In view of this, the embodiments of this specification provide an automatic parking control method, system and computer storage medium for solving the problem in the prior art of insufficient creeping force of the vehicle causing the vehicle to roll down a slope.

[0005] The embodiments of this specification adopt the following technical solutions:

[0006] The present invention provides an automatic parking control method, including:

[0007] Obtain the vehicle's slope speed threshold and the vehicle's maximum slope threshold;

[0008] Conduct graded monitoring of the real-time speed of vehicles;

[0009] If the real-time vehicle speed reaches the hill-slip speed threshold, requesting activation of the AVH system;

[0010] Determining whether the real-time slope of the vehicle reaches the maximum slope threshold;

[0011] If the real-time slope exceeds the maximum slope threshold, the AVH system is activated when the AVH system switch is turned on and there is no fault in the vehicle system.

[0012] The embodiment of this specification also provides an automatic parking control system, comprising:

[0013] An acquisition module is used to obtain a vehicle speed threshold and a maximum slope threshold for the vehicle to slide down a slope;

[0014] The monitoring module monitors the real-time speed of the car in different levels;

[0015] a request module, requesting activation of the AVH system if the real-time vehicle speed reaches a hill-slip speed threshold;

[0016] A judgment module, for judging whether the real-time slope of the vehicle reaches the maximum slope threshold;

[0017] The activation module activates the AVH system if the real-time slope exceeds the maximum slope threshold and the AVH system switch is turned on and there is no fault in the vehicle system.

[0018] The embodiments of this specification also provide a computer storage medium including a program for use in conjunction with an electronic device, the program being executable by a processor to perform the following steps:

[0019] Obtain the vehicle's slope speed threshold and the vehicle's maximum slope threshold;

[0020] Conduct graded monitoring of the real-time speed of vehicles;

[0021] If the real-time vehicle speed reaches the hill-slip speed threshold, requesting activation of the AVH system;

[0022] Determining whether the real-time slope of the vehicle reaches the maximum slope threshold;

[0023] If the real-time slope exceeds the maximum slope threshold, the AVH system is activated when the AVH system switch is turned on and there is no fault in the vehicle system.

[0024] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0025] By monitoring the real-time speed of the vehicle in stages, when the real-time speed reaches the speed threshold for rolling down a slope, it indicates that the vehicle may roll down a slope. In this case, the AVH system is requested to be activated, and further judgment is made as to whether the real-time slope of the vehicle reaches the maximum slope threshold for rolling down a slope. If the real-time slope exceeds the maximum slope threshold, the AVH system is activated when the AVH system switch is on and there is no fault in the vehicle system.

[0026] In this way, by actively detecting whether the car is rolling down a slope and activating the AVH system, the risk of rolling down a slope in a large slope scenario can be avoided without the driver stepping on the brake pedal, simplifying the operation process. Through the joint judgment of the car's real-time speed and real-time slope, the car's full-scenario rolling downhill risk can be covered. The logic is reasonable, which effectively improves the safety performance of the car's driving and optimizes the user's driving comfort to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide a further understanding of the embodiments of this specification and constitute a part of the embodiments of this specification. The illustrative embodiments and descriptions of this specification are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0028] Figure 1 A flowchart of an automatic parking control method provided in an embodiment of this specification;

[0029] Figure 2 A schematic diagram of a process flow for hierarchical monitoring of vehicle speed corresponding to an automatic parking control method provided in an embodiment of this specification;

[0030] Figure 3 Another schematic diagram of a process for hierarchical monitoring of vehicle speed corresponding to an automatic parking control method provided in an embodiment of this specification;

[0031] Figure 4 A schematic diagram of a calculation flow for a vehicle rolling slope threshold corresponding to an automatic parking control method provided in an embodiment of this specification;

[0032] Figure 5 A schematic diagram of an optimized logic of an AVH system state machine corresponding to an automatic parking control method provided in an embodiment of this specification;

[0033] Figure 6 A schematic diagram of the gear position-slope direction matching control corresponding to an automatic parking control method provided in an embodiment of this specification;

[0034] Figure 7 A schematic structural diagram of an automatic parking control system provided in an embodiment of this specification;

[0035] Figure 8 A schematic diagram of the structure of a computer storage medium corresponding to an automatic parking control method provided in an embodiment of this specification. DETAILED DESCRIPTION

[0036] Currently, the AVH system's hill-roll prevention function only activates when the brake pedal is depressed. If the vehicle begins to roll, the system will automatically boost the pressure. This situation affects driving comfort by preventing the AVH system from activating when the vehicle is stationary and only activating when rolling.

[0037] On steep slopes, the car's insufficient traction can easily cause it to roll down the slope. Existing AVH systems lack a slope-adaptive mechanism, resulting in delayed response on steep slopes and impacting driving safety. In this case, the present invention detects the vehicle's speed and activates the AVH system to prevent it from rolling down the slope, without the driver having to actively step on the brake pedal.

[0038] Therefore, the embodiments of this specification provide an automatic parking control method, system, and computer storage medium. By performing graded monitoring of the real-time vehicle speed of a vehicle, when the real-time vehicle speed reaches a rolling speed threshold, it indicates that the vehicle may roll down the slope. In this case, a request is made to activate the AVH system, and further determine whether the real-time slope of the vehicle reaches a maximum slope threshold for rolling down the slope. If the real-time slope exceeds the maximum slope threshold, the AVH system is activated when the AVH system switch is on and there is no fault in the vehicle system.

[0039] In this way, by actively detecting whether the car is rolling down a slope and activating the AVH system, the risk of rolling down a slope in a large slope scenario can be avoided without the driver stepping on the brake pedal, simplifying the operation process. Through the joint judgment of the car's real-time speed and real-time slope, the car's full-scenario rolling downhill risk can be covered. The logic is reasonable, which effectively improves the safety performance of the car's driving and optimizes the user's driving comfort to a certain extent.

[0040] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this specification and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0041] The technical solutions provided by the embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0042] like Figure 1 , which is a flow chart of the automatic parking control method provided in an embodiment of this specification.

[0043] In the embodiment of this specification, the automatic parking control method may specifically include the following steps:

[0044] S101: Obtaining a vehicle speed threshold for sliding down a slope and a maximum slope threshold for sliding down a slope;

[0045] S103: Performing graded monitoring of the real-time speed of the vehicle;

[0046] S105: If the real-time vehicle speed reaches the hill-slip speed threshold, requesting activation of the AVH system;

[0047] S107: Determine whether the real-time slope of the vehicle reaches the maximum slope threshold;

[0048] S109: If the real-time slope exceeds the maximum slope threshold, the AVH system is activated when the AVH system switch is turned on and there is no fault in the vehicle system.

[0049] In the embodiment of this specification, since the speed of a vehicle when rolling down a slope is different from the speed of the vehicle when driving normally, in this embodiment of this specification, the current speed of the vehicle must first be determined to determine whether the vehicle is rolling down a slope, thereby confirming whether the AVH system needs to be triggered and activated, thereby effectively avoiding the occurrence of traffic accidents caused by the AVH system being activated during normal driving.

[0050] In a specific application embodiment, for step S101, obtaining the vehicle's speed threshold for rolling downhill may include:

[0051] When the car is in motion, its speed is greater than 0.833 m / s;

[0052] When the car is about to roll down the slope, the speed of the car is greater than 0.27m / s and less than or equal to 0.55m / s;

[0053] When the car is in a rolling hill state, the speed of the car is less than or equal to 0.27 m / s, wherein the rolling hill speed threshold of the car is 0.27 m / s.

[0054] Therefore, the state of the car can be judged based on the real-time speed of the car. If the real-time speed of the car is less than or equal to 0.27m / s, it can be considered that the car has entered a slope-slip state and the AVH system needs to be triggered and activated.

[0055] In this way, by detecting the graded speed of the car, it is possible to accurately determine whether the car has entered a slope-slipping state, effectively avoiding misjudgment.

[0056] Furthermore, in step S103, the real-time speed of the vehicle is monitored in a graded manner, which may specifically include:

[0057] If the real-time speed of the vehicle is greater than the rolling hill speed threshold, the vehicle is not in a rolling hill state;

[0058] If the real-time vehicle speed of the vehicle is less than or equal to the rolling hill speed threshold, the vehicle is in a rolling hill state.

[0059] In other words, by monitoring and judging the real-time speed of the car through grades, it is possible to accurately identify whether the car is in a sliding state.

[0060] In the embodiment of this specification, for step S105, if the real-time vehicle speed reaches the rolling hill speed threshold, activation of the AVH system is requested. During this process, the AVH system is not activated because relying solely on vehicle speed to confirm activation of the AVH system is not necessarily accurate. Considering that braking can also trigger speed-based rolling hill judgment, it is also necessary to detect and judge the real-time slope of the vehicle. In other words, it is necessary to combine the real-time vehicle speed and real-time slope to determine whether to activate the AVH system. Then, it is also necessary to determine the maximum slope that will not cause the vehicle to roll down the hill based on the magnitude of the vehicle's kinetic energy.

[0061] In another application embodiment of the present specification, for step S101, obtaining the maximum slope threshold for the vehicle to roll down the slope may specifically include:

[0062] Release the brake pedal when the car is in different gears;

[0063] Make the car drive onto slopes of different gradients to obtain the car's operating status;

[0064] The slope on which the car cannot move forward by relying on creeping force is determined as the maximum slope threshold for the car to slide down the slope.

[0065] In the embodiments of this specification, the maximum slope threshold for vehicle rolling down a slope may specifically refer to the critical slope value at which the vehicle cannot maintain a stationary state or move forward using creep torque in a specific gear (e.g., D or R). The maximum slope threshold for vehicle rolling down a slope must be determined based on the vehicle's creep torque characteristics, the vehicle's gear status, and the slope detection logic.

[0066] A vehicle's "creeping force" specifically refers to its ability to remain stationary or move slowly under its own power (such as engine idle power) when the accelerator or brakes are not applied. On a slope, the vehicle's creeping force may not be sufficient to overcome the gravity caused by the gradient, causing the vehicle to slide down the slope.

[0067] The maximum slope threshold for a car to roll down a slope may specifically refer to the minimum slope at which the vehicle cannot remain stationary by relying on creeping force when the vehicle is in a certain gear (such as D gear or R gear).

[0068] Specifically, the embodiments of this specification can obtain the critical slope value through a creeping force calibration experiment.

[0069] In another application embodiment of the present specification, when a car cannot travel on a slope by relying on creeping force, determining the maximum slope threshold for the car to slide down the slope may specifically include:

[0070] Get multiple maximum slopes at which the car cannot move forward or backward by relying on creep force in different gear states;

[0071] A minimum value is selected from the plurality of maximum gradients and determined as the maximum gradient threshold.

[0072] In the embodiments of this specification, multiple maximum slopes at which the car cannot move forward or backward by relying on creeping force in various gear states are calibrated through experiments, and the minimum value is selected from them as the basis for judging whether the car is rolling down the slope in the automatic parking control method, that is, it is determined as the maximum slope threshold.

[0073] After the maximum slope threshold for the vehicle to roll down a slope in different gears is determined experimentally, further, in step S107, determining whether the real-time slope of the vehicle reaches the maximum slope threshold may specifically include:

[0074] Get the real-time gear status and slope of the car;

[0075] Determine whether the real-time slope reaches the maximum slope threshold under the real-time gear state.

[0076] In the embodiments of this specification, the gear state of the vehicle may be different, the direction of the vehicle's front may be different, and the vehicle's driving direction may be different. In this case, the representation of the real-time slope of the vehicle will also be different. Therefore, it is necessary to determine whether the real-time slope of the vehicle has reached the maximum slope threshold based on the gear state of the vehicle, and then determine whether the AVH system needs to be activated.

[0077] Specifically, when the car is in D gear, if the real-time slope of the car is greater than 0 and the front of the car is facing upward, the AVH system is allowed to be activated.

[0078] When the car is in R gear, if the real-time slope of the car is less than 0 and the front of the car is facing downward, the AVH system is allowed to be activated.

[0079] In another embodiment of the present specification, after requesting activation of the AVH system if the real-time vehicle speed reaches the hill-slip speed threshold, the method may further include:

[0080] Real-time monitoring of the wheel speed and direction of the car;

[0081] If the vehicle is in the D gear and the wheel speed direction changes from positive to negative, the vehicle will roll down the slope.

[0082] If the car is in the R gear state and the wheel speed direction changes from reverse to forward, the car will roll down the slope.

[0083] In the embodiment of this specification, in order to determine whether a car is in a rolling slope state, in addition to monitoring the car speed in stages and determining whether the real-time slope of the car reaches the maximum rolling slope threshold, the size and direction of the wheel speed can also be used to determine.

[0084] Specifically, an active wheel speed sensor can be used to determine the forward and reverse rotation of the wheel based on a pulse signal. When the car is in D gear, the wheel speed direction changes from forward to reverse, or when the car is in R gear, the wheel speed direction changes from reverse to forward, then it can be considered that the car is sliding down the slope.

[0085] Furthermore, since the creeping force of the car in D gear and R gear is different, the maximum slope that causes the car to start sliding down the slope may also be different in D gear and R gear. Therefore, the maximum slope threshold value can also be set to correspond to different thresholds according to the different gear states of the car, such as D gear and R gear. In this way, in different gear states, the slope threshold values ​​corresponding to different gears can be compared according to the real-time slope of the car to determine whether the car is sliding down the slope. In this way, it is possible to further accurately determine whether the car is sliding down the slope and improve the accuracy of judgment.

[0086] In another embodiment of the present specification, after activating the AVH system, the method may further include:

[0087] During activation of the AVH system, the real-time slope is locked to avoid repeated starts and stops of the AVH system due to dynamic changes in the slope.

[0088] In specific application scenarios, if the AVH system has been activated, it indicates that the car is rolling down a slope. During the rolling process, the car's position is slowly changing. In this case, the estimated value of the slope size on which the car is located is also changing dynamically. Therefore, to avoid frequent activation and exit of the AVH system due to changes in the slope value, repeated starting and stopping, affecting the user experience and system safety performance, during the activation of the AVH system, the real-time slope of the car needs to be locked and kept unchanged, so that the AVH system will not be repeatedly started and stopped.

[0089] An automatic parking control method provided in an embodiment of this specification monitors the real-time speed of a vehicle in a graded manner. When the real-time speed reaches a rolling speed threshold, indicating that the vehicle may roll down the slope, a request is made to activate the AVH system. The method further determines whether the real-time slope of the vehicle reaches a maximum slope threshold for rolling down the slope. If the real-time slope exceeds the maximum slope threshold, the AVH system is activated if the AVH system switch is on and there are no faults in the vehicle system.

[0090] In this way, by actively detecting whether the car is rolling down a slope and activating the AVH system, the risk of rolling down a slope in a large slope scenario can be avoided without the driver stepping on the brake pedal, simplifying the operation process. Through the joint judgment of the car's real-time speed and real-time slope, the car's full-scenario rolling downhill risk can be covered. The logic is reasonable, which effectively improves the safety performance of the car's driving and optimizes the user's driving comfort to a certain extent.

[0091] It should be noted that the above-mentioned specific automatic parking control method is only a specific application embodiment and does not limit the scope of the embodiments of this specification. It can also include other specific embodiments, which will not be described one by one here.

[0092] Based on the same inventive concept, the embodiments of this specification also provide a flowchart of determining the vehicle speed and a flowchart of calculating the slope gradient threshold of the above-mentioned automatic parking control method.

[0093] like Figure 2 and Figure 3 , which is a flow chart of hierarchical monitoring of vehicle speed corresponding to an automatic parking control method provided in an embodiment of this specification.

[0094] In a specific application scenario, when performing hierarchical monitoring of vehicle speed, the input signal can be the following signal data:

[0095] v_VehSpd, represents the real-time vehicle speed (unit: m / s);

[0096] AVH_Trigger_vMax, vehicle speed upper limit trigger flag (true / false);

[0097] AVH_Trigger_vMin, vehicle speed lower limit trigger flag (true / false);

[0098] The judgment logic is a three-level judgment mode:

[0099] First level judgment: if v_VehSpd>0.833m / s, it indicates that the car is in driving state, and output AVH_Trigger_vMax=false;

[0100] In the second level, if 0.27m / s≤v_VehSpd≤0.55m / s, it indicates that the car may be about to roll down the slope, which is a warning state, and the output is AVH_Trigger_vMin=true;

[0101] The third stage is to judge that if v_VehSpd < 0.27 m / s, it indicates that the car may roll down the slope, and the output ReqActiveAVH = true requests to activate the AVH system.

[0102] Through three-level layered monitoring of vehicle speed, the critical speed point at which the car rolls down a slope can be accurately identified, that is, the slope speed threshold of 0.27m / s. Only when AVH_Trig_vMax=false (non-high speed) and AVH_Trig_vMin=true (low-speed slope) are simultaneously met, a request to activate the AVH system is output, effectively avoiding misjudgment.

[0103] like Figure 4 FIG. 1 is a schematic diagram of a calculation flow of a vehicle rolling slope threshold corresponding to an automatic parking control method provided in an embodiment of this specification.

[0104] In the embodiment of this specification, the critical slope θ when the car is in gear D or gear R can be obtained through experiments. D_max ,θ R_max , take the minimum value θ final As the system threshold.

[0105] The specific experimental process is:

[0106] The first step is to calibrate the creeping power of the car in different gear states.

[0107] For example, when a car is in D gear, the creep force calibration of the car can be to release the brake pedal on a level road and record the driving force when the car moves forward at a constant speed relying solely on the creep force.

[0108] Similarly, when the car is in R gear, the creep force calibration of the car can be on a horizontal road, with the brake pedal released, to record the driving force when the car moves backward at a constant speed relying solely on creep force.

[0109] The second step is the critical slope experiment.

[0110] Experimental methods:

[0111] Step 1: Place the vehicle on a test platform with adjustable slope;

[0112] Step 2: Engage the vehicle in D gear, release the brake pedal, and gradually increase the slope until the vehicle can no longer remain stationary or move forward at a constant speed.

[0113] Step 3, record the slope value (θD_max ).

[0114] Step 4: Repeat steps 2-3, shift into R gear, and record the critical slope value (θ R_max );

[0115] Step 5: Take the minimum value of the critical slope value of D gear and R gear, that is, θ final =min(θ D_max ,θ R_max ), as the final threshold, which is the maximum slope threshold for the car to slide down the slope.

[0116] The third step is vehicle kinematic model calculation.

[0117] In the embodiment of this specification, the maximum slope can be calculated using Newton's laws of motion and vehicle parameter derivation theory, specifically according to the following formula (1):

[0118]

[0119] Among them, F creep is the peristaltic force (unit: N), F friction is the rolling resistance (unit: N), m is the vehicle mass (unit: kg), and g is the acceleration due to gravity (9.8 m / s2).

[0120] Furthermore, the maximum gradient threshold can be compensated and corrected according to actual road conditions (such as slippery roads and load changes) to improve the accuracy of the value.

[0121] After obtaining the maximum slope threshold, actual vehicle verification can also be carried out to verify the effectiveness of the threshold in different scenarios through road tests to ensure that there are no missed triggers or false triggers.

[0122] Experiments and calculations show that when the car is in D gear, the creeping force is 200N, and the measured critical slope is 8.5°. When the car is in R gear, the creeping force is 180N, and the measured critical slope is 7.2°. Therefore, the maximum slope threshold for the car to roll down a slope in this case can be set at 7.2°.

[0123] The embodiments of this specification can avoid the limitations of a single method by combining experiments with model calculations, improve scientificity and reliability, and cover the entire scenario under different vehicle gear states through the minimum threshold determination principle, thereby preventing the risk of rolling down slopes under extreme slopes and improving the model's adaptability. In addition, the subsequent integration of dynamic adjustment algorithms can be supported, which can adapt to complex working conditions and has strong scalability.

[0124] Furthermore, to improve the system's fault tolerance, redundant protection logic (such as forced braking) can be implemented when the slope signal is abnormal. Regular retesting of the vehicle's creeping force ensures that the maximum slope threshold is updated synchronously with the vehicle's performance, effectively maintaining system accuracy.

[0125] Further, such as Figure 5 , which is a schematic diagram of an optimized logic of an AVH system state machine corresponding to an automatic parking method provided in an embodiment of this specification.

[0126] Since the current AVH system can only be triggered in D and N gears, it is necessary to add a judgment signal to activate the AVH system in R gear on a slope to avoid releasing the AVH system in R gear. The specific logic flow chart is as follows: Figure 5 shown.

[0127] Considering that the estimated value of the ramp size changes dynamically, in order to avoid the AVH system from being frequently activated and exited due to changes in the ramp value, the value of TrigAVHSlip_B is required to remain unchanged when the AVH system is activated.

[0128] Because the AVH system is only activated when driving uphill in D gear or when sliding downhill in R gear, it cannot be activated when driving downhill in R gear, while it is normally activated when driving downhill in D gear. Therefore, the control logic of ShiftDR_B requires the gear position and the positive or negative slope.

[0129] like Figure 6 , which is a schematic diagram of the gear position-slope direction matching control corresponding to an automatic parking control method provided in an embodiment of this specification.

[0130] In R gear, the slope is required to be less than zero, indicating that the vehicle is in an uphill state with the front end facing downwards in R gear. In D gear, the slope is required to be greater than zero, indicating that the vehicle is in an uphill state with the front end facing upwards in D gear.

[0131] pass Figure 5 and Figure 6 The gear-slope direction matching logic shown can effectively prevent the AVH system from being accidentally triggered when the car is going downhill, and locks the slope value during the activation of the AVH system, which can effectively improve system stability.

[0132] By applying the automatic parking control method provided in the embodiments of this specification, actual vehicle verification shows that the accuracy of triggering the car's slope roll is greater than 95%, and the false trigger rate is less than 2%; in addition, in a scenario with a slope of 15°, the slope roll distance is reduced from 0.5m in the traditional solution to within 0.1m.

[0133] The specific implementation process of the embodiments of this specification can refer to the corresponding implementation steps of the above embodiments, which will not be repeated here.

[0134] Based on the same inventive concept, the embodiment of this specification also provides an automatic parking control system. Figure 7 FIG. 1 is a schematic diagram of the structure of an automatic parking control system provided in an embodiment of this specification.

[0135] The automatic parking control system may specifically include:

[0136] An acquisition module 701 acquires a vehicle speed threshold for sliding down a slope and a maximum slope threshold for sliding down a slope;

[0137] Monitoring module 702, performs graded monitoring of the real-time speed of the vehicle;

[0138] The request module 703 requests activation of the AVH system if the real-time vehicle speed reaches the hill-slip speed threshold;

[0139] The judgment module 704 judges whether the real-time slope of the vehicle reaches the maximum slope threshold;

[0140] The activation module 705 activates the AVH system if the real-time slope exceeds the maximum slope threshold and the AVH system switch is turned on and there is no fault in the vehicle system.

[0141] based on Figure 7 The present specification also provides some specific implementation plans of the system, which are described below.

[0142] Furthermore, the real-time speed of the vehicle is monitored in different levels, including:

[0143] If the real-time speed of the vehicle is greater than the rolling hill speed threshold, the vehicle is not in a rolling hill state;

[0144] If the real-time vehicle speed of the vehicle is less than or equal to the rolling hill speed threshold, the vehicle is in a rolling hill state.

[0145] Furthermore, the vehicle's speed threshold for rolling downhill is obtained, including:

[0146] When the car is in motion, its speed is greater than 0.833 m / s;

[0147] When the car is about to roll down the slope, the speed of the car is greater than 0.27m / s and less than or equal to 0.55m / s;

[0148] When the car is in a rolling hill state, the speed of the car is less than or equal to 0.27 m / s, wherein the rolling hill speed threshold of the car is 0.27 m / s.

[0149] Furthermore, obtaining the maximum slope threshold for the car to slide down the slope includes:

[0150] Release the brake pedal when the car is in different gears;

[0151] Make the car drive onto slopes of different gradients to obtain the car's operating status;

[0152] The slope on which the car cannot move forward by relying on creeping force is determined as the maximum slope threshold for the car to slide down the slope.

[0153] Furthermore, when a car cannot drive on a slope relying on creeping power, the maximum slope threshold for the car to slide down is determined to include:

[0154] Get multiple maximum slopes at which the car cannot move forward or backward by relying on creep force in different gear states;

[0155] A minimum value is selected from the plurality of maximum gradients and determined as the maximum gradient threshold.

[0156] Furthermore, determining whether the real-time slope of the vehicle reaches the maximum slope threshold includes:

[0157] Get the real-time gear status and slope of the car;

[0158] Determine whether the real-time slope reaches the maximum slope threshold under the real-time gear state.

[0159] Furthermore, if the real-time vehicle speed reaches the hill-slip speed threshold, after requesting activation of the AVH system, the system further includes:

[0160] Real-time monitoring of the wheel speed and direction of the car;

[0161] If the vehicle is in the D gear and the wheel speed direction changes from positive to negative, the vehicle will roll down the slope.

[0162] If the car is in the R gear state and the wheel speed direction changes from reverse to forward, the car will roll down the slope.

[0163] Furthermore, after activating the AVH system, the system further includes:

[0164] During activation of the AVH system, the real-time slope is locked to prevent the AVH system from repeatedly starting and stopping.

[0165] An automatic parking control system provided in an embodiment of this specification monitors the real-time speed of a vehicle in a graded manner. When the real-time speed reaches a hill-rolling speed threshold, indicating that the vehicle may roll down the hill, a request is made to activate the AVH system. The system then further determines whether the real-time slope of the vehicle reaches a maximum slope threshold for the vehicle to roll down the hill. If the real-time slope exceeds the maximum slope threshold, the AVH system is activated if the AVH system switch is on and there are no faults in the vehicle system.

[0166] In this way, by actively detecting whether the car is rolling down a slope and activating the AVH system, the risk of rolling down a slope in a large slope scenario can be avoided without the driver stepping on the brake pedal, simplifying the operation process. Through the joint judgment of the car's real-time speed and real-time slope, the car's full-scenario rolling downhill risk can be covered. The logic is reasonable, which effectively improves the safety performance of the car's driving and optimizes the user's driving comfort to a certain extent.

[0167] Based on the same inventive concept, an embodiment of this specification further provides an electronic device, including at least one processor and a memory, wherein the memory stores a program and is configured to execute the following steps by the at least one processor:

[0168] Obtain the vehicle's slope speed threshold and the vehicle's maximum slope threshold;

[0169] Conduct graded monitoring of the real-time speed of vehicles;

[0170] If the real-time vehicle speed reaches the hill-slip speed threshold, requesting activation of the AVH system;

[0171] Determining whether the real-time slope of the vehicle reaches the maximum slope threshold;

[0172] If the real-time slope exceeds the maximum slope threshold, the AVH system is activated when the AVH system switch is turned on and there is no fault in the vehicle system.

[0173] Among them, other functions of the processor can also refer to the contents recorded in the above embodiments, which will not be repeated here.

[0174] Based on the same inventive concept, an embodiment of this specification further provides a computer-readable storage medium, including a program for use in conjunction with an electronic device, which can be executed by a processor to perform the following steps:

[0175] Obtain the vehicle's slope speed threshold and the vehicle's maximum slope threshold;

[0176] Conduct graded monitoring of the real-time speed of vehicles;

[0177] If the real-time vehicle speed reaches the hill-slip speed threshold, requesting activation of the AVH system;

[0178] Determining whether the real-time slope of the vehicle reaches the maximum slope threshold;

[0179] If the real-time slope exceeds the maximum slope threshold, the AVH system is activated when the AVH system switch is turned on and there is no fault in the vehicle system.

[0180] Among them, other functions of the processor can also refer to the contents recorded in the above embodiments, which will not be repeated here.

[0181] like Figure 8 As shown, the embodiment of this specification also provides a structural schematic diagram of a computer storage medium.

[0182] In the 1990s, technological improvements could be clearly distinguished as either hardware improvements (e.g., improvements to circuit structures like diodes, transistors, and switches) or software improvements (e.g., improvements to process flows). However, with the advancement of technology, many process flow improvements today can now be considered direct improvements to hardware circuit structures. Designers almost always create the corresponding hardware circuit structure by programming the improved process flow into the hardware circuit. Therefore, it cannot be said that a process flow improvement cannot be implemented using a hardware module. For example, a programmable logic device (PLD) (e.g., a field programmable gate array (FPGA)) is an integrated circuit whose logical function is determined by user programming. Designers can "integrate" a digital system on a PLD through their own programming, eliminating the need for a chip manufacturer to design and manufacture a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly done using "logic compiler" software. This is similar to the software compiler used when developing programs. Before compilation, the original code must also be written in a specific programming language, called a hardware description language (HDL). There is not just one HDL, but many, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art will also understand that by simply programming the method flow in one of these hardware description languages ​​and then programming it into an integrated circuit, a hardware circuit that implements the logic method flow can be easily obtained.

[0183] The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to implementing the controller in a purely computer-readable program code format, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules that implement the method and structures within the hardware component.

[0184] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0185] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0186] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0187] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0188] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0189] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0190] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0191] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0192] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0193] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0194] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0195] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0196] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. An automatic parking control method, characterized in that: The automatic parking control method includes: Obtain the vehicle's slope speed threshold and the vehicle's maximum slope threshold; Conduct graded monitoring of the real-time speed of vehicles; If the real-time vehicle speed reaches the hill-slip speed threshold, requesting activation of the AVH system; Determining whether the real-time slope of the vehicle reaches the maximum slope threshold; If the real-time slope exceeds the maximum slope threshold, the AVH system is activated when the AVH system switch is turned on and there is no fault in the vehicle system.

2. The method according to claim 1, wherein Carry out graded monitoring of the real-time speed of the vehicle, including: If the real-time speed of the vehicle is greater than the rolling hill speed threshold, the vehicle is not in a rolling hill state; If the real-time vehicle speed of the vehicle is less than or equal to the rolling hill speed threshold, the vehicle is in a rolling hill state.

3. The method according to claim 2, wherein Get the vehicle's hill-slip speed threshold, including: When the car is in motion, its speed is greater than 0.833 m / s; When the car is about to roll down the slope, the speed of the car is greater than 0.27m / s and less than or equal to 0.55m / s; When the car is in a rolling hill state, the speed of the car is less than or equal to 0.27 m / s, wherein the rolling hill speed threshold of the car is 0.27 m / s.

4. The method according to claim 1, wherein The maximum slope threshold for obtaining a car's slope includes: Release the brake pedal when the car is in different gears; Make the car drive onto slopes of different gradients to obtain the car's operating status; The slope on which the car cannot move forward by relying on creeping force is determined as the maximum slope threshold for the car to slide down the slope.

5. The method according to claim 4, wherein When a car cannot drive on a slope relying on creeping force, the maximum slope threshold for the car to slide down is determined, including: Get multiple maximum slopes at which the car cannot move forward or backward by relying on creep force in different gear states; A minimum value is selected from the plurality of maximum gradients and determined as the maximum gradient threshold.

6. The method according to claim 4, wherein Determining whether the real-time slope of the vehicle reaches the maximum slope threshold includes: Get the real-time gear status and slope of the car; Determine whether the real-time slope reaches the maximum slope threshold under the real-time gear state.

7. The method according to claim 1, wherein After requesting to activate the AVH system if the real-time vehicle speed reaches the rolling hill speed threshold, the method further includes: Real-time monitoring of the wheel speed and direction of the car; If the vehicle is in the D gear and the wheel speed direction changes from positive to negative, the vehicle will roll down the slope. If the car is in the R gear state and the wheel speed direction changes from reverse to forward, the car will roll down the slope.

8. The method according to claim 1, wherein After activating the AVH system, the method further includes: During activation of the AVH system, the real-time slope is locked to prevent the AVH system from repeatedly starting and stopping.

9. An automatic parking control system, characterized in that: The automatic parking control system includes: An acquisition module is used to obtain a vehicle speed threshold and a maximum slope threshold for the vehicle to slide down a slope; The monitoring module monitors the real-time speed of the car in different levels; a request module, requesting activation of the AVH system if the real-time vehicle speed reaches a hill-slip speed threshold; A judgment module, for judging whether the real-time slope of the vehicle reaches the maximum slope threshold; The activation module activates the AVH system if the real-time slope exceeds the maximum slope threshold and the AVH system switch is turned on and there is no fault in the vehicle system.

10. A computer storage medium comprising a program for use in conjunction with an electronic device, the program being executable by a processor to perform the following steps: Obtain the vehicle's slope speed threshold and the vehicle's maximum slope threshold; Conduct graded monitoring of the real-time speed of vehicles; If the real-time vehicle speed reaches the hill-slip speed threshold, requesting activation of the AVH system; Determining whether the real-time slope of the vehicle reaches the maximum slope threshold; If the real-time slope exceeds the maximum slope threshold, the AVH system is activated when the AVH system switch is turned on and there is no fault in the vehicle system.

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