Control method and apparatus for situations in vehicle parking process

Abstract

A control method for situations in a vehicle parking process, the method comprising: after a parking mode is activated, if there is an operation action, activating a non-parking mode; a vehicle activating a starting mode, the vehicle activating a manual / automatic parking mode, and the starting mode becoming a parking starting mode; if the vehicle deactivates the manual / automatic parking mode, returning to the original starting mode; in the automatic parking mode, after parking, a pull-out completion locking configuration being in an enabled state, and if a driver is not in the vehicle, performing locking; and in the manual parking mode, starting the vehicle from outside the vehicle, and performing a button-pressing operation on a key, so that operation and control of forward and reverse movement / steering wheel rotation of the vehicle are implemented. Further disclosed is a control apparatus for situations in a vehicle parking process. The control method and apparatus solve the problem whereby the vehicle cannot be driven out of / driven into a parking space due to the parking space being relatively narrow.

Description

A control method and device for various situations occurring during vehicle parking CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The embodiments of this application are based on and claim the priority of Chinese patent application with application number 202410114394.7 and application date January 25, 2024. The entire contents of the Chinese patent application are hereby introduced into the embodiments of this application as a reference. Technical Field

[0002] The present invention relates to the field of vehicle intelligent technology, and in particular to a control method and device for various situations occurring during a vehicle parking process. Background Art

[0003] With the continuous advancement of science and technology, car owners' expectations for their vehicles are constantly increasing, and the number of intelligent functions in vehicles is also increasing. Currently, automatic parking technology is widely used, enabling the automatic parking function without human intervention. Related patents describe the automatic parking function, but they provide little consideration of the power level during parking mode. Furthermore, the parking function requires configuration on the MP5 touchscreen, and they fail to consider the issue of the owner being unable to exit the vehicle after parking in a narrow parking space (especially one with obstructions on both sides). Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a control method and device for various situations that may occur during the vehicle parking process, so that it can specifically propose a package of control strategies to solve the vehicle motion state, power gear and lock state in the vehicle parking mode, which can improve the vehicle driving feel and increase the vehicle's intelligent performance.

[0005] The present invention provides a control method for various situations that may occur during vehicle parking, including parking mode selection control, and / or vehicle start mode, and / or parking mode process control, the specific contents of which are as follows: Parking mode selection control: After the vehicle in non-parking mode is initialized, and on the premise that the basic conditions of the parking mode are met, the vehicle detects in real time whether the driver has long pressed the key parking function button or whether the driver has touched the parking mode button on the screen. After entering the parking mode, the first controller determines in real time whether there is any operation action. If there is any operation action, the parking mode is exited and the non-parking mode is entered; Vehicle start mode: By starting the engine, the vehicle enters the local start mode or the key start mode; Regardless of whether the vehicle is in the local start mode or the key start mode, the vehicle enters Enter manual / automatic parking mode, at this time the start mode enters parking start mode; when in parking start mode, if the vehicle exits manual / automatic parking mode, the vehicle start mode returns to the original start mode; parking mode process control: in automatic parking mode, the vehicle automatically parks the car in / out to the pre-selected position, and the pressure sensor of the main driver's seat senses that there is a driver in the main driver's seat. After parking in / out, the first controller senses the parking completion on the screen and the locking configuration is in the open state. If it is detected that the driver has taken away the key and is not in the car, the vehicle is locked; when the parking space is narrow and there are obstacles on both sides that make it impossible to open the door, use manual parking mode, the driver starts the vehicle outside the car, and only operates the key button to achieve control of the vehicle's forward and reverse / steering wheel.

[0006] The present invention also provides a control device for various situations that occur during the parking process of a vehicle, which has a computer program that can execute a control method for various situations that occur during the parking process of a vehicle.

[0007] The control method and device of the present invention for various situations occurring during vehicle parking have the following beneficial effects:

[0008] This invention proposes a comprehensive strategy for controlling the vehicle's motion state, power level, and lock status during parking mode. By real-time detecting keystrokes and MP5 commands, the vehicle enters both automatic and manual parking modes. Entering parking mode also simultaneously switches the vehicle's start mode to parking start mode. Keystroke commands trigger automatic parking and enter automatic parking mode. After the vehicle is automatically parked, the power level automatically shuts off and the driver's presence is automatically detected. If not, and if the driver has removed a valid key, the vehicle automatically locks, achieving automatic power-off and lock functions. After the vehicle is automatically parked, the key and other conditions are detected to determine the driver's immediate driving intent, controlling the power level and lock status to facilitate immediate travel. If the driver does not immediately require travel, the vehicle is turned off. If the driver is not in the vehicle and has removed a key, the vehicle automatically locks, avoiding financial risks. In manual parking mode, the key button switches between vehicle start modes, allowing the key button to have different requested functions, thereby enabling the vehicle's steering wheel rotation and forward and reverse functions. This avoids the risk of the driver being unable to open the door in a narrow parking space (including those with obstructions on both sides), resulting in parking in / out. By combining automatic and manual parking modes, this invention addresses the parking frustrations of novice car owners, particularly the frustration of being unable to open the driver's door in a narrow parking space (with obstructions on both sides), resulting in parking in / out. Furthermore, this technology automatically detects whether the driver has left the vehicle with the key, enabling automatic power-off locking of the vehicle when entering or exiting. This improves the driving experience and enhances vehicle intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] FIG1 is a schematic diagram of the overall flow of a control method for various situations that may occur during a vehicle parking process according to the present invention;

[0010] FIG2 is a diagram showing the distribution of vehicle key detection antennas in the key detection step of the control method for various situations occurring during vehicle parking according to the present invention;

[0011] FIG3 is a schematic diagram of a key detection scene in a key detection step in a control method for various situations occurring during a vehicle parking process according to the present invention;

[0012] FIG4 is a flow chart of the parking mode selection control steps in the control method for various situations that occur during vehicle parking according to the present invention;

[0013] FIG5 is a flow chart of the vehicle start mode step in the control method for various situations occurring during the vehicle parking process according to the present invention;

[0014] FIG6 is a schematic diagram of the parking control / power gear / lock control flow of the automatic parking mode in the parking mode process control steps of the control method for various situations occurring during the vehicle parking process according to the present invention;

[0015] FIG7 is a schematic diagram of a motion control flow using a manual parking mode in a parking mode process control step in a control method for various situations occurring during a vehicle parking process according to the present invention;

[0016] FIG8 is a schematic structural diagram of a control device for various situations that occur during vehicle parking according to the present invention. DETAILED DESCRIPTION

[0017] The present invention will be further described in detail below with reference to the accompanying drawings and examples, but the examples should not be construed as limiting the present invention.

[0018] 1 , the present invention provides a control method for various situations that may occur during vehicle parking, including key detection, and / or parking mode selection control, and / or vehicle start mode, and / or parking mode process control. The specific contents are as follows:

[0019] 1. Key detection:

[0020] 1. The vehicle antenna layout and its key detection area are shown in Figure 2. The elliptical shaded area centered on the antenna represents the key detection range of the antenna. This invention focuses on the functional implementation method and is not limited to this system.

[0021] a. Car door handle;

[0022] b. Key detection antenna at the car door handle;

[0023] c. Key detection antennas located in the front, middle, and rear seats of the vehicle;

[0024] d.Key detection antenna at the tailgate of the car.

[0025] 2. Refer to Figure 3 for the key detection process:

[0026] Vehicle binding with key detection: The third controller drives the antenna to send a low-frequency signal. After receiving the low-frequency signal, the key sends a high-frequency signal to the third controller to complete the detection process of the key bound to the vehicle. The specific embodiment process is as follows. In one or more embodiments, the third controller is a PEPS controller:

[0027] Key detection refers to the PEPS controller driving the antenna to send a low-frequency signal. After the key receives the low-frequency signal, it sends a high-frequency signal to the PEPS controller to complete the key detection process bound to the vehicle.

[0028] Machine learning process: Before detecting the key, the key corresponding to the vehicle and the third controller need to learn from each other and store the key information. The low-frequency signal driven by the antenna of the third controller and the high-frequency signal sent by the key contain the key information. If the low-frequency signal driven by the antenna of the third controller does not contain the key information, the key will not send the high-frequency signal to the third controller after receiving the low-frequency signal; if the high-frequency signal sent by the key does not contain the key information, the third controller will not receive the signal. The specific implementation process is as follows:

[0029] Before key detection, the vehicle's corresponding key and PEPS controller must learn from each other and store key information, laying the foundation for the subsequent transmission of low- and high-frequency signals. The low-frequency signal sent by the PEPS controller's antenna and the high-frequency signal sent by the key contain this key information. If the low-frequency signal sent by the PEPS controller's antenna does not contain this key information, the key will not send a high-frequency signal to the PEPS controller upon receiving the low-frequency signal. If the high-frequency signal sent by the key does not contain this key information, the PEPS controller will not receive the signal. Therefore, this key detection method can effectively detect smart keys that have been bound to the vehicle and effectively prevent the misdetection of smart keys from other vehicles, which could lead to incorrect locking operations.

[0030] The PEPS controller drives the antenna to send a low-frequency signal, and the transmission area is the key detection area of ​​the antenna (as shown in Figure 2).

[0031] II. Parking Mode Selection Control: After a vehicle in a non-parking mode is initialized and meets the basic conditions for parking mode, the vehicle detects in real time whether the driver has long-pressed the key parking function button or touched the parking mode button on the screen. After entering parking mode, the first controller determines in real time whether there is any operation action. If there is any operation action, the vehicle exits parking mode and enters non-parking mode. The specific process is as follows. In one or more embodiments, the first controller is an Adas controller:

[0032] Referring to FIG4 , the vehicle parking modes include non-parking mode, manual parking mode (the vehicle moves according to key button operation) and automatic parking mode (the Adas controller automatically identifies the surrounding environment conditions and automatically operates the vehicle to move).

[0033] The basic conditions for entering parking mode are: all four doors are closed, the gear is in P, the engine is started, the vehicle speed is valid and less than the first speed threshold V0 (generally set to 5km / h), the one-button start switch is not pressed and the brake pedal is not stepped on, and all the above conditions are met at the same time.

[0034] During initialization, the vehicle is in non-parking mode and detects in real time whether the driver presses and holds the key button 4 (parking function button) or touches the parking mode button on the MP5 screen.

[0035] 1. Manual parking mode selection control: If a long press of key button 4 (parking function button) is detected, the system determines whether the basic conditions for entering parking mode are met. If not, the system enters the corresponding prompt function (the instrument panel / MP5 screen displays the unmet condition item), the buzzer sounds three times (to prompt the user that parking mode entry has failed), and the vehicle remains in non-parking mode. If the basic conditions for entering parking mode are met, the system enters manual parking mode and the buzzer sounds twice to prompt that parking mode has been entered. After entering manual parking mode, the system determines in real time whether key button 4 (parking function button) is long pressed again, the engine is turned off, the push-to-start switch is pressed, the brake pedal is pressed, the accelerator is pressed, or the gear is changed by manual operation. If the driver performs any of the above operations, manual parking mode will be exited and non-parking mode will be entered.

[0036] 2. Automatic parking mode selection control: If it is detected that the parking entry / exit mode button is touched on the MP5 screen, the first timer is started. If the parking space selection button on the MP5 screen (used to select which parking space to park in / park out at) is not touched within the first timer threshold t1, the non-parking mode is entered; if the parking space selection button on the MP5 screen is touched within the first timer threshold t1, it is determined whether the basic conditions for entering the parking mode are met. If the basic conditions for entering the parking mode are not met, the corresponding prompt function is entered (the instrument / MP5 displays the unsatisfied condition items), and the buzzer sounds 3 times (to prompt the user that the parking mode entry failed), and the non-parking mode is maintained; if the basic conditions for entering the parking mode are not met, the corresponding prompt function is entered (the instrument / MP5 displays the unsatisfied condition items), and the buzzer sounds 3 times (to prompt the user that the parking mode entry failed), and the non-parking mode is maintained; if the basic conditions for entering the parking mode are met, the To meet the basic conditions for entering parking mode, a second timer is started. If key button 4 (parking function button) is not pressed and held within the second timer threshold t2, the vehicle enters non-parking mode. If key button 4 (parking function button) is pressed and held within the second timer threshold t2, a determination is made as to whether the basic conditions for entering parking mode are met. If so, the vehicle enters automatic parking mode. After entering automatic parking mode, a determination is made in real time as to whether the vehicle has completed parking entry / exit, the engine has been shut down, the one-touch start switch has been pressed, the brake pedal has been pressed, the accelerator has been pressed, or the gear position has been changed by manual operation. If so, the vehicle exits automatic parking mode and enters non-parking mode.

[0037] 3. Vehicle Start Mode: By starting the engine, the vehicle enters Local Start Mode or Key Start Mode. Regardless of whether the vehicle is in Local Start Mode or Key Start Mode, the vehicle enters Manual / Automatic Parking Mode, and the start mode then enters Park Start Mode. When in Park Start Mode, if the vehicle exits Manual / Automatic Parking Mode, the vehicle start mode returns to the original start mode. The specific process is as follows:

[0038] 5 , in one or more embodiments, by applying the brake and starting the engine by pressing the SSB, the vehicle enters a local start mode (the vehicle moves according to the driver's brake / accelerator actions);

[0039] The engine is started by long pressing key button 5 (start / stop function), and the vehicle enters key start mode (Explanation: The vehicle does not operate in this mode. This mode is only used to enable the vehicle to be started by the key button when the owner is outside the vehicle. After entering key start mode, the steering wheel can be operated by the key (the key button function will be explained later). The vehicle can only be driven after entering other start modes through other judgment conditions);

[0040] When the vehicle is in the starting state (key start mode / local start mode), the vehicle enters manual / automatic parking mode, and the start mode enters parking start mode.

[0041] When in parking start mode, the vehicle exits manual / automatic parking mode and the vehicle start mode returns to the original start mode;

[0042] The detailed control strategies are as follows:

[0043] 1. Real-time detection: Real-time detection of key button status, brake status and SSB status;

[0044] 2. First local start mode: When the brake is depressed and the SSB is pressed, a key authentication request is issued. If there is no smart key in the vehicle, the vehicle is shifted to the OFF position and the key button status, brake status, and SSB status are re-detected in real time. If there is a key in the vehicle, it is determined whether the gear is in the N / P gear, whether the vehicle speed is less than the second speed threshold V1, and whether the anti-theft authentication is passed. If the conditions of determining whether the gear is in the N / P gear, the vehicle speed is less than the second speed threshold V1, and the anti-theft authentication is passed are not met, the vehicle is shifted to the OFF position. If the conditions of determining whether the gear is in the N / P gear, the vehicle speed is less than the second speed threshold V1, and the anti-theft authentication is passed are met, an engine request signal is sent to start the engine, and the vehicle enters the local start mode.

[0045] 3. Key start mode: When the vehicle is in the OFF gear and the key button 5 (start / stop function) is long pressed, it is determined whether the four doors are closed, the gear is in the P / N gear, the vehicle speed is less than the second speed threshold V1, and the anti-theft authentication is passed. If the conditions of the four doors being closed, the gear being in the P / N gear, the vehicle speed being less than the second speed threshold V1, and the anti-theft authentication is passed are not met, the vehicle remains in the OFF gear. If the conditions of the four doors being closed, the gear being in the P / N gear, the vehicle speed being less than the second speed threshold V1, and the anti-theft authentication is passed are met, an engine request signal is sent to start the engine, and the vehicle enters the key start mode.

[0046] 4. Second Local Start Mode: When the vehicle is in key start mode, it detects in real time whether the brake pedal is pressed and whether the gear position has changed. If the brake pedal is pressed or the gear position has changed, it means that the owner has participated in the actual vehicle operation and entered the Local Start Mode.

[0047] 5. Parking Start / Non-Parking Mode: When the vehicle is in Local Start Mode / Key Start Mode, it detects whether the vehicle has entered Manual Parking / Automatic Parking Mode. If it has entered Manual Parking / Automatic Parking Mode, it memorizes the current vehicle start mode and enters Parking Start Mode. In Parking Start Mode, it detects in real time whether the vehicle has entered Non-Parking Mode. If it has entered Non-Parking Mode, it returns to the previous start mode.

[0048] 6. Engine shutdown mode: When the vehicle is in any starting mode, if the SSB is detected to be pressed or the key button 5 (start / stop function) is pressed and held, the vehicle is shifted to the OFF position and the engine is shut down.

[0049] 4. Key button function description

[0050] The vehicle smart key has 5 buttons: Button 1 - unlock / forward function / steering wheel turn left; Button 2 - lock / reverse function / steering wheel turn right function; Button 3 - tailgate unlock function; Button 4 - parking function; Button 5 - start / stop function. For details, please refer to Table 1 below:

[0051] Table 1

[0052] Vehicle start mode Button 1 function Button 2 function Local start mode / engine not started mode Unlock request Lock request Key start mode Steering wheel left turn request (to avoid accidental press, long press button 1 is effective) Steering wheel right turn request (to avoid accidental press, long press button 2 is effective) Parking start mode (parking mode is manual parking mode) Vehicle forward request (to avoid accidental press, long press button 1 is effective) Steering wheel reverse request (to avoid accidental press, long press button 2 is effective) Parking start mode (parking mode is automatic parking mode) Unlock request Lock request

[0053] In the present invention, long press refers to the key button being pressed for a third timing threshold t3 (the time should not be too short to avoid accidental pressing; nor should it be too long to avoid the owner's hand getting tired from pressing the button all the time).

[0054] 5. Parking mode process control:

[0055] 1. In automatic parking mode, the vehicle automatically parks in / out of the pre-selected position. If the pressure sensor on the driver's seat senses that there is a driver in the driver's seat, the first controller senses the parking completion on the screen and the locking configuration is in the open state. If it detects that the driver has taken the key and is not in the vehicle, the vehicle is locked. The specific process is as follows:

[0056] Refer to Figure 6. The content of this section is essentially the vehicle parking control / power gear / lock control strategy. The specific power gear and lock status control strategy in the automatic parking mode is: automatic parking does not require the owner to operate. You only need to operate to enter the automatic parking mode, and the vehicle will automatically park in / out to the pre-selected position. The main driver's seat is equipped with a pressure sensor to determine whether there is a driver in the main driver's seat. The parking completion lock configuration can be turned on and off on the MP5 screen. When the configuration is turned on, after parking is completed, if it is detected that the driver has taken the key and is not in the car, the vehicle will be locked to prevent the owner from forgetting to lock and bringing economic risks (because after parking is completed, the owner generally no longer has the intention to operate the car. Therefore, the parking completion lock in the present invention is turned on by default. According to the needs of different manufacturers, it can also be set to be turned on and off through the MP5 screen). The specific strategy is as follows:

[0057] 1) Automatic Parking Mode Determination: Real-time detection of whether a second timer has been activated (in the parking mode control strategy, basic parking conditions are determined before the second timer is activated, so all four doors are closed at this time). If a second timer activation transition is detected, an in-vehicle key authentication request is sent and the in-vehicle key information is stored. The system also detects whether the driver has long-pressed key button 4 (the parking function button) within a second timing threshold t2 (since the second timing threshold t2 is variable, the driver may have opened a door and removed the key, performing a long-press from outside the vehicle, or may have long-pressed the key from inside the vehicle). If the driver long-presses the parking function button within the second timing threshold t2, a determination is made as to whether automatic parking mode has been entered. If automatic parking mode has been entered, the first controller, based on information from the camera / radar, controls speed control components such as the brake pedal / gear / accelerator, thereby controlling vehicle speed and direction, thereby parking the vehicle at a predetermined target location. Upon completion, the vehicle shifts to P gear.

[0058] 2) First locking control: Determine whether parking is complete and the gear is switched to P. If so, determine whether there is a driver in the driver's seat. If so (the driver intends to drive immediately after parking), the start mode remains in the current start mode and is subsequently switched according to the vehicle's start mode control strategy. If there is no driver, a key authentication request is sent. If there is no key in the vehicle (indicating that the driver is not in the vehicle and has taken the key away, with no immediate intention to drive), an engine shutdown command is sent, and the vehicle shifts to the OFF position. If the locking configuration is in the open state after parking is completed, the vehicle is locked. Of course, the driver can choose to turn the locking function on or off after parking is completed. If there is a key in the vehicle, determine whether the authenticated key contains all the key storage information. If so, it indicates that the owner has not taken the key away and may have an immediate intention to drive. The start mode remains in the current start mode and is subsequently switched according to the vehicle's start mode control strategy. If the authenticated key does not contain all the key storage information, it means that the owner is not in the car and has taken one of the keys away (with no immediate intention to drive), then the engine shutdown command is sent and the vehicle is shifted to the OFF position. If the locking configuration is in the open state after parking is completed, the vehicle is locked. Of course, the driver can also choose to turn the locking function on or off after parking is completed.

[0059] 3) Second locking control: Determine whether parking is completed and the gear is switched to P gear. If it is a start mode (i.e. key start mode / local start mode), it will enter the previous start mode (i.e. key start mode / local start mode) from parking start mode, and send an engine shutdown command, and the vehicle will be in OFF gear; determine whether there is a driver in the main driver's seat. If there is a driver, the locking operation will not be performed (the driver must be outside the vehicle and take away a key from the vehicle for the vehicle to be locked); if there is no driver, send a key authentication command. If there is no key in the vehicle, the vehicle will be locked; if there is a key in the vehicle, determine whether the authenticated key contains all the key storage information. If the authenticated key contains all the key storage information, it indicates that the driver has not taken the key away, and the vehicle will not be locked; if the authenticated key does not contain all the key storage information, it indicates that the key is missing from the vehicle, that is, the owner has taken away a key, and the vehicle will be locked.

[0060] 2. When the parking space is narrow and there are obstacles on both sides that prevent the door from opening, use manual parking mode. The driver starts the vehicle from outside and can control the vehicle forward, reverse, and steering wheel by simply pressing the key. The specific process is as follows:

[0061] Refer to Figure 7. This section essentially describes the operational control strategy in manual parking mode. Manual parking mode is primarily used when a narrow parking space (with obstacles on both sides) prevents the vehicle door from opening, hindering parking entry or exit. In manual parking mode, the driver can start the vehicle from outside and control forward, reverse, and the steering wheel with just the touch of a key. This makes parking in and out in these scenarios a breeze.

[0062] At this time, in the parking start mode, key buttons 1 / 2 are forward and reverse requests. When the key button is pressed continuously, forward and reverse requests will be sent continuously, and will stop sending after releasing it.

[0063] In key start mode, key buttons 1 / 2 are steering wheel turn requests. When the key button is pressed continuously, the steering wheel turn request will be continuously issued, and will stop sending after it is released.

[0064] Based on the above strategy, the following are the operation procedures and strategies:

[0065] 1) Steering Wheel Turn Request Control: First, the key button 5 (start function) is long-pressed until it reaches the third timing threshold t3, causing the start mode to enter the key start mode (see Start Mode Control Strategy for details). Based on the surrounding environment, the driver long-presses the key button 1 / 2 (in this mode, a steering wheel turn request is issued). At this time, the second controller drives the steering wheel to turn according to the key button request. In one or more embodiments, the second controller is an EPS controller. The driver determines whether the steering wheel has reached the target position. If the steering wheel has not reached the target position, the driver continues to long-press the key button 1 / 2. If the steering wheel reaches the target position, the driver releases the key button.

[0066] 2) Forward / Reverse Request Control: Continuously pressing and holding key button 4 (parking function) until the third timer threshold t3 is reached causes the vehicle to enter manual parking mode (see Parking Mode Control Strategy for details). After entering manual parking mode, the driver can, depending on the surrounding environment, press and hold key buttons 1 or 2 (initiating a forward / reverse request in this mode). Upon receiving the forward / reverse request, the vehicle automatically controls speed control components such as the brake pedal, gear position, and accelerator to control vehicle speed, avoid danger, and ensure that the vehicle speed is within a third speed threshold V2 (using vehicle speed as input, the brake and accelerator signals are jointly controlled). In one or more embodiments, the third speed threshold V2 is 5 km / h.

[0067] 3) Steering and forward / reverse adjustment control: The driver determines whether parking entry / exit is complete. If not, the driver continues to determine whether steering control is required. If steering control is required, the driver again long-presses key button 4 (parking function) until the third timer threshold t3 is reached, causing the vehicle to enter the previous start mode, i.e., key start mode (see Parking Mode Control and Start Mode Control Strategy for details), and controls the steering wheel using key buttons 1 / 2. If steering control is not required, the driver continues to long-press key buttons 1 / 2 (in this mode, a vehicle forward / reverse request is issued) according to the surrounding environment until parking entry / exit is complete.

[0068] 4) Flame-out control: After parking in / out, release the key button and the driver decides whether to shut down the vehicle (for example, parking is complete and the vehicle needs to be shut down). If the vehicle needs to be shut down, long press and hold key 5 (the start / stop function button) to turn off the vehicle (see the start mode control strategy for details).

[0069] 8 , the control device for various situations that may occur during vehicle parking of the present invention includes the following parts:

[0070] Key detection module: Before detecting the key, the key corresponding to the vehicle and the third controller need to learn from each other and store the key information. The low-frequency signal sent by the third controller-driven antenna and the high-frequency signal sent by the key contain the key information. If the low-frequency signal sent by the third controller-driven antenna does not contain the key information, the key will not send a high-frequency signal to the third controller after receiving the low-frequency signal; if the high-frequency signal sent by the key does not contain the key information, the third controller will not receive the signal; the third controller drives the antenna to send a low-frequency signal, and after receiving the low-frequency signal, the key sends a high-frequency signal to the third controller, completing the detection process of the key bound to the vehicle;

[0071] Parking mode selection control module: After a vehicle is initialized in non-parking mode and meets the basic conditions for parking mode, the vehicle detects in real time whether the driver has long-pressed the key parking function button or touched the parking mode button on the screen. After entering parking mode, the first controller determines in real time whether there is any operation action. If so, it exits parking mode and enters non-parking mode;

[0072] Vehicle start mode module: By starting the engine, the vehicle enters local start mode or key start mode; regardless of whether the vehicle is in local start mode or key start mode, the vehicle enters manual / automatic parking mode, and the start mode enters parking start mode; when in parking start mode, if the vehicle exits manual / automatic parking mode, the vehicle start mode returns to the original start mode;

[0073] Parking mode process control module: In automatic parking mode, the vehicle automatically parks in / out to the pre-selected position. The pressure sensor of the driver's seat senses that there is a driver in the driver's seat, and after completing parking in / out, the parking and exit functions are turned on on the screen to complete the locking configuration. If it is detected that the driver has taken the key and is not in the car, the vehicle is locked. When the parking space is narrow and there are obstacles on both sides that make it impossible to open the door, the manual parking mode is used. The driver starts the vehicle from outside the car and only needs to operate the key button to control the vehicle's forward and reverse / steering wheel.

[0074] As can be seen, the present invention implements both automatic and manual parking by incorporating key button / MP5 command functions. Key activation and vehicle forward / reverse / steering wheel rotation functions are achieved through key button operations, thereby avoiding the risk of drivers being unable to enter or exit a narrow parking space (with obstructions on both sides), resulting in the inability to park or exit the vehicle. Furthermore, a vehicle activation mode is added to the parking mode to enable automatic power-off after the vehicle is automatically parked. After automatic parking is completed, the system detects whether the owner has exited the vehicle and removed the smart key. If so, the vehicle is automatically locked, adding intelligent functionality to the vehicle, resolving the issue of being unable to exit or park in a narrow parking space. Furthermore, the system automatically powers off and locks the vehicle after parking is completed, enhancing user experience. The key technical points and technical principles of the present invention are as follows:

[0075] The present invention describes a control strategy for the vehicle's motion state, power level, and lock status in a parking mode. The vehicle can be operated by the owner to enter manual parking / automatic parking / non-parking mode, and the startup state can also be set to local startup / key startup / parking startup mode. In different startup modes, the key button can issue different action requests, thereby completing the manual parking function. By setting and controlling the key button in the MP5, the automatic parking mode can be entered. After parking in / out, the driver's presence in the vehicle and whether the driver has taken a legal key away are identified, and the power level and lock status are controlled to achieve the automatic shutdown and locking function after parking in, and the power level and lock status control function according to the driver's driving intention after parking out. Among them, the power level and lock status control and process in parking mode / start mode / key button request / parking mode are all protection points of the present invention.

[0076] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

[0077] The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

Claims

1. A control method for various situations that occur during vehicle parking, which is applied to the electronic device of the vehicle, including parking mode selection control, and / or vehicle start mode, and / or parking mode process control. The specific content is as follows: When a vehicle in a non-parking mode is initialized and meets the basic conditions for the parking mode, the vehicle continuously detects whether the driver long-presses the key parking function button or touches the enter parking mode button on the screen. After entering the parking mode, the first controller continuously determines whether there is an operation action. If there is an operation action, the parking mode is exited and the non-parking mode is entered. By starting the engine, the vehicle enters the local start mode or the key start mode. Whether the vehicle is in the local start mode or the key start mode, the vehicle enters the manual / automatic parking mode. At this time, the start mode enters the parking start mode. When in the parking start mode, if the vehicle exits the manual / automatic parking mode, the vehicle start mode returns to the original start mode. In the automatic parking mode, the vehicle automatically parks in / out to a preselected position. When the pressure sensor of the driver's seat senses that there is a driver on the driver's seat, after the in / out parking is completed, the first controller senses that the unlocking configuration for parking out on the screen is in the open state. If it is detected that the driver takes the key and is not in the vehicle, the vehicle is locked. When the parking space is narrow and there are obstacles on both sides, making it impossible to open the door, the manual parking mode is used. The driver starts the vehicle outside the vehicle, and only by operating the key button can the vehicle be controlled to move forward / backward / turn the steering wheel.

2. The control method for various situations occurring during vehicle parking according to claim 1, wherein, When the vehicle in the non-parking mode is initialized and meets the basic conditions for the parking mode, the vehicle continuously detects whether the driver long-presses the key parking function button or touches the enter parking mode button on the screen. After entering the parking mode, the first controller continuously determines whether there is an operation action. If there is an operation action, the parking mode is exited and the non-parking mode is entered. The specific process of this step is as follows: When the vehicle is initialized, the default state is the non-parking mode. If the vehicle detects that the driver long-presses the key parking function button, it determines whether the basic conditions for entering the parking mode are met. If the basic conditions for entering the parking mode are not met, the corresponding prompt function is entered and the non-parking mode is maintained. If the basic conditions for entering the parking mode are met, the manual parking mode is entered. After entering the manual parking mode, the vehicle continuously determines whether the driver has a first operation action. If the driver has a first operation action, the manual parking mode is exited and the non-parking mode is entered. When the vehicle is initialized, the default state is the non-parking mode. If it is detected that the button for entering the parking-in / parking-out mode is touched on the screen, the first timer is started. If the parking space selection button on the screen is not touched within the first timing threshold t1, the non-parking mode is entered; if the parking space selection button on the screen is touched within the first timing threshold t1, it is judged whether the basic conditions for entering the parking mode are met. If the basic conditions for entering the parking mode are not met, the corresponding prompt function is entered and the non-parking mode is maintained; if the basic conditions for entering the parking mode are met, the second timer is started. If the driver does not long-press the key parking function button within the second timing threshold t2, the non-parking mode is entered; if the driver long-presses the key parking function button within the second timing threshold t2, it is judged whether the basic conditions for entering the parking mode are met. If the basic conditions for entering the parking mode are met, the automatic parking mode is entered; after entering the automatic parking mode, it is continuously judged whether the vehicle has completed parking in / completed parking out or whether the driver has a second operation action. If the vehicle has completed parking in / completed parking out or the driver has a second operation action, the automatic parking mode is exited and the non-parking mode is entered.

3. The control method for various situations occurring during vehicle parking according to claim 2, wherein, The vehicle in the non-parking mode is initialized. On the premise of meeting the basic conditions for the parking mode, the vehicle continuously detects whether the driver long-presses the key parking function button or touches the button for entering the parking mode on the screen. After entering the parking mode, the first controller continuously judges whether there is an operation action. If there is an operation action, the parking mode is exited and the non-parking mode is entered. The basic conditions for entering the parking mode are as follows: the four doors are closed, the gear is in the P gear, the engine is in the starting state, the vehicle speed is valid and less than the first speed threshold V0, the one-key start switch is not pressed, and the brake pedal is not depressed. All the above conditions are met simultaneously.

4. The control method for various situations occurring during vehicle parking according to claim 3, wherein, When the vehicle is initialized, the default state is the non-parking mode. If the vehicle detects that the driver long-presses the key parking function button, it is judged whether the basic conditions for entering the parking mode are met. If the basic conditions for entering the parking mode are not met, the corresponding prompt function is entered and the non-parking mode is maintained; if the basic conditions for entering the parking mode are met, the manual parking mode is entered. After entering the manual parking mode, the vehicle continuously judges whether the driver has a first operation action. If the driver has a first operation action, the manual parking mode is exited and the non-parking mode is entered. The first operation action includes: long-pressing the key parking function button again, turning off the engine, pressing the manual one-key start switch, pressing the manual brake pedal, pressing the manual accelerator pedal, or manually operating the gear to change the gear. When the vehicle is initialized, the default state is the non-parking mode. If it is detected that the button for entering the parking-in / parking-out mode is touched on the screen, the first timer is started. If the parking space selection button on the screen is not touched within the first timing threshold t1, the non-parking mode is entered; if the parking space selection button on the screen is touched within the first timing threshold t1, it is judged whether the basic conditions for entering the parking mode are met. If the basic conditions for entering the parking mode are not met, the corresponding prompt function is entered and the non-parking mode is maintained; if the basic conditions for entering the parking mode are met, the second timer is started. If the driver does not long-press the key parking function button within the second timing threshold t2, the non-parking mode is entered; if the driver long-presses the key parking function button within the second timing threshold t2, it is judged whether the basic conditions for entering the parking mode are met. If the basic conditions for entering the parking mode are met, the automatic parking mode is entered; after entering the automatic parking mode, it is continuously judged whether the vehicle has completed parking in / completed parking out or whether the driver has a second operation action. If the vehicle has completed parking in / completed parking out or the driver has a second operation action, the automatic parking mode is exited and the non-parking mode step is entered. The second operation action includes: the engine is turned off, or the manual one-key start switch is pressed, or the manual brake pedal is depressed, or the manual accelerator is depressed, or the manual gear is operated to change the gear.

5. The control method for various situations occurring during vehicle parking according to claim 4, wherein, By starting the engine, the vehicle enters the local start mode or the key start mode; regardless of whether the vehicle is in the local start mode or the key start mode, when the vehicle enters the manual / automatic parking mode, the start mode enters the parking start mode; when in the parking start mode, if the vehicle exits the manual / automatic parking mode, the vehicle start mode returns to the original start mode step. The specific process is as follows: When the brake is in the depressed state and the SSB is pressed, a key authentication request is sent. If there is no smart key in the vehicle, the vehicle goes to the OFF gear and continuously detects the key button state, brake state, and SSB state in real time; if there is a key in the vehicle, it is judged whether the gear is in the N / P gear, whether the vehicle speed is less than the second speed threshold V1, and whether the anti-theft authentication is passed. If the conditions for judging whether the gear is in the N / P gear, the vehicle speed is less than the second speed threshold V1, and the anti-theft authentication is passed are not met, the vehicle goes to the OFF gear. If the conditions for judging whether the gear is in the N / P gear, the vehicle speed is less than the second speed threshold V1, and the anti-theft authentication is passed are met, an engine request signal is sent to start the engine, and the vehicle enters the local start mode; When the vehicle is in the OFF gear and the key start / stop function button is long-pressed, it is determined whether the four doors are closed, whether the gear is in the P / N gear, whether the vehicle speed is less than the second speed threshold V1, and whether the anti-theft authentication is passed. If the conditions that the four doors are closed, the gear is in the P / N gear, the vehicle speed is less than the second speed threshold V1, and the anti-theft authentication is passed are not met, the vehicle remains in the OFF gear. If the conditions that the four doors are closed, the gear is in the P / N gear, the vehicle speed is less than the second speed threshold V1, and the anti-theft authentication is passed are met, an engine request signal is sent to start the engine, and the vehicle enters the key start mode; When the vehicle is in the key start mode, it is continuously detected whether the brake pedal is depressed and whether the gear changes. If the brake pedal is depressed or the gear changes, the vehicle enters the local start mode; When the vehicle is in the local start mode / key start mode, it is detected whether the vehicle enters the manual parking / automatic parking mode. If it enters the manual parking / automatic parking mode, the current vehicle start mode is memorized, and the vehicle enters the parking start mode; in the parking start mode, it is continuously detected whether the vehicle enters the non-parking mode. If it enters the non-parking mode, the vehicle start mode enters the previous start mode; When the vehicle is in any start mode, when it is detected that the SSB is pressed or the key start / stop function button is long-pressed, the vehicle goes to the OFF gear and the engine shuts down.

6. The control method for various situations occurring during vehicle parking according to claim 5, wherein, By starting the engine, the vehicle enters the local start mode or the key start mode; whether the vehicle is in the local start mode or the key start mode, when the vehicle enters the manual / automatic parking mode, the start mode then enters the parking start mode; when in the parking start mode, if the vehicle exits the manual / automatic parking mode, the vehicle start mode returns to the original start mode. The steps further include the following sub-steps: continuously detecting the key button state, the brake state, and the SSB state.

7. The control method for various situations occurring during vehicle parking according to claim 6, wherein, In the automatic parking mode, the vehicle automatically parks in / out to the preselected position. When the pressure sensor of the driver's seat senses that there is a driver on the driver's seat, after the parking in / out is completed, the first controller senses that the parking out completion locking configuration on the screen is in the open state. If it is detected that the driver takes the key and is not in the vehicle, the vehicle is locked; when the parking space is narrow and there are obstacles on both sides, making it impossible to open the door, the manual parking mode is used. The driver starts the vehicle outside the vehicle, and only by operating the key button can the vehicle be controlled to move forward / backward / turn the steering wheel. In the automatic parking mode, the vehicle automatically parks in / out to the preselected position. When the pressure sensor of the driver's seat senses that there is a driver on the driver's seat, after the parking in / out is completed, the first controller senses that the parking out completion locking configuration on the screen is in the open state. If it is detected that the driver takes the key and is not in the vehicle, the vehicle is locked. The specific process of the sub-step is as follows: Detect in real time whether there is a transition to turn on the second timer. If a transition to turn on the second timer is detected, send a request for in-vehicle key authentication and store the in-vehicle key information; detect whether the driver long presses the key parking function button within the second timing threshold t2. If the driver long presses the key parking function button within the second timing threshold t2, determine whether to enter the automatic parking mode. If the automatic parking mode is entered, the first controller controls the brake pedal / gear / throttle according to the information transmitted by the sensor, thereby controlling the vehicle speed and driving direction to park the vehicle in a preset target position. After completion, switch the gear to the P gear; Determine whether parking out is completed and the gear is switched to the P gear. If parking out is completed and the gear is switched to the P gear, determine whether there is a driver in the driver's seat. If there is a driver, keep the current start mode; if there is no driver, send a key authentication request. If there is no key in the vehicle, send an engine shutdown command, and the vehicle goes to the OFF gear. If the locking configuration is in the open state after parking out is completed, lock the vehicle; If there is a key in the vehicle, determine whether the authenticated key contains all the key storage information. If the authenticated key contains all the key storage information, it means the vehicle owner has not taken the key, and keep the current start mode. If the authenticated key does not contain all the key storage information, it means the vehicle owner is not in the vehicle and has taken one of the keys, then send an engine shutdown command, and the vehicle goes to the OFF gear. If the locking configuration is in the open state after parking out is completed, lock the vehicle; Determine whether parking in is completed and the gear is switched to the P gear. If it starts with the key start mode, enter the previous key start mode from the parking start mode. If it starts with the local start mode, enter the previous local start mode from the parking start mode, and send an engine shutdown command, and the vehicle goes to the OFF gear; Determine whether there is a driver in the driver's seat. If there is a driver, do not perform the locking operation; If there is no driver, send a key authentication command. If there is no key in the vehicle, lock the vehicle; If there is a key in the vehicle, determine whether the authenticated key contains all the key storage information. If the authenticated key contains all the key storage information, it indicates that the driver has not taken the key, and the vehicle is not locked. If the authenticated key does not contain all the key storage information, it indicates that there is a missing key in the vehicle, that is, the vehicle owner has taken a certain key, then lock the vehicle.

8. The control method for various situations occurring during vehicle parking according to claim 7, wherein, In the described automatic parking mode, the vehicle automatically parks in / out to a preselected position. If the pressure sensor of the driver's seat senses that there is a driver on the driver's seat, after the parking in / out is completed, the first controller senses that the unlocking configuration for parking out completion on the screen is in the open state. If it is detected that the driver takes the key and is not in the vehicle, the vehicle is locked. When the parking space is narrow and there are obstacles on both sides, resulting in the inability to open the door, the manual parking mode is used. The driver starts the vehicle outside the vehicle, and only by operating the key buttons can the control steps of the vehicle moving forward / backward / steering wheel rotation be achieved. The specific process of the sub-step of using the manual parking mode when the parking space is narrow and there are obstacles on both sides, resulting in the inability to open the door, and the driver starts the vehicle outside the vehicle and only by operating the key buttons can the control of the vehicle moving forward / backward / steering wheel rotation be achieved is as follows: Long press the key start function button until the third timing threshold t3 is reached, so that the start mode enters the key start mode. The driver long presses the key steering wheel rotation request button. At this time, the second controller drives the steering wheel to rotate according to the key button request. The driver judges whether the steering wheel rotates to the target position. If the steering wheel does not rotate to the target position, the driver continues to long press the key steering wheel rotation request button. If the steering wheel rotates to the target position, then release the key steering wheel rotation request button; Continue to long press the key parking function button until the third timing threshold t3 is reached, so that the vehicle enters the manual parking mode. After entering the manual parking mode, the driver long presses the key vehicle forward / backward request button. After receiving the forward / backward request, the vehicle automatically controls the brake pedal / gear / throttle to control the vehicle speed, ensuring that the vehicle speed is controlled within the third speed threshold V2; The driver judges whether the parking in / out is in place. If the parking in / out is not in place, the driver continues to judge whether it is necessary to control the steering wheel to turn. If it is necessary to control the steering wheel to turn, then long press the key parking function button again until the third timing threshold t3 is reached, so that the vehicle enters the previous key start mode, and controls the steering wheel to turn by pressing the key steering wheel rotation request button; If it is not necessary to control the steering wheel to turn, the driver continues to long press the key button to send a vehicle forward / backward request until the parking in / out is in place; After the parking in / out is in place, release the key button. The driver judges whether it is necessary to turn off the vehicle. If it is necessary to turn off the vehicle, then long press the key start / stop function button to turn off the vehicle to OFF.

9. The control method for various situations occurring during vehicle parking according to claim 8, wherein, It also includes the following steps, and the specific process is as follows: Before detecting the key, it is necessary to mutually learn the corresponding key of the vehicle and the third controller, and store the key information. The low-frequency signal sent by the third controller driving the antenna and the high-frequency signal sent by the key contain the key information. If the low-frequency signal sent by the third controller driving the antenna does not contain the key information, when the key receives the low-frequency signal, it will not send a high-frequency signal to the third controller; If the high-frequency signal sent by the key does not contain the key information, the third controller will not receive the signal; The third controller drives the antenna to send a low-frequency signal. After the key receives the low-frequency signal, it sends a high-frequency signal to the third controller to complete the detection process of the key bound to the vehicle.

10. A control device for various situations occurring during vehicle parking, having a computer program that can execute the control method for various situations occurring during vehicle parking according to any one of claims 1 to 9.

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