Parking control systems, methods and apparatus, electronic devices, and storage media

Abstract

A parking control system (300), method, and apparatus (800 and 900), electronic devices, and storage media are disclosed. In the parking control system (300), a main control unit (201) transmits target wheel rotation information to a motor control unit (202) while the vehicle is parked. The motor control unit (202) determines a drive electrical signal corresponding to the target wheel rotation information, transmits the drive electrical signal to a motor (203), and corrects subsequent drive electrical signals based on motor rotation information collected by a motor sensor (205).

Claims

1. A parking control system comprising a main control unit, a motor control unit, a motor, and a motor sensor, The main control unit is configured to transmit target wheel rotation information to the motor control unit while the vehicle is parked. The motor is configured to rotate under the action of a drive electrical signal from the motor control unit, and the rotation is used to drive the wheels of the vehicle to rotate. The motor control unit is configured to transmit a first drive electrical signal to the motor based on the target wheel rotation information. The motor sensor is configured to transmit the motor rotation information collected by the motor to the motor control unit. A parking control system wherein the motor control unit is further configured to transmit a second drive electrical signal to the motor based on the motor rotation information and the target wheel rotation information.

2. The system according to claim 1, wherein the target wheel rotation information comprises a target rotational speed of the wheel and / or a target rotational angle of the wheel, and the motor rotation information comprises the rotational speed of the motor and / or the rotational angle of the motor.

3. The vehicle is configured to be in automatic parking assist mode, The main control unit, The system according to claim 1 or 2, configured to receive an automatic parking assistance request and determine that the vehicle has begun to park.

4. The main control unit is While the vehicle is being parked, the current position of the vehicle and the position of the target parking space are input to a pre-set trajectory planning algorithm, the parking trajectory output by the trajectory planning algorithm is obtained, and the parking trajectory includes the vehicle speed and vehicle rotation angle required at each step for the vehicle to park from its current position into the target parking space. The system according to claim 3, configured to determine a target vehicle speed and a target vehicle rotation angle based on the parking trajectory, transmit the target vehicle rotation angle to the vehicle's steering mechanism, determine target wheel rotation information corresponding to the target vehicle speed based on a preset mapping relationship between vehicle speed and wheel rotation information, and transmit the target wheel rotation information to the motor control unit.

5. The vehicle is configured to be in manual parking mode, and the state of the vehicle is as follows: The system according to claim 1 or 2, wherein the main control unit is configured to determine that the vehicle is beginning to park if at least one of the following conditions is met: the vehicle speed is lower than a preset vehicle speed; the rotational speed of the motor is lower than a preset rotational speed; the torque required by the driver is lower than a torque threshold; the rate of change of the torque required by the driver is less than a first rate of change threshold; the opening of the accelerator pedal is less than a first opening threshold; the rate of change of the opening of the accelerator pedal is less than a second rate of change threshold; the opening of the brake pedal is greater than a second opening threshold; and the rate of change of the opening of the brake pedal is less than a third rate of change threshold.

6. The main control unit is The system according to claim 5, configured to determine a target torque corresponding to the current pedal opening of the vehicle by querying a preset mapping relationship between pedal opening and torque while the vehicle is parked, and to determine target wheel rotation information corresponding to the target torque by querying a preset mapping relationship between torque and wheel rotation information.

7. After determining the target torque corresponding to the current opening of the pedal of the vehicle, and before determining the target wheel rotation information corresponding to the target torque by querying the preset mapping relationship between torque and wheel rotation information, the main control unit: The system according to claim 6, wherein the driving mode of the vehicle is configured to be a first mode, and if it is determined that the crawl torque corresponding to the first mode is greater than the target torque, the system is further configured to use the crawl torque as the target torque.

8. The preset mapping relationship between torque and wheel rotation information comprises a mapping relationship between torque and wheel rotation information corresponding to the first mode, and a mapping relationship between torque and wheel rotation information corresponding to the second mode, wherein in the mapping relationship between torque and wheel rotation information corresponding to either driving mode, one torque range corresponds to one wheel rotation information, and the width of the torque range in the mapping relationship between torque and wheel rotation information corresponding to the second mode is smaller than the width of the torque range in the mapping relationship between torque and wheel rotation information corresponding to the first mode. The main control unit is The system according to claim 6 or 7, configured to determine the target wheel rotation information corresponding to the target torque by querying a mapping relationship between torque and wheel rotation information corresponding to the driving mode of the vehicle.

9. Before transmitting the target wheel rotation information to the motor control unit, the main control unit: The system according to any one of claims 1 to 8, further comprising correcting the target wheel rotation information by using the current vehicle speed information of the vehicle, wherein the corrected target wheel rotation information is between the wheel rotation information corresponding to the current vehicle speed information of the vehicle and the target wheel rotation information existing before the correction.

10. The motor control unit is By querying a preset mapping relationship between wheel rotation information and drive electrical signals, the target drive electrical signal corresponding to the target wheel rotation information is determined. The system consults a preset transition gradient table based on the target drive electrical signal and the current drive electrical signal of the motor to determine the transition drive electrical signal necessary to convert the current drive electrical signal of the motor to the target drive electrical signal. The system according to any one of claims 1 to 9, configured to sequentially transmit the transition drive electrical signals to the motor.

11. The aforementioned pre-configured transition gradient table comprises a transition gradient table corresponding to the first mode and a transition gradient table corresponding to the second mode. The motor control unit is The system according to claim 10, configured to determine the transition drive electric signal by querying a transition gradient table corresponding to the driving mode of the vehicle based on the target drive electric signal and the current drive electric signal of the motor.

12. Equipped with wheel sensors, The main control unit is further configured to determine target torque information corresponding to the target wheel rotation information after the vehicle has finished parking, and to transmit the target torque information to the motor control unit. The motor control unit is further configured to transmit a third drive electrical signal to the motor based on the target torque information. The wheel sensor is configured to transmit the rotational information of the wheel collected to the main control unit. The system according to any one of claims 1 to 11, wherein the main control unit is further configured to correct the target torque information based on the rotation information of the wheel and the target wheel rotation information, and to transmit the corrected target torque information to the motor control unit.

13. The vehicle is configured to be in the automatic parking assist mode, The main control unit, The condition of the aforementioned vehicle is as follows: The system according to claim 12, configured to determine that the vehicle will end parking when it is determined that at least one of the following conditions is met: the accelerator pedal is opened to a degree greater than 0; the brake pedal is opened to a degree greater than a preset threshold and the preset threshold is greater than 0; the steering wheel is rotated; a parking position is used; and a parking end request is received.

14. The vehicle is configured to be in the manual parking mode, The main control unit, The aforementioned state of the vehicle is as follows: The system according to claim 12, configured to determine that the vehicle has completed parking when it is determined that at least one of the following conditions is met: the vehicle speed is greater than or equal to the preset vehicle speed; the rotational speed of the motor is greater than or equal to the preset rotational speed; the torque requested by the driver is greater than or equal to the torque threshold; the rate of change of the torque requested by the driver is greater than or equal to the first rate of change threshold; the opening of the accelerator pedal is greater than or equal to the first opening threshold; the rate of change of the opening of the accelerator pedal is greater than or equal to the second rate of change threshold; the opening of the brake pedal is less than or equal to the second opening threshold; and the rate of change of the opening of the brake pedal is greater than or equal to the third rate of change threshold.

15. A parking control method, A step of transmitting a first control signal to a motor control unit while the vehicle is parked, wherein the first control signal is used to instruct the motor control unit to switch to a rotational speed or rotational angle control mode, A method comprising the steps of transmitting a second control signal to the motor control unit when the vehicle is not parked, the second control signal being used to instruct the motor control unit to switch to torque control mode.

16. The vehicle is configured to be in automatic parking assist mode, The step of transmitting the first control signal to the motor control unit while the vehicle is parked is: The method according to claim 15, comprising the steps of receiving an automatic parking assistance request and transmitting the first control signal to the motor control unit.

17. The vehicle is configured to be in manual parking mode, The step of transmitting the first control signal to the motor control unit while the vehicle is parked is: The condition of the aforementioned vehicle is as follows: The method according to claim 15, comprising the step of transmitting the first control signal to the motor control unit when it is determined that at least one of the following conditions is met: the vehicle speed is lower than a preset vehicle speed; the rotational speed of the motor is lower than a preset rotational speed; the torque required by the driver is lower than a torque threshold; the rate of change of the torque required by the driver is less than a first rate of change threshold; the opening of the accelerator pedal is less than a first opening threshold; the rate of change of the opening of the accelerator pedal is less than a second rate of change threshold; the opening of the brake pedal is greater than a second opening threshold; and the rate of change of the opening of the brake pedal is less than a third rate of change threshold.

18. The step of transmitting the second control signal to the motor control unit when the vehicle is not parked is: The method according to any one of claims 15 to 17, further comprising the step of transmitting the second control signal to the motor control unit after the vehicle has finished parking.

19. The vehicle is configured to be in the automatic parking assist mode, The step of transmitting the second control signal to the motor control unit after the vehicle has finished parking is: The condition of the aforementioned vehicle is as follows: The method according to claim 18, comprising the step of transmitting the second control signal to the motor control unit when it is determined that at least one of the following is satisfied: the opening of the accelerator pedal is greater than 0, the opening of the brake pedal is greater than a preset opening threshold and the preset opening threshold is greater than 0, the steering wheel is rotated, a parking position is used, and a parking completion request is received.

20. The vehicle is configured to be in the manual parking mode, The step of transmitting the second control signal to the motor control unit after the vehicle has finished parking is: The aforementioned state of the vehicle is as follows: The method according to claim 18, further comprising the step of transmitting the second control signal to the motor control unit when it is determined that at least one of the following conditions is met: the vehicle speed is greater than or equal to the preset vehicle speed; the rotational speed of the motor is greater than or equal to the preset rotational speed; the torque required by the driver is greater than or equal to the torque threshold; the rate of change of the torque required by the driver is greater than or equal to the first rate of change threshold; the opening of the accelerator pedal is greater than or equal to the first opening threshold; the rate of change of the opening of the accelerator pedal is greater than or equal to the second rate of change threshold; the opening of the brake pedal is less than or equal to the second opening threshold; and the rate of change of the opening of the brake pedal is greater than or equal to the third rate of change threshold.

21. A parking control device comprising a processor, a transceiver, and a memory, wherein the memory stores computer program instructions, the processor executes the computer program instructions, and the transceiver calls to perform the method according to any one of claims 15 to 20.

22. A parking control device comprising a module or unit for performing the method described in any one of claims 15 to 20.

23. An electronic device comprising a parking control system according to any one of claims 1 to 14.

24. A computer-readable storage medium wherein the computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 15 to 20 is performed.

25. A computer program product wherein, when the computer program product is executed on a processor, the method described in any one of claims 15 to 20 is performed.

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