Vehicle speed control method and apparatus, device, storage medium, and program product

Abstract

A vehicle speed control method, comprising: when an automatic parking system is operating, an automatic transmission control unit (100a) of a vehicle (100) entering an automatic parking operating condition in response to a torque output from an engine of the vehicle (100); under the automatic parking operating condition, the automatic transmission control unit (100a) acquiring a vehicle speed control signal of the vehicle (100), the vehicle speed control signal comprising a braking force signal or a throttle signal, the braking force signal being issued by an electronic stability system of the vehicle (100) under control of the automatic parking system, and the throttle signal being issued by an engine management system (100b) of the vehicle (100) under control of the automatic parking system; and the automatic transmission control unit (100a) controlling a clutch (100a1) of an automatic transmission of the vehicle (100) on the basis of the vehicle speed control signal, so that the vehicle speed of the vehicle (100) is maintained at a target vehicle speed corresponding to the automatic parking operating condition. A vehicle speed control apparatus, used for implementing the vehicle speed control method. A computer device, used for performing the vehicle speed control method. A computer-readable storage medium, used for implementing the vehicle speed control method. A computer program product, used for implementing the vehicle speed control method. Such a configuration ensures the accuracy of vehicle speed control and improves vehicle speed control performance.

Description

Vehicle speed control method, device, equipment, storage medium and program product

[0001] The present application claims priority to the Chinese patent application No. 202411065488.6, filed on August 5, 2024, and entitled "Vehicle speed control method, device, equipment, storage medium and program product", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of automobiles, and in particular, to a vehicle speed control method, device, equipment, storage medium and program product. BACKGROUND

[0003] With the rapid development of the automobile industry, advanced driving assistance systems are applied in modern vehicles, which can provide effective suggestions for driving users through various devices and algorithms, and realize auxiliary functions, especially vehicle speed control.

[0004] In related technologies, automatic parking is a common function of advanced driving assistance systems. Specifically, under the working condition of automatic parking system function activation, the vehicle can realize the functions of parking in position and cruising for parking space.

[0005] However, the automatic parking system has poor control effect on vehicle speed when controlling the vehicle to park in position and cruise for parking space. SUMMARY

[0006] The embodiments of the present application provide a vehicle speed control method, device, equipment, storage medium and program product, which can improve the control effect of the automatic parking system on the vehicle speed. The technical solution is as follows:

[0007] On the one hand, a vehicle speed control method is provided, which is implemented by a vehicle with an automatic parking system. The method comprises:

[0008] Under the working condition of the automatic parking system, the automatic transmission control unit of the vehicle responds to the torque output of the engine of the vehicle and enters an automatic parking working condition;

[0009] Under the automatic parking working condition, the automatic transmission control unit acquires a vehicle speed control signal, which includes a brake braking force signal or a throttle signal. The brake braking force signal is issued by the electronic stability system of the vehicle controlled by the automatic parking system, and the throttle signal is issued by the engine management system of the vehicle controlled by the automatic parking system;

[0010] The automatic transmission control unit controls a clutch of an automatic transmission of the vehicle according to the vehicle speed control signal, so that the vehicle speed of the vehicle is maintained at a target vehicle speed corresponding to the automatic parking mode.

[0011] In another aspect, there is provided a vehicle speed control device, the device comprising:

[0012] an automatic parking mode entering module configured to enter an automatic parking mode in response to a torque output of an engine of the vehicle when the automatic parking system is in operation;

[0013] a vehicle speed control signal obtaining module configured to obtain a vehicle speed control signal of the vehicle in the automatic parking mode, the vehicle speed control signal comprising a brake braking force signal or a throttle signal, the brake braking force signal being issued by an electronic stability system of the vehicle controlled by the automatic parking system, the throttle signal being issued by an engine management system of the vehicle controlled by the automatic parking system;

[0014] a clutch control module configured to control a clutch of an automatic transmission of the vehicle according to the vehicle speed control signal, so that the vehicle speed of the vehicle is maintained at a target vehicle speed corresponding to the automatic parking mode.

[0015] In some embodiments, the automatic parking mode comprises a creep mode and a launch mode.

[0016] the clutch control module is configured to maintain the creep mode when the vehicle speed control signal comprises the brake braking force signal, and control the clutch of the automatic transmission of the vehicle according to the brake braking force signal in the creep mode, so that the vehicle speed of the vehicle is maintained at a first target vehicle speed corresponding to the creep mode; and maintain the launch mode when the vehicle speed control signal comprises the throttle signal, and control the clutch of the automatic transmission of the vehicle according to the throttle signal in the launch mode, so that the vehicle speed of the vehicle is maintained at a second target vehicle speed corresponding to the launch mode, the first target vehicle speed being less than the second target vehicle speed.

[0017] In some embodiments, in the creep mode, a clutch engagement depth of the clutch is controlled according to the brake braking force signal and a slope of a road on which the vehicle is located, so that the vehicle speed of the vehicle is maintained at the first target vehicle speed.

[0018] In some embodiments, in the creep mode, a brake force corresponding to the brake braking force signal is mapped to a master cylinder pressure of a brake master cylinder, and the clutch engagement depth of the clutch is controlled according to the master cylinder pressure and the slope of the road on which the vehicle is located, so that the vehicle speed of the vehicle is maintained at the first target vehicle speed.

[0019] In some embodiments, in the starting working condition, the clutch engagement depth is controlled according to the accelerator signal and the slope of the road where the vehicle is located, so that the vehicle speed is maintained at the second target vehicle speed.

[0020] In some embodiments, the first target vehicle speed is 1-3 km / h, and the second target vehicle speed is 7-9 km / h.

[0021] In another aspect, a computer device is provided, which includes a processor and a memory, the memory storing at least one instruction, at least one program, a code set or an instruction set, which is loaded and executed by the processor to implement the vehicle speed control method as described above.

[0022] In another aspect, a computer readable storage medium is provided, which stores at least one instruction, at least one program, a code set or an instruction set, which is loaded and executed by a processor to implement the vehicle speed control method as described above.

[0023] In still another aspect, a computer program product is provided, which includes a computer program stored in a computer readable storage medium. The processor of a computer device reads the computer program from the computer readable storage medium, and the processor executes the computer program, so that the computer device executes the vehicle speed control method provided in the various optional implementation manners described above.

[0024] The technical solutions provided in the present application can include the following beneficial effects:

[0025] In the case that the automatic parking system is working, the automatic transmission control unit of the vehicle is in an automatic parking working condition and travels at a speed corresponding to the working condition. During this process, the automatic transmission control unit of the vehicle can receive a vehicle speed control signal and control the clutch of the automatic transmission of the vehicle based on the vehicle speed control signal, so that the vehicle speed is maintained at a target vehicle speed corresponding to the automatic parking working condition, thereby ensuring the accuracy of vehicle speed control in the automatic parking scenario.

[0026] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application.

[0028] Fig. 1 is a system diagram of a vehicle speed control method according to an embodiment of the present application;

[0029] Fig. 2 is a flow chart of a vehicle speed control method according to an embodiment of the present application;

[0030] Fig. 3 is a flow chart of a vehicle speed control method according to an embodiment of the present application;

[0031] Fig. 4 is a schematic diagram of a clutch torque coefficient table according to an embodiment of the present application;

[0032] Fig. 5 is a schematic diagram of a brake pressure and four-wheel braking force table according to an embodiment of the present application;

[0033] Fig. 6 is a flow chart of a communication process between an automatic transmission control unit and an ADAS system according to an embodiment of the present application;

[0034] Fig. 7 is a control framework diagram of an automatic transmission control unit in an APA function according to an embodiment of the present application;

[0035] Fig. 8 is a functional diagram of a vehicle speed control process in an APA function according to an embodiment of the present application;

[0036] Fig. 9 is a schematic diagram of a communication process between an automatic transmission control unit and an ADAS system according to an embodiment of the present application;

[0037] Fig. 10 is a block diagram of a vehicle speed control device according to an example embodiment of the present application;

[0038] Fig. 11 is a structural diagram of a computer device according to an example embodiment of the present application. DETAILED DESCRIPTION

[0039] The example embodiments will be described in detail herein with reference to the attached drawings. In the following description, the same numbers are used to designate the same elements, unless otherwise indicated. The embodiments described in the following example embodiments are not representative of all embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application, as detailed in the appended claims.

[0040] The present application proposes a vehicle speed control scheme, which can maintain the vehicle speed at a target vehicle speed corresponding to an automatic parking condition, ensuring the accuracy of vehicle speed control and improving the control efficiency of vehicle speed.

[0041] For the convenience of understanding, some concepts related to the present application are explained as follows.

[0042] 1) Advanced Driver Assistance Systems (ADAS) is a vehicle safety technology designed to help drivers improve safety and comfort during driving by using sensors, radars, cameras, and other devices. ADAS systems can provide a variety of functions such as automatic emergency braking, lane-keeping assistance, automatic parking, blind spot monitoring, traffic sign recognition, and adaptive cruise control, among others. These features work by monitoring the vehicle's surroundings in real-time, identifying potential hazards, and taking measures to reduce the likelihood of accidents or mitigate their impact when necessary.

[0043] 2) Transmission Control Unit (TCU) is a part of the vehicle's electronic control system responsible for managing and controlling the operation of the automatic transmission. The TCU determines when to shift gears by monitoring parameters such as vehicle speed, engine speed, acceleration, and engine load, ensuring smooth driving and high fuel efficiency.

[0044] 3) Auto Parking Assist (APA) is an advanced driving assistance technology designed to help drivers easily complete parking operations. The APA system uses sensors installed on the vehicle, such as ultrasonic sensors or cameras, to detect and measure the space around the vehicle. Once the driver selects the automatic parking function, the APA system takes over the steering operation of the vehicle and controls its acceleration and braking to achieve a safe and precise parking.

[0045] 4) Engine Management System (EMS) is a vehicle electronic control system responsible for managing and optimizing the operation of the engine. The EMS monitors and adjusts parameters such as fuel supply, air flow, ignition timing, emission control, and others to ensure that the engine can achieve optimal efficiency, power output, and low emission levels under different operating conditions.

[0046] 5) Electronic Stability Program (ESP) is a vehicle dynamic control system designed to help drivers maintain stability and control of the vehicle in emergency situations. The ESP monitors parameters such as steering angle, lateral acceleration, wheel speed, and others using sensors, and if it detects a potential skid or loss of control, it adjusts the vehicle's brake force distribution through an automatic braking system and reduces engine power when necessary to stabilize the vehicle's driving direction.

[0047] 6) Electric Power Steering (EPS) is a system that uses an electric power assist mechanism to assist the driver in steering. The EPS system replaces the hydraulic pump in the traditional hydraulic system with an electric motor or electric pump, and detects the driver's steering force and direction through sensors.

[0048] 7) Crawl condition refers to a specific driving condition in which the vehicle is driven at low speed. Specifically, it refers to the situation where the vehicle moves forward at very low speed, such as in traffic congestion or when precise parking is required, and the driver only needs to gently press the brake or accelerator, and the vehicle can move slowly. In this condition, the vehicle can maintain automatic forward movement or automatic parking without the driver needing to frequently step on the brake or accelerator.

[0049] 8) Starting condition refers to the driving condition when the vehicle starts or begins to move from a stationary state. It generally refers to the process of accelerating and driving the vehicle from a stopped state. This stage includes starting the engine, engaging the appropriate gear (such as automatic or manual), releasing the brake, and applying sufficient throttle to start the vehicle moving.

[0050] 9) Torque output refers to the torque transmitted by the engine or power system to the vehicle's drive wheels. It is usually the power generated by the engine or electric motor, which is transmitted to the vehicle's drive wheels after passing through the transmission system (such as the gearbox, transmission shaft, etc.).

[0051] Figure 1 is a system diagram of a vehicle speed control method according to an embodiment of the present application. As shown in Figure 1, the system includes a vehicle 100 supporting an automatic parking system and an electronic stability system, and the vehicle 100 internally includes an automatic transmission control unit 100a and an engine management system 100b. The vehicle's transmission also includes a clutch 100a1.

[0052] The vehicle 100 is in an automatic parking condition. In the case of the automatic parking system working, the automatic transmission control unit 100a of the vehicle 100 enters the automatic parking condition in response to the torque output of the engine of the vehicle 100. In the automatic parking condition, the automatic transmission control unit 100a can control the brake braking force signal of the electronic stability system of the vehicle 100 or the throttle signal of the engine management system 100b of the vehicle 100 by the automatic parking system. Both the throttle signal and the brake braking force signal belong to the vehicle speed control signal. The automatic transmission control unit 100a controls the clutch 100a1 of the vehicle 100 according to the vehicle speed control signal, so that the vehicle speed of the vehicle 100 is maintained at the target vehicle speed corresponding to the automatic parking condition.

[0053] Please refer to FIG. 2, which is a flow chart of a vehicle speed control method according to an embodiment of the present application. The vehicle speed control method can be implemented by a vehicle with an automatic parking system, such as the vehicle 100 shown in FIG. 1. The vehicle speed control method can include the following steps:

[0054] Step 210: In the case that the automatic parking system is working, the automatic transmission control unit of the vehicle enters an automatic parking working condition in response to the torque output of the engine of the vehicle.

[0055] The automatic parking system is a driving assistance system with an automatic parking assistance function.

[0056] In the embodiments of the present application, the automatic parking system can be started by the driver during driving the vehicle, or can be automatically started after the vehicle is started. The automatic parking system is connected with sensors (such as cameras and radars) on the vehicle, an electronic stability system, an electric power steering system, and a braking system. In the case that the driver gives an instruction to the automatic parking system, the automatic parking system controls the vehicle to enter a working state, i.e., an automatic parking state, in response to the instruction of the driver and in combination with the data uploaded by other software and hardware on the vehicle.

[0057] In the embodiments of the present application, after the automatic parking system works, the automatic parking system acquires state data (such as vehicle speed data) of the current vehicle and parking target data (such as target parking space distance data) through the sensors of the vehicle, and calculates a torque request based on the data. The torque request is sent to the engine of the vehicle, and the engine implements torque output according to the torque request. The automatic transmission control unit of the vehicle enters an automatic parking working condition in response to the torque output.

[0058] The automatic parking working condition is a working condition of the automatic transmission control unit when the vehicle is at a specified speed during the working of the automatic parking system.

[0059] Step 220: In the automatic parking working condition, the automatic transmission control unit acquires a vehicle speed control signal, which includes a brake braking force signal or a throttle signal. The brake braking force signal is sent by the electronic stability system of the vehicle controlled by the automatic parking system, and the throttle signal is sent by the engine management system of the vehicle controlled by the automatic parking system.

[0060] In the embodiments of the present application, when the vehicle is in the automatic parking working condition, the electronic stability system in the vehicle sends a brake braking force signal to the automatic transmission control unit at the moment when deceleration is needed according to the target parking information and the driving state of the current vehicle.

[0061] In the embodiments of the present application, when the vehicle is in the automatic parking working condition, the engine management system can receive the torque request sent by the electronic stability system, and the engine management system sends the throttle signal after executing the torque output.

[0062] The brake braking force signal can be an electronic signal indicating the braking force applied by the braking system of the vehicle. The signal can be a numerical value representing the pressure of the braking force or the percentage of the braking force.

[0063] For example, when the current speed of the vehicle is about to exceed the specified speed of the automatic parking working condition, the vehicle needs to slow down, and the automatic parking system can control the electronic stability system to send a braking force signal until the speed of the vehicle is stabilized in the safe speed range of the specified speed of the automatic parking working condition.

[0064] The throttle signal is a signal for controlling the engine speed of the vehicle and can be used to adjust the forward speed or reverse speed of the vehicle. The throttle signal can be an electronic signal indicating the opening degree of the throttle controlled by the engine management system, so as to adjust the speed of the vehicle.

[0065] For example, the vehicle needs to move forward to enter the parking space, and at this time, the speed of the vehicle is low, and the automatic parking system can control the engine management system of the vehicle to send a proper throttle signal to make the vehicle move forward at a faster speed.

[0066] Step 230: The automatic transmission control unit controls the clutch of the automatic transmission of the vehicle according to the vehicle speed control signal, so that the vehicle speed is maintained at the target speed corresponding to the automatic parking working condition.

[0067] In the embodiments of the present application, when the automatic transmission control unit receives the vehicle speed control signal, it can control the depth of the clutch according to the content indicated by the vehicle speed control signal. The depth of the clutch can control the speed of the vehicle. When the engine torque is constant, the deeper the clutch is combined, the faster the clutch is combined, the higher the transmission efficiency of the clutch is, and the higher the speed of the vehicle is. The shallower the clutch is combined, the faster the clutch is separated, the lower the transmission efficiency of the clutch is, and the lower the speed of the vehicle is.

[0068] Optionally, in the case that the accelerator signal indicates that the engine speed of the vehicle is relatively large, the automatic transmission control unit determines that the vehicle speed needs to be increased to the target vehicle speed, and the clutch engagement degree of the automatic transmission of the vehicle can be deepened according to the accelerator signal, so that the output torque of the engine can be more efficiently transmitted to the wheels, so that the vehicle speed is increased to maintain the target vehicle speed corresponding to the automatic parking working condition; on the contrary, in the case that the accelerator signal indicates that the engine speed of the vehicle is relatively small, the automatic transmission control unit determines that the vehicle speed needs to be reduced to the target vehicle speed, and the clutch engagement degree of the automatic transmission of the vehicle can be shallowed according to the accelerator signal, so that the output torque of the engine can be less efficiently transmitted to the wheels or not transmitted to the wheels, so that the vehicle speed is reduced to maintain the target vehicle speed corresponding to the automatic parking working condition.

[0069] Optionally, in the case that the brake braking force signal indicates that the braking force applied by the braking system of the vehicle is greater than the specified braking force, the automatic transmission control unit determines that the vehicle speed needs to be reduced to the target vehicle speed, and the clutch engagement degree of the automatic transmission of the vehicle can be shallowed according to the brake signal, so that the output torque of the engine can be less efficiently transmitted to the wheels or not transmitted to the wheels, so that the vehicle speed is reduced to maintain the target vehicle speed corresponding to the automatic parking working condition; on the contrary, in the case that the brake braking force signal indicates that the braking force applied by the braking system of the vehicle is less than the specified braking force, the automatic transmission control unit determines that the vehicle speed needs to be increased to the target vehicle speed, and the clutch engagement degree of the automatic transmission of the vehicle can be deepened according to the brake signal, so that the output torque of the engine can be more efficiently transmitted to the wheels, so that the vehicle speed is reduced to maintain the target vehicle speed corresponding to the automatic parking working condition.

[0070] In the embodiments of the present application, in the case that the automatic parking system works, the automatic transmission control unit of the vehicle is in the automatic parking working condition and travels at the speed corresponding to the working condition, and in this process, the automatic transmission control unit of the vehicle can receive a vehicle speed control signal and control the clutch of the automatic transmission of the vehicle based on the vehicle speed control signal, so that the vehicle speed is maintained at the target vehicle speed corresponding to the automatic parking working condition, thereby ensuring the accuracy of vehicle speed control in the automatic parking scenario.

[0071] In some embodiments, the automatic parking working condition includes a crawling working condition and a starting working condition.

[0072] In the embodiments of the present application, in the automatic parking state, there is a corresponding driving speed in different types of automatic parking working conditions; for example, in the automatic parking state, when the vehicle is in the stage of cruising to find a parking space, the automatic transmission control unit can be in the starting working condition, at this time, the vehicle needs a higher driving speed to find a suitable parking space as soon as possible, that is, in the starting working condition, a higher target vehicle speed is needed; for another example, in the automatic parking state, when the vehicle is in the stage of parking into a parking space, the automatic transmission control unit can be in the crawling working condition, at this time, the vehicle needs a lower driving speed to ensure the safety and controllability of parking, that is, in the crawling working condition, a lower target vehicle speed is needed. Whether it is the starting working condition or the crawling working condition, if the vehicle cannot maintain the target vehicle speed in the corresponding working condition, a poor user experience will occur, such as large vehicle speed fluctuation, vehicle body shaking, and the like.

[0073] Based on FIG. 2, please refer to FIG. 3, which is a flow chart of a vehicle speed control method according to an embodiment of the present application. Step 230 in FIG. 2 can be implemented as step 230a and step 230b, which are as follows:

[0074] Step 230a: in the case that the vehicle speed control signal includes the brake braking force signal, the automatic transmission control unit is kept in the crawling working condition; in the crawling working condition, the automatic transmission control unit controls the clutch of the automatic transmission of the vehicle according to the brake braking force signal, so that the vehicle speed of the vehicle is maintained at the first target vehicle speed corresponding to the crawling working condition.

[0075] In the embodiments of the present application, after receiving the brake braking force signal, the automatic transmission control unit can control the degree of clutch engagement according to the size of the braking force indicated by the brake braking force signal, so as to maintain the driving speed of the vehicle at the first target vehicle speed, wherein the first target vehicle speed can refer to a specified vehicle speed or a specified vehicle speed range.

[0076] Optionally, in the case that the vehicle speed control signal includes the brake braking force signal, it indicates that the automatic parking system needs to keep the vehicle at a lower speed, for example, at this time, the vehicle can be in the stage of parking into a parking space, at this time, the automatic transmission control unit is kept in the crawling working condition; in the crawling working condition, the automatic transmission control unit controls the degree of clutch engagement of the automatic transmission of the vehicle according to the brake signal, so that the vehicle speed of the vehicle is maintained at the first target vehicle speed corresponding to the crawling working condition; for example, when the vehicle speed is lower than the first target vehicle speed of the crawling working condition, the vehicle speed needs to be increased, at this time, the degree of clutch engagement of the automatic transmission can be deepened to improve the transmission efficiency; for another example, when the vehicle speed is higher than the first target vehicle speed of the crawling working condition, the vehicle speed needs to be reduced, at this time, the degree of clutch engagement of the automatic transmission can be reduced to reduce the transmission efficiency.

[0077] Step 230b: in the case that the vehicle speed control signal comprises the throttle signal, the automatic gearbox control unit keeps in the start-up working condition; in the start-up working condition, the automatic gearbox control unit controls the clutch of the automatic gearbox of the vehicle according to the throttle signal, so that the vehicle speed is maintained at the second target vehicle speed corresponding to the start-up working condition.

[0078] In the embodiments of the present application, after receiving the throttle signal, the automatic gearbox control unit can control the clutch engagement degree according to the throttle opening degree indicated by the throttle signal, so as to maintain the vehicle speed at the second target vehicle speed, wherein the second target vehicle speed can be a specified vehicle speed or a specified vehicle speed range.

[0079] Optionally, in the case that the vehicle speed control signal comprises the throttle signal, it indicates that the automatic parking system needs to maintain the vehicle at a high speed, for example, at this time, it can be in the stage of cruising to find a parking space, at this time, the automatic gearbox control unit keeps in the start-up working condition; in the start-up working condition, the automatic gearbox control unit controls the clutch engagement degree of the automatic gearbox of the vehicle according to the throttle signal, so that the vehicle speed is maintained at the second target vehicle speed corresponding to the start-up working condition; for example, when the vehicle speed is lower than the second target vehicle speed of the start-up working condition, the vehicle speed needs to be increased, at this time, the clutch engagement degree of the automatic gearbox can be deepened to improve the transmission efficiency; for another example, when the vehicle speed is higher than the second target vehicle speed of the start-up working condition, the vehicle speed needs to be reduced, at this time, the clutch engagement degree of the automatic gearbox can be reduced to reduce the transmission efficiency.

[0080] In the embodiments of the present application, the automatic gearbox control unit of the vehicle can receive the brake braking force signal and the throttle signal in the crawling working condition / start-up working condition, and the automatic gearbox control unit controls the vehicle speed by combining the vehicle speed control signal and the clutch of the automatic gearbox of the vehicle, so that the vehicle speed is maintained at the first target vehicle speed / second target vehicle speed corresponding to the crawling working condition / start-up working condition, which ensures the accuracy of the vehicle speed control and improves the control efficiency of the vehicle speed.

[0081] In some embodiments, the first target vehicle speed is 1 to 3 kilometers per hour; and the second target vehicle speed is 7 to 9 kilometers per hour.

[0082] Optionally, the first target vehicle speed is a specified vehicle speed in the range of 1 to 3 kilometers per hour.

[0083] Optionally, the second target vehicle speed is a specified vehicle speed in the range of 7 to 9 kilometers per hour.

[0084] It should be noted that in the embodiments of the present application, the first target vehicle speed and the second target vehicle speed are not limited to the above-mentioned specified vehicle speeds, and the first target vehicle speed and the second target vehicle speed can be any other vehicle speeds as long as the first target vehicle speed is less than the second target vehicle speed.

[0085] In the above-mentioned embodiments, the first target vehicle speed is lower than the second target vehicle speed, the driving speed of the vehicle in the inching working condition is lower than the driving speed of the vehicle in the starting working condition, and the vehicle drives in the inching working condition at a lower vehicle speed, which can ensure the safe driving of the vehicle when parking in a parking space. Driving at the second target vehicle speed higher than the first target vehicle speed in the starting working condition can improve the efficiency of cruising to find a parking space.

[0086] In combination with the schemes shown in any one or more of the embodiments of the present application, in some embodiments, the step 230a can be implemented as follows: in the inching working condition, the automatic transmission control unit controls the engagement depth of the clutch according to the brake braking force signal and the slope of the road where the vehicle is located, so that the vehicle speed is maintained at the first target vehicle speed.

[0087] Alternatively, in the inching working condition, the automatic transmission control unit controls the engagement depth of the clutch according to the brake braking force signal and the slope of the road where the vehicle is located by querying a comparison table, so that the vehicle speed is maintained at the first target vehicle speed.

[0088] Alternatively, in the inching working condition, the automatic transmission control unit calculates the clutch transmission torque attenuation coefficient according to the brake braking force signal and the slope of the road where the vehicle is located, obtains the target engagement depth of the clutch through the clutch transmission torque attenuation coefficient, and controls the engagement depth of the clutch according to the obtained target engagement depth, so that the vehicle speed is maintained at the first target vehicle speed.

[0089] In the embodiments of the present application, the automatic transmission control unit determines the clutch transmission torque attenuation coefficient based on the brake braking force signal and the road slope in the inching working condition, and then controls the engagement depth of the clutch, which takes into account multiple factors in the driving process of the vehicle, so that the control operation of the clutch is more accurate, the vehicle speed can be effectively maintained, and the effect of vehicle speed control is improved.

[0090] In combination with the schemes shown in any one or more of the embodiments of the present application, in some embodiments, in the inching working condition, the automatic transmission control unit maps the brake force corresponding to the brake braking force signal to the master cylinder pressure of the brake master cylinder, controls the engagement depth of the clutch according to the master cylinder pressure and the slope of the road where the vehicle is located, so that the vehicle speed is maintained at the first target vehicle speed.

[0091] In the embodiment of the present application, the automatic gearbox control unit can map the brake braking force to the master cylinder pressure of the brake master cylinder after receiving the brake braking force corresponding to the brake braking force signal.

[0092] In a possible implementation, the mapped master cylinder pressure corresponding to the brake braking force can be obtained by querying a table of master cylinder pressure and brake braking force.

[0093] For example, refer to FIG. 5, which is a schematic diagram of a table of brake pressure and four-wheel braking force provided in an embodiment of the present application. In the table 500, the brake braking force Z and the master cylinder pressure W are included, and the master cylinder pressure can be obtained by querying the table.

[0094] For example, in the crawling condition, the automatic gearbox control unit controls the clutch engagement depth according to the master cylinder pressure and the slope of the road where the vehicle is located, so as to maintain the vehicle speed at the first target vehicle speed, by querying the table.

[0095] For example, refer to FIG. 5, which is a schematic diagram of a table of clutch transmission torque coefficient provided in an embodiment of the present application.

[0096] In the table 400 of FIG. 4, the master cylinder pressure X, the slope Y of the road where the vehicle is located, and the corresponding clutch transmission torque attenuation coefficient are shown. Based on the master cylinder pressure, the clutch transmission torque attenuation coefficient can be obtained from the table, the target clutch engagement depth is obtained through the clutch transmission torque attenuation coefficient, and the clutch engagement depth is controlled according to the obtained target clutch engagement depth, so as to maintain the vehicle speed at the first target vehicle speed.

[0097] For example, in the crawling condition, the automatic gearbox control unit calculates the clutch transmission torque attenuation coefficient according to the master cylinder pressure and the slope of the road where the vehicle is located, obtains the target clutch engagement depth through the clutch transmission torque attenuation coefficient, and controls the clutch engagement depth according to the obtained target clutch engagement depth, so as to maintain the vehicle speed at the first target vehicle speed.

[0098] In the embodiment of the present application, by mapping the brake braking force to the master cylinder pressure of the brake master cylinder, the automatic gearbox control unit can more accurately control the speed of the vehicle according to the master cylinder pressure. The size of the master cylinder pressure affects the clutch engagement depth, and further affects the transmission of the engine output torque to the driving wheel, so as to control the crawling speed of the vehicle and effectively ensure the control effect on the vehicle speed.

[0099] In combination with the solutions shown in any one or more of the various embodiments of the present application, in some embodiments, the step 230b can be implemented as follows: in the starting condition, the automatic transmission control unit controls the clutch engagement depth according to the accelerator signal and the slope of the road on which the vehicle is located, so that the vehicle speed is maintained at the second target vehicle speed.

[0100] Alternatively, in the starting condition, the automatic transmission control unit controls the clutch engagement depth according to the accelerator signal and the slope of the road on which the vehicle is located by querying the lookup table, so that the vehicle speed is maintained at the second target vehicle speed.

[0101] For example, in the crawling condition, the automatic transmission control unit determines the clutch transmission torque attenuation coefficient according to the accelerator signal and the slope of the road on which the vehicle is located, obtains the target clutch engagement depth through the clutch transmission torque attenuation coefficient, and controls the clutch engagement depth according to the obtained target clutch engagement depth, so that the vehicle speed is maintained at the second target vehicle speed.

[0102] Alternatively, in the starting condition, the automatic transmission control unit controls the clutch engagement depth according to the accelerator signal and the slope of the road on which the vehicle is located by calculating, so that the vehicle speed is maintained at the second target vehicle speed.

[0103] For example, in the crawling condition, the automatic transmission control unit calculates the clutch transmission torque attenuation coefficient according to the accelerator signal and the slope of the road on which the vehicle is located, obtains the target clutch engagement depth through the clutch transmission torque attenuation coefficient, and controls the clutch engagement depth according to the obtained target clutch engagement depth, so that the vehicle speed is maintained at the second target vehicle speed.

[0104] In the embodiments of the present application, the automatic transmission control unit controls the clutch engagement depth based on the accelerator signal and the road slope in the starting condition, and considers various factors in the vehicle driving process, so that the control operation of the clutch is more accurate, the vehicle speed can be effectively maintained, and the effect of vehicle speed control is improved.

[0105] For example, based on one or more of the above embodiments, the embodiments of the present application propose an automatic transmission control method for supporting the vehicle speed of an ADAS system. The embodiments belong to the field of automobiles, and more specifically relate to the development of an automatic transmission supporting advanced driver assistance system (hereinafter referred to as ADAS) function and performance software. The present solution can solve the problem that the vehicle cannot complete the set scene when the ADAS module is activated in the condition of cruise searching for a parking space, and the performance shows that the vehicle speed fluctuates back and forth, brakes frequently, and shakes and jitters subjectively unacceptable.

[0106] In the present scheme, the automatic transmission interacts with the APA system information to control the clutch through the vehicle speed request, so as to achieve stable driving of the whole vehicle and complete the search for the parking space.

[0107] The automatic transmission control unit communicates with the electronic stability system; the automatic transmission control unit communicates with the engine control system; the electronic stability system communicates with the engine control system; the electronic stability system communicates with the ADAS controller; and the ADAS controller communicates with the external information input system.

[0108] The present scheme is composed of five main control systems, including: 1-automatic transmission control unit, 2-engine control system, 3-electronic stability system, 4-ADAS controller, and 5-external information input system.

[0109] For example, refer to FIG. 6, which is a flowchart of the automatic transmission control unit supporting the overall signal communication of the ADAS system according to an embodiment of the present application.

[0110] As shown in FIG. 6, the external information collector 61 is connected to the ADAS controller 62 through the CAN signal, and the external information collected by the external information collector 61 (for example, by radar, camera) is input into the ADAS controller 62. The ADAS controller 62 stores, analyzes and calculates the received external information, and then outputs. The ADAS controller 62 is connected to the electronic stability system 63, and also connected to the automatic transmission 64. The electronic stability system 63 is connected to the automatic transmission 64 and the engine control system 65 respectively. The automatic transmission control 64 is connected to the engine control system 65.

[0111] The present scheme provides an implementation method of the communication interface, strategy requirement and performance requirement of the automatic transmission control unit to meet the cruise search for parking space control function under the full-automatic parking function.

[0112] For example, refer to FIG. 7, which is a control framework diagram of the automatic transmission control unit under the APA function according to an embodiment of the present application.

[0113] As shown in FIG. 7, the APA system is a driver assistance system that can make the vehicle automatically park in the parking space or drive out of the parking space in the correct way. The system generally includes a sensor system (used to detect environmental information, search for a parking space and feedback the vehicle position information in real time), a central control system (used to process the environmental perception information, and calculate the target parking space parameters and the relative position of the vehicle online in real time, judge the feasibility and determine the automatic parking strategy) and an execution system (controls the electronic power steering system (EPS), the electronic stability system (ESP), the engine controller system (EMS) and the transmission control system (TCU) according to the decision information of the central control system, and controls the vehicle movement to the parking space according to the decision path).

[0114] After the APA finds and identifies a parking space, the following two steps are performed when starting the fully automatic parking:

[0115] Step 1: The APA requests a gear (D or R), the vehicle controls the clutch to open according to the request, the gearbox is engaged to the corresponding gear, and then the clutch is engaged, and the vehicle starts to drive.

[0116] Step 2: After reaching the target position, the APA requests P, the clutch is opened, and the gearbox is engaged to P.

[0117] During the parking process, the APA system plans the parking path according to the surrounding information detected by the radar and camera and the searched parking space, and controls the controller. The lateral driving in the path is realized by controlling the steering angle through the electronic power steering system EPS, and the longitudinal driving in the path is realized by controlling the acceleration and deceleration and gear shifting through the electronic stability system ESP.

[0118] During the entire process, the above vehicle driving information is displayed through the instrument DVD to realize human-computer interaction.

[0119] As shown in FIG. 7, during the APA process of the vehicle, the TCU receives the gear shifting request of the ESP, realizes gear shifting, and then the gearbox responds to the torque of the engine to enter the starting condition. To meet the smooth starting, the TCU receives the brake braking force signal of the ESP through the can line, the TCU maps the brake braking force into the master cylinder pressure, and then combines the brake switch signal and the throttle signal to control the clutch to be engaged and opened.

[0120] For example, refer to FIG. 8, which is a functional schematic diagram of the automatic gearbox control unit for realizing vehicle speed control under the APA function according to an embodiment of the present application.

[0121] As shown in FIG. 8, during the APA process of searching for a parking space, the automatic gearbox can receive the CAN signal of the vehicle speed request sent by the APA system, and at the same time, the automatic gearbox needs to control the vehicle speed to be stable at the vehicle speed requested by the APA system, so as to realize stable driving, deceleration and parking of the whole vehicle.

[0122] For example, refer to FIG. 9, which is a schematic diagram of the automatic gearbox control unit supporting the ADAS system signal communication according to an embodiment of the present application.

[0123] As shown in FIG. 9, the automatic gearbox control unit communicates with the APA system; the automatic gearbox control unit communicates with the electronic stability system; the automatic gearbox control unit communicates with the engine control system; the electronic stability system communicates with the engine control system; and the electronic stability system communicates with the ADAS controller.

[0124] The above merely provides one of the embodiments of the present application, and should not be regarded as a limitation to the present application. It should be understood by the skilled in the art that various modifications and changes can be made to the embodiments to adapt to different application requirements. Therefore, the scope of the present application should be defined by the claims attached to the present application.

[0125] Please refer to FIG. 10, which shows a block diagram of a vehicle speed control device according to an exemplary embodiment of the present application. The vehicle speed control device can be implemented as all or part of a computer device by hardware or a combination of hardware and software to implement all or part of the steps in the embodiments shown in FIG. 2 and FIG. 3. As shown in FIG. 10, the vehicle speed control device includes:

[0126] An automatic parking condition entering module 1010 is configured to enter an automatic parking condition in response to a torque output of an engine of the vehicle when the automatic parking system is working.

[0127] A vehicle speed control signal obtaining module 1020 is configured to obtain a vehicle speed control signal of the vehicle in the automatic parking condition. The vehicle speed control signal includes a brake braking force signal or a throttle signal. The brake braking force signal is sent by an electronic stability system of the vehicle controlled by the automatic parking system. The throttle signal is sent by an engine management system of the vehicle controlled by the automatic parking system.

[0128] A clutch control module 1030 is configured to control a clutch of an automatic transmission of the vehicle according to the vehicle speed control signal, so that the vehicle speed of the vehicle is maintained at a target vehicle speed corresponding to the automatic parking condition.

[0129] In some embodiments, the automatic parking condition includes a crawling condition and a starting condition.

[0130] The clutch control module 1030 is configured to maintain the crawling condition when the vehicle speed control signal includes the brake braking force signal. In the crawling condition, the clutch of the automatic transmission of the vehicle is controlled according to the brake braking force signal, so that the vehicle speed of the vehicle is maintained at a first target vehicle speed corresponding to the crawling condition. The clutch control module 1030 is configured to maintain the starting condition when the vehicle speed control signal includes the throttle signal. In the starting condition, the clutch of the automatic transmission of the vehicle is controlled according to the throttle signal, so that the vehicle speed of the vehicle is maintained at a second target vehicle speed corresponding to the starting condition. The first target vehicle speed is less than the second target vehicle speed.

[0131] In some embodiments, in the crawling condition, the clutch is controlled according to the brake braking force signal and a slope of a road where the vehicle is located, so that the vehicle speed of the vehicle is maintained at the first target vehicle speed.

[0132] In some embodiments, in the crawling working condition, the brake force corresponding to the brake force signal is mapped to a master cylinder pressure of a brake master cylinder, and the clutch engagement depth is controlled according to the master cylinder pressure and the slope of the road where the vehicle is located, so that the vehicle speed is maintained at the first target vehicle speed.

[0133] In some embodiments, in the starting working condition, the clutch engagement depth is controlled according to the throttle signal and the slope of the road where the vehicle is located, so that the vehicle speed is maintained at the second target vehicle speed.

[0134] In some embodiments, the first target vehicle speed is 1-3 km / h, and the second target vehicle speed is 7-9 km / h.

[0135] Referring to FIG. 11, FIG. 11 is a structural schematic diagram of a computer device according to an example embodiment of the present application. The computer device 1100 includes a central processing unit (CPU) 1101, a system memory 1104 including a random access memory (RAM) 1102 and a read-only memory (ROM) 1103, and a system bus 1105 connecting the system memory 1104 and the central processing unit 1101. The computer device 1100 further includes an input system (Input System) 1106 to help transfer information between various devices in the computer, an output system (Output System, I / O system) 1106, and a mass storage device 1107 for storing an operating system 1113, application programs 1114, and other program modules 1115.

[0136] The basic input / output system 1106 includes a display 1108 for displaying information and an input device 1109 such as a mouse, a keyboard, or the like for inputting information by a user. The display 1108 and the input device 1109 are both connected to the central processing unit 1101 through an input / output controller 1110 connected to the system bus 1105. The basic input / output system 1106 can also include an input / output controller 1110 for receiving and processing input from a keyboard, a mouse, or an electronic stylus, and the like. Similarly, the input / output controller 1110 also provides output to a display screen, a printer, or other types of output devices.

[0137] The mass storage device 1107 is connected to the central processing unit 1101 through a mass storage controller (not shown) connected to the system bus 1105. The mass storage device 1107 and its associated computer readable media provide nonvolatile storage for computer device 1100. That is, the mass storage device 1107 can include a computer readable medium (not shown) such as a hard drive or a CD-ROM drive, among others.

[0138] Without loss of generality, the computer readable media can include computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, digital video disc (DVD), or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, the computer storage media is not limited to the above examples. The system memory 1104 and the mass storage device 1107 described above can be collectively referred to as memory.

[0139] The computer device 1100 can be connected to the Internet or other network devices through a network interface unit 1111 connected to the system bus 1105.

[0140] The memory further includes one or more programs stored in the memory, and the central processing unit 1101 implements all or part of the steps in the methods shown in FIG. 2 and FIG. 3 by executing the one or more programs.

[0141] In an exemplary embodiment, a chip is also provided, which includes programmable logic circuit and / or program instructions, and when the chip is running on a computer device, is used to implement all or part of the steps of the methods shown in the various embodiments described above.

[0142] In an example embodiment, a computer program product is also provided, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor reads and executes the computer instructions from the computer readable storage medium to implement all or part of the steps of the method shown in the various embodiments of the present application.

[0143] In an example embodiment, a computer readable storage medium is also provided, which stores a computer program, and the computer program is loaded and executed by a processor to implement all or part of the steps of the method shown in the various embodiments of the present application.

[0144] A person of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by program instructing related hardware, and the program can be stored in a computer readable storage medium, and the storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0145] Those skilled in the art should realize that, in one or more examples described above, the functions described in the embodiments of the present application can be implemented by hardware, software, firmware or any combination thereof. When implemented by software, these functions can be stored in a computer readable medium or transmitted as one or more instructions or codes on a computer readable medium. The computer readable medium includes a computer storage medium and a communication medium, wherein the communication medium includes any medium that facilitates the transfer of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0146] The above description is only optional embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle speed control method characterized by comprising: The method is implemented by a vehicle with an automatic parking system, comprising: In the case that the automatic parking system works, an automatic transmission control unit of the vehicle enters an automatic parking working condition in response to a torque output of an engine of the vehicle; In the automatic parking working condition, the automatic transmission control unit acquires a vehicle speed control signal of the vehicle, the vehicle speed control signal comprising a brake braking force signal or a throttle signal; the brake braking force signal is sent by an electronic stability system of the vehicle controlled by the automatic parking system, and the throttle signal is sent by an engine management system of the vehicle controlled by the automatic parking system; The automatic transmission control unit controls a clutch of an automatic transmission of the vehicle according to the vehicle speed control signal, so that the vehicle speed of the vehicle is maintained at a target vehicle speed corresponding to the automatic parking working condition.

2. The method of claim 1, wherein, The automatic parking working condition comprises a crawling working condition and a starting working condition; The automatic transmission control unit controls the clutch of the automatic transmission of the vehicle according to the vehicle speed control signal, so that the vehicle speed of the vehicle is maintained at a target vehicle speed corresponding to the automatic parking working condition, comprising: In the case that the vehicle speed control signal comprises the brake braking force signal, the automatic transmission control unit maintains the crawling working condition; in the crawling working condition, the automatic transmission control unit controls the clutch of the automatic transmission of the vehicle according to the brake braking force signal, so that the vehicle speed of the vehicle is maintained at a first target vehicle speed corresponding to the crawling working condition; In the case that the vehicle speed control signal comprises the throttle signal, the automatic transmission control unit maintains the starting working condition; in the starting working condition, the automatic transmission control unit controls the clutch of the automatic transmission of the vehicle according to the throttle signal, so that the vehicle speed of the vehicle is maintained at a second target vehicle speed corresponding to the starting working condition; The first target vehicle speed is less than the second target vehicle speed.

3. The method of claim 2, wherein, The automatic transmission control unit controls the clutch of the automatic transmission of the vehicle according to the brake braking force signal and a slope of a road where the vehicle is located, so that the vehicle speed of the vehicle is maintained at the first target vehicle speed corresponding to the crawling working condition, comprising: In the crawling working condition, the automatic transmission control unit controls a coupling depth of the clutch according to the brake braking force signal and the slope of the road where the vehicle is located, so that the vehicle speed of the vehicle is maintained at the first target vehicle speed.

4. The method of claim 3, wherein, The automatic transmission control unit controls the coupling depth of the clutch according to the brake braking force signal and the slope of the road where the vehicle is located, so that the vehicle speed of the vehicle is maintained at the first target vehicle speed corresponding to the crawling working condition, comprising: In the crawling working condition, the automatic transmission control unit maps a braking force corresponding to the brake braking force signal into a master cylinder pressure of a brake master cylinder, and controls the coupling depth of the clutch according to the master cylinder pressure and the slope of the road where the vehicle is located, so that the vehicle speed of the vehicle is maintained at the first target vehicle speed.

5. The method of claim 2, wherein, In the starting condition, the automatic transmission control unit controls a clutch of an automatic transmission of the vehicle according to the accelerator signal, so that a vehicle speed of the vehicle is maintained at a second target vehicle speed corresponding to the starting condition, comprising: In the starting condition, the automatic transmission control unit controls a clutch of an automatic transmission of the vehicle according to the accelerator signal, so that a vehicle speed of the vehicle is maintained at a second target vehicle speed corresponding to the starting condition, comprising:

6. The method of any one of claims 2 to 5, wherein: The first target vehicle speed is 1 to 3 kilometers per hour; The second target vehicle speed is 7 to 9 kilometers per hour.

7. A vehicle speed control device characterized by comprising: The device comprises: An automatic parking condition entering module, configured to enter an automatic parking condition in response to a torque output of an engine of the vehicle when the automatic parking system is working; A vehicle speed control signal obtaining module, configured to obtain a vehicle speed control signal of the vehicle in the automatic parking condition, the vehicle speed control signal comprising a brake braking force signal or an accelerator signal; the brake braking force signal is sent by an electronic stability system of the vehicle controlled by the automatic parking system, and the accelerator signal is sent by an engine management system of the vehicle controlled by the automatic parking system; A clutch control module, configured to control a clutch of an automatic transmission of the vehicle according to the vehicle speed control signal, so that a vehicle speed of the vehicle is maintained at a target vehicle speed corresponding to the automatic parking condition.

8. A computer device, comprising: The computer device comprises a processor and a memory, and the memory stores at least one computer instruction, and the at least one computer instruction is loaded and executed by the processor to implement the vehicle speed control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one computer instruction, and the computer instruction is loaded and executed by the processor to implement the vehicle speed control method according to any one of claims 1 to 6.

10. A computer program product, characterised in that, The computer program product comprises computer instructions stored in a computer readable storage medium; the computer instructions are read and executed by the processor of the computer device to implement the vehicle speed control method according to any one of claims 1 to 6.

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