Method and device for automatically parking on slope, vehicle and program product

Abstract

The invention provides a slope automatic parking method and device, a vehicle and a program product, and the method comprises the steps: S1, setting a timer, and enabling the timer to execute a preset timing period; s2, executing a predetermined slope automatic parking logic: according to the received driving seat information and pedal operation information, accumulating a torque integral and outputting the torque integral to a motor of the vehicle, so that the motor outputs a corresponding torque to park the vehicle; wherein when a driver is on a driving seat and steps on an accelerator pedal, a torque integral is accumulated; the condition for outputting the torque integral at least comprises the step of outputting the torque integral when a driver is on a driving seat, loosens an accelerator pedal and does not step on a brake pedal. By means of the technical scheme, the safety and convenience of driving are improved, and meanwhile the operation burden of a driver and potential safety hazards are reduced.

Description

Technical Field

[0001] This invention relates to the field of automatic parking forklifts, and in particular to a method, apparatus, vehicle, and program product for automatic parking on a slope. Background Technology

[0002] Electronic parking brake (EPB) systems play an increasingly important role in modern industrial vehicle technology, improving both driving safety and convenience. In scenarios where vehicles are parked on slopes, traditional EPB functions require the driver to actively apply the foot brake to bring the vehicle speed close to zero before the system activates and ensures stable parking on the incline. However, this approach increases the driver's workload and, in emergencies, may lead to insufficient driver reaction time, resulting in traffic safety hazards. Summary of the Invention

[0003] The embodiments of the present invention provide a method, apparatus, vehicle and program product for automatic parking on a slope, so as to realize the automatic parking function of the vehicle on the slope without using the electronic parking function, which significantly improves the safety and convenience of driving, while reducing the driver's operating burden and potential safety hazards.

[0004] To achieve the above objectives, on the one hand, a method for automatic parking on a slope is provided, the method comprising:

[0005] S101, Set a timer, the timer executes a predetermined timing period;

[0006] S201, execute the predetermined hill start automatic parking logic: based on the received driver's seat information and pedal operation information, accumulate torque integral and output the torque integral to the vehicle's motor so that the motor can output the corresponding torque to stop the vehicle.

[0007] Specifically, when the driver is in the driver's seat and pressing the accelerator pedal, the torque integral is accumulated;

[0008] The conditions for outputting the torque integral include at least the following: the torque integral is output when the driver is in the driver's seat, the accelerator pedal is released and the brake pedal is not pressed.

[0009] Preferably, in the method for automatic parking on a slope, step S201 further includes: clearing the torque integral when the driver is in the driver's seat, not operating the accelerator pedal and pressing the brake pedal.

[0010] Preferably, in the method for automatic parking on a slope, step S201 further includes: receiving the vehicle's current speed information;

[0011] The conditions for outputting the torque integral also include: when the driver is not in the driver's seat and the current vehicle speed is less than or equal to a predetermined threshold, start timing and determine whether the current vehicle speed remains less than or equal to the threshold before the timing is completed; if so, activate the electronic parking function and clear the torque integral; otherwise, output the torque integral.

[0012] The torque integral is output when the driver is not in the driver's seat and the current vehicle speed is greater than the threshold.

[0013] Preferably, in the method for automatic parking on a slope, the threshold value ranges from 1.5. ～ 2.0 km / h; the range of the time value is 2. ～ 5s.

[0014] Preferably, in the method for automatic parking on a slope, in step S201, it is determined whether the driver operates the accelerator pedal or the brake pedal based on data collected by a predetermined sensor for the pedals.

[0015] Preferably, in the method for automatic parking on a slope, in step S201, the torque integral is:

[0016]

[0017] T(t)=m·g·sin(θ)·r+m·a(t)·r

[0018] T integral Let T(t) represent the torque integral, t represent time, m represent the vehicle mass, g represent gravitational acceleration, θ represent the slope angle, r represent the tire radius, and a(t) represent the vehicle acceleration.

[0019] Preferably, in the method for automatic parking on a slope, in step S201, the driver's seat information is obtained from data collected by a potentiometer or microswitch.

[0020] On the other hand, the present invention provides an apparatus for automatic parking on a slope, comprising a memory and a processor, wherein the memory stores at least one program, the at least one program being executed by the processor to implement the method for automatic parking on a slope as described above.

[0021] In another aspect, the present invention provides a vehicle, wherein the vehicle includes the device for automatic parking on a slope as described above.

[0022] In another aspect, the present invention provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, it implements the method of automatic parking on a slope as described above.

[0023] The above technical solution has the following technical effects:

[0024] 1. Automatic parking on slopes is achieved by judging pedal status and driver behavior. Specifically, when the vehicle is on a slope, the driver releases the accelerator pedal and does not press the brake pedal, the torque integral is output to the vehicle's motor to supply the corresponding torque, so that the vehicle can automatically park on the slope without the driver pressing the brake pedal, thereby improving driving safety and convenience. In addition, even if the driver lightly presses the brake pedal, it can ensure that the vehicle is stably stopped, avoiding the risk of the vehicle rolling due to insufficient pressing, further enhancing the vehicle's safety on slopes.

[0025] 2. By detecting whether the driver is in the driver's seat and further judging the vehicle speed when the driver is not in the driver's seat, specific dangerous scenarios can be identified and the vehicle can be automatically parked by outputting reverse torque. For example, when the driver leaves and the vehicle is still traveling at a certain speed for a predetermined time, the vehicle will stop, avoiding safety hazards caused by human negligence and improving the reliability of the vehicle.

[0026] 3. When the driver is not in the driver's seat and the vehicle speed is below the predetermined threshold, a timer is started to ensure that the vehicle speed remains within a safe range for the predetermined time period, thus avoiding misjudgment and misoperation;

[0027] 4. By determining whether the driver operates the accelerator or brake pedal, the current driving situation of the vehicle can be identified, and combined with the vehicle speed, it can be determined whether the automatic parking scenario is met, thus avoiding misjudgment;

[0028] 5. By using sensors to determine whether the driver is in the seat and which pedal is being operated, the judgment is accurate and simplifies the driver's operation. Attached Figure Description

[0029] Figure 1 This is a flowchart of an embodiment of the automatic parking method on a slope according to the present invention;

[0030] Figure 2 This is a flowchart illustrating an embodiment of the automatic parking method on a slope according to the present invention.

[0031] Figure 3 This is a schematic diagram of an automatic parking device on a slope according to an embodiment of the present invention. Detailed Implementation

[0032] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments and to explain the operating principles of the embodiments in conjunction with the relevant descriptions in the specification. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention. Components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0033] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0034] Example 1:

[0035] Figure 1 This is a flowchart of an embodiment of the automatic parking method on a slope according to the present invention. Figure 1 As shown, the method includes:

[0036] S101, Set a timer, the timer executes a predetermined timing period;

[0037] S201, executes the predetermined hill start automatic parking logic: based on the received driver's seat information and pedal operation information, accumulates the torque integral and outputs the torque integral to the vehicle's motor, so as to supply the motor to output the corresponding torque to stop the vehicle.

[0038] Among them, the cumulative torque integral is calculated when the driver is in the driver's seat and pressing the accelerator pedal;

[0039] The conditions for the integral of output torque include at least the following: the integral of output torque is achieved when the driver is in the driver's seat, the accelerator pedal is released and the brake pedal is not pressed.

[0040] The method of this embodiment can automatically calculate and output the necessary reverse torque when the vehicle is detected to be on a slope and the driver releases the accelerator pedal, so as to achieve the effect of safe parking without the driver having to actively press the brake pedal. It not only simplifies driving operation and improves the convenience and comfort of the driver, but also effectively prevents the vehicle from rolling away due to improper operation, and significantly enhances the safety of parking on a slope.

[0041] Example 2:

[0042] To improve driving safety and convenience while reducing the driver's workload and potential safety hazards, this invention provides a method for automatic parking on a slope. Figure 2 This is a schematic flowchart of an embodiment of the automatic parking method on a slope according to the present invention. Figure 2 As shown, the method includes:

[0043] S1, determine whether the driver is in the driver's seat of the vehicle; if yes, proceed to step S2; otherwise, proceed to step S3;

[0044] S2, continue to determine whether the driver operates the accelerator pedal, that is, presses the accelerator pedal; if so, proceed to step S21; otherwise, it means that the driver has released the accelerator pedal or has not pressed the accelerator pedal, and proceed to step S22.

[0045] S21, accumulate torque integral, end the current process;

[0046] S22, determine whether the driver operates the brake pedal, i.e., presses the brake pedal; if so, clear the torque integral and end the current process; otherwise, proceed to step S32.

[0047] S3, determine whether the current vehicle speed is less than or equal to a predetermined threshold; if so, proceed to step S31; otherwise, proceed to step S32.

[0048] Preferably, the predetermined threshold value ranges from 1.5 to 2.0 km / h;

[0049] S31, Start timing and determine whether the vehicle speed remains less than or equal to the threshold before the timing expires; if so, activate the electronic parking function, clear the torque integral, and end the current process; otherwise, proceed to step S32.

[0050] Preferably, the timing value ranges from 2 to 5 seconds;

[0051] S32 outputs the integral torque to the vehicle's motor to supply the corresponding torque to the motor and bring the vehicle to a stop.

[0052] This invention, based on vehicle speed and torque, integrates the torque to allow the motor to output a corresponding reverse torque, enabling the vehicle to stop on a slope. In cases of vehicle malfunction or driver negligence—for example, if there is no driver in the vehicle but it is still sliding down a slope at a relatively high speed—the technical solution of this invention can quickly bring the vehicle to a stop, preventing accidents.

[0053] Example 3:

[0054] Traditional electronic parking brakes require the driver to actively apply the foot brake to bring the vehicle speed close to zero before the electronic parking brake activates and stops the vehicle on a slope. Embodiments of this invention eliminate the need for the driver to apply the foot brake, achieving true automatic parking. The method of this invention includes:

[0055] Once the vehicle is started, it will determine whether the driver is in the driver's seat by collecting data from a predetermined sensor at predetermined time intervals; preferably, the vehicle is a forklift; preferably, the predetermined sensor includes a potentiometer or a micro switch.

[0056] 1. If the driver is in the driver's seat:

[0057] 1.1 Determine if the driver is operating the accelerator pedal, i.e., pressing the accelerator pedal;

[0058] 1.1.1 If the accelerator pedal is operated, accumulate the torque integral and perform the next cycle judgment.

[0059] 1.1.2 If the accelerator pedal is not operated, i.e., the accelerator pedal is released or not pressed, determine whether the foot brake pedal is pressed.

[0060] 1.1.2.1 If the foot brake is applied, the vehicle stops, the torque integral is cleared, and the next cycle judgment is performed.

[0061] 1.1.2.2 If the foot brake is not applied, the torque integral is output to the vehicle's motor to supply the corresponding torque to the motor and bring the vehicle to a stop.

[0062] Preferably, the driver determines whether to operate the accelerator pedal or the brake pedal based on data collected by a predetermined sensor targeting the pedal.

[0063] 2. If the driver is not in the driver's seat:

[0064] 2.1 Determine if the vehicle speed is less than or equal to a predetermined threshold? That is, determine if the vehicle is not stationary on the slope and the driver is not in the vehicle.

[0065] Preferably, the predetermined threshold is 1.8 km / h.

[0066] 2.1.1 If the vehicle speed is less than or equal to the predetermined threshold, start the timer and determine if the timer has expired.

[0067] Preferably, the timing value is 2 seconds.

[0068] 2.1.1.1 If the vehicle speed remains less than or equal to the predetermined threshold throughout the entire timing period, the electronic parking function will be activated to stop the vehicle, clear the torque integral, and proceed to the next cycle judgment.

[0069] Preferably, when the timer expires, a flag is output to activate the electronic parking brake function.

[0070] 2.1.1.2 If the vehicle speed exceeds the predetermined threshold before the timeout expires, the torque integral is output to the vehicle's motor to supply the corresponding torque and bring the vehicle to a stop.

[0071] 2.1.2. If the vehicle speed is greater than the predetermined threshold, output the torque integral to the vehicle's motor to supply the corresponding torque and stop the vehicle.

[0072] In one specific embodiment, the torque integral is:

[0073]

[0074] T(t)=m-·g·sin(θ)·r+m·a(t)·r

[0075] T integral Let T(t) represent the torque integral, t represent time, m represent the vehicle mass, g represent the gravitational acceleration, θ represent the slope angle, r represent the tire radius, and a(t) represent the vehicle acceleration.

[0076] Example 4:

[0077] The present invention also provides a device for automatic parking on a slope, such as... Figure 3 As shown, the device includes a processor 301, a memory 302, a bus 303, and a computer program stored in the memory 302 and executable on the processor 301. The processor 301 includes one or more processing cores. The memory 302 is connected to the processor 301 via the bus 303. The memory 302 is used to store program instructions. When the processor 301 executes the computer program, it implements the steps in the above-described method embodiment of Embodiment 1 of the present invention.

[0078] Furthermore, as an executable solution, the automatic parking device on the slope can be a computer unit, which can be a desktop computer, laptop, handheld computer, or cloud server, etc. The computer unit may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above-described structure of the computer unit is merely an example and does not constitute a limitation on the computer unit. It may include more or fewer components, or combine certain components, or use different components. For example, the computer unit may also include input / output devices, network access devices, buses, etc., and this embodiment of the invention does not limit this.

[0079] Furthermore, as an executable solution, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor is the control center of the computer unit, connecting various parts of the entire computer unit via various interfaces and lines.

[0080] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the computer unit by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0081] Example 5:

[0082] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps described above.

[0083] Example 6:

[0084] The present invention also provides a vehicle including the automatic hill-start assist device as described above.

[0085] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A method for automatic parking on a slope, characterized in that, include: S101, Set a timer, the timer executes a predetermined timing period; S201, execute the predetermined hill start automatic parking logic: based on the received driver's seat information and pedal operation information, accumulate torque integral and output the torque integral to the vehicle's motor so that the motor can output the corresponding torque to stop the vehicle. Specifically, when the driver is in the driver's seat and pressing the accelerator pedal, the torque integral is accumulated; The conditions for outputting the torque integral include at least the following: the torque integral is output when the driver is in the driver's seat, the accelerator pedal is released and the brake pedal is not pressed.

2. The method for automatic parking on a slope according to claim 1, characterized in that, Step S201 further includes: clearing the torque integral when the driver is in the driver's seat, not operating the accelerator pedal and pressing the brake pedal.

3. The method for automatic parking on a slope according to claim 1, characterized in that, Step S201 also includes: receiving the vehicle's current speed information; The conditions for outputting the torque integral also include: when the driver is not in the driver's seat and the current vehicle speed is less than or equal to a predetermined threshold, start timing and determine whether the current vehicle speed remains less than or equal to the threshold before the timing is completed; if so, activate the electronic parking function and clear the torque integral; otherwise, output the torque integral. The torque integral is output when the driver is not in the driver's seat and the current vehicle speed is greater than the threshold.

4. The method for automatic parking on a slope according to claim 3, characterized in that, The threshold value ranges from 1.5 to 2.0 km / h; the timing value ranges from 2 to 5 seconds.

5. The method for automatic parking on a slope according to claim 1, characterized in that, In step S201, it is determined whether the driver operates the accelerator pedal or the brake pedal based on data collected by a predetermined sensor for the pedal.

6. The method for automatic parking on a slope according to claim 1, characterized in that, In step S201, the torque integral is: T(t)=m·g·sin(θ)·r+m·a(t)·r T integral Let T(t) represent the torque integral, t represent time, m represent the vehicle mass, g represent gravitational acceleration, θ represent the slope angle, r represent the tire radius, and a(t) represent the vehicle acceleration.

7. The method for automatic parking on a slope according to claim 1, characterized in that, In step S201, the driver's seat information is obtained from data collected by a potentiometer or micro switch.

8. A device for automatic parking on a slope, characterized in that, The system includes a memory and a processor, the memory storing at least one program that is executed by the processor to implement the method for automatic parking on a slope as described in any one of claims 1 to 7.

9. A vehicle, characterized in that, The vehicle includes the automatic hill-start assist device of claim 8.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for automatic parking on a slope as described in any one of claims 1 to 7.

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