阅读说明：本技术 车辆的自动泊车方法、装置及车辆 (Automatic parking method and device for vehicle and vehicle ) 是由 陶文勇 王瑛 闫肖梅 杭孟荀 钱兆刚 凤志民 舒晖 刘智慧 沙文瀚 刘琳 于 2021-08-24 设计创作，主要内容包括：本申请公开了一种车辆的自动泊车方法、装置及车辆,其中,方法包括：检测车辆是否满足自动泊车条件；在检测到满足自动泊车条件后,执行自动泊车策略的同时,以预设目标转速控制车辆的驱动电机运行；在车辆按照自动泊车策略驶入泊车位置后,控制驱动电机停止运行,并且拉起车辆电子驻车制动系统。由此,解决了相关技术中利用扭矩控制车辆自动泊车的复杂程度高,可控性及平稳性较差,用户体验不佳等问题。(The application discloses an automatic parking method and device for a vehicle and the vehicle, wherein the method comprises the following steps: detecting whether the vehicle meets an automatic parking condition; after the condition that the automatic parking condition is met is detected, executing an automatic parking strategy and controlling a driving motor of the vehicle to operate at a preset target rotating speed; and after the vehicle drives into the parking space according to the automatic parking strategy, controlling the driving motor to stop running and pulling up the electronic parking braking system of the vehicle. Therefore, the problems that in the related art, the automatic parking of the vehicle is controlled by using the torque, the complexity is high, the controllability and the stability are poor, the user experience is poor and the like are solved.)

1. A method for automatic parking of a vehicle, comprising the steps of:

detecting whether the vehicle meets an automatic parking condition;

after the condition that the automatic parking condition is met is detected, executing an automatic parking strategy and controlling a driving motor of the vehicle to operate at a preset target rotating speed; and

and after the vehicle drives into the parking space according to the automatic parking strategy, controlling the driving motor to stop running and pulling up the vehicle electronic parking braking system.

2. The method according to claim 1, further comprising, before controlling the driving motor of the vehicle to operate at the preset target rotation speed:

calculating a reference torque of the driving motor according to a reference target rotation speed;

and generating a correction value for the reference target rotating speed according to the reference torque and the vehicle stability parameters until the vehicle meets a stable running condition to obtain the preset target rotating speed.

3. The method of claim 1, upon detecting that the automatic parking condition is satisfied, further comprising:

and releasing the vehicle electronic parking brake system so that the vehicle enters a driving mode.

4. The method according to claim 1, wherein the controlling the driving motor of the vehicle to operate at a preset target rotation speed further comprises:

receiving a modification instruction of a user;

modifying the preset target rotating speed according to the modification instruction;

and controlling the driving motor of the vehicle to operate at a preset target rotating speed.

5. The method of claim 4, further comprising, after modifying the preset target speed according to the modification instruction:

judging whether the preset target rotating speed is greater than the maximum target rotating speed or not;

if the maximum target rotating speed is larger than the maximum target rotating speed, the maximum target rotating speed is used as the preset target rotating speed, the user is limited and reminded, and otherwise, the preset target rotating speed is modified according to the modification instruction.

6. An automatic parking device for a vehicle, comprising:

the detection module is used for detecting whether the vehicle meets the automatic parking condition;

the first control module is used for executing an automatic parking strategy and controlling a driving motor of the vehicle to operate at a preset target rotating speed after the condition that the automatic parking condition is met is detected; and

and the second control module is used for controlling the driving motor to stop running and pulling up the vehicle electronic parking brake system after the vehicle drives into the parking space according to the automatic parking strategy.

7. The apparatus of claim 6, further comprising:

the calculation module is used for calculating reference torque of a driving motor of the vehicle according to a reference target rotating speed before the driving motor is controlled to operate at the preset target rotating speed;

the generating module is used for generating a correction value of the reference target rotating speed according to the reference torque and the vehicle stability parameter until the vehicle meets a stable running condition to obtain the preset target rotating speed;

and the entering module is used for releasing the vehicle electronic parking braking system after the condition that the automatic parking condition is met is detected, so that the vehicle enters a driving mode.

8. The apparatus of claim 6, wherein the first control module comprises:

the receiving unit is used for receiving a modification instruction of a user;

the modifying unit is used for modifying the preset target rotating speed according to the modifying instruction;

and the control unit is used for controlling the driving motor of the vehicle to operate at a preset target rotating speed.

9. The apparatus of claim 8, further comprising:

the judging module is used for judging whether the preset target rotating speed is greater than the maximum target rotating speed or not after the preset target rotating speed is modified according to the modification instruction; if the maximum target rotating speed is larger than the maximum target rotating speed, the maximum target rotating speed is used as the preset target rotating speed, the user is limited and reminded, and otherwise, the preset target rotating speed is modified according to the modification instruction.

10. A vehicle characterized by comprising an automatic parking device of the vehicle according to any one of claims 6 to 9.

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to an automatic parking method and apparatus for a vehicle, and a vehicle.

Background

With the development of intellectualization of vehicles, the whole vehicle function configuration is more and more, and especially on representing a new energy vehicle which is electric and intelligent, an APA (automatic parking assist system) becomes a more and more common function.

In the related technology, after the APA judges that the vehicle can be automatically parked, the torque request quantity is calculated, the vehicle control unit sends a torque command to the electric drive system, and the motor outputs corresponding torque through vector control to drive the vehicle to reach a specified position.

However, the calculation of the torque is important and extremely complicated in the whole process, and involves the stabilization of the torque, the speed at which the vehicle travels, the shaking of the whole vehicle, the handling of abnormal situations, and the like. Therefore, the torque is utilized to control the automatic parking of the vehicle in the related technology, so that the complexity is high, the control is not easy, the vehicle is easy to shake in the parking process, and the use experience of a user is reduced.

Disclosure of Invention

The application provides an automatic parking method and device for a vehicle and the vehicle, and aims to solve the problems that in the related art, the complexity of controlling the automatic parking of the vehicle by utilizing torque is high, the controllability and the stability are poor, the user experience is poor and the like.

An embodiment of a first aspect of the present application provides an automatic parking method for a vehicle, including the following steps: detecting whether the vehicle meets an automatic parking condition; after the condition that the automatic parking condition is met is detected, executing an automatic parking strategy and controlling a driving motor of the vehicle to operate at a preset target rotating speed; and after the vehicle drives into the parking space according to the automatic parking strategy, controlling the driving motor to stop running and pulling up the vehicle electronic parking braking system.

Further, before controlling the driving motor of the vehicle to operate at the preset target rotation speed, the method further comprises the following steps: calculating a reference torque of the driving motor according to a reference target rotation speed; and generating a correction value for the reference target rotating speed according to the reference torque and the vehicle stability parameters until the vehicle meets a stable running condition to obtain the preset target rotating speed.

Further, after detecting that the automatic parking condition is met, the method further comprises: and releasing the vehicle electronic parking brake system so that the vehicle enters a driving mode.

Further, the controlling the driving motor of the vehicle to operate at a preset target rotation speed further includes: receiving a modification instruction of a user; modifying the preset target rotating speed according to the modification instruction; and controlling the driving motor of the vehicle to operate at a preset target rotating speed.

Further, after the preset target rotating speed is modified according to the modification instruction, the method further includes: judging whether the preset target rotating speed is greater than the maximum target rotating speed or not; if the maximum target rotating speed is larger than the maximum target rotating speed, the maximum target rotating speed is used as the preset target rotating speed, the user is limited and reminded, and otherwise, the preset target rotating speed is modified according to the modification instruction.

An embodiment of a second aspect of the present application provides an automatic parking device for a vehicle, including: the detection module is used for detecting whether the vehicle meets the automatic parking condition; the first control module is used for executing an automatic parking strategy and controlling a driving motor of the vehicle to operate at a preset target rotating speed after the condition that the automatic parking condition is met is detected; and the second control module is used for controlling the driving motor to stop running and pulling up the vehicle electronic parking brake system after the vehicle drives into the parking space according to the automatic parking strategy.

Further, still include: the calculation module is used for calculating reference torque of a driving motor of the vehicle according to a reference target rotating speed before the driving motor is controlled to operate at the preset target rotating speed; the generating module is used for generating a correction value of the reference target rotating speed according to the reference torque and the vehicle stability parameter until the vehicle meets a stable running condition to obtain the preset target rotating speed; and the entering module is used for releasing the vehicle electronic parking braking system after the condition that the automatic parking condition is met is detected, so that the vehicle enters a driving mode.

Further, the first control module includes: the receiving unit is used for receiving a modification instruction of a user; the modifying unit is used for modifying the preset target rotating speed according to the modifying instruction; and the control unit is used for controlling the driving motor of the vehicle to operate at a preset target rotating speed.

Further, still include: the judging module is used for judging whether the preset target rotating speed is greater than the maximum target rotating speed or not after the preset target rotating speed is modified according to the modification instruction; if the maximum target rotating speed is larger than the maximum target rotating speed, the maximum target rotating speed is used as the preset target rotating speed, the user is limited and reminded, and otherwise, the preset target rotating speed is modified according to the modification instruction.

An embodiment of a third aspect of the present application provides a vehicle including the automatic parking device of the vehicle according to the above embodiment.

Therefore, the application has at least the following beneficial effects:

the automatic parking control system has the advantages that the automatic parking of the vehicle is driven through the rotating speed instruction, complex torque calculation is not needed, the complexity of automatic parking control can be effectively reduced, the controllability of automatic parking is improved, automatic parking of the vehicle is stably controlled, the stability of automatic parking of the vehicle is improved, the vehicle shaking in the automatic parking process can be effectively avoided, the use experience of a user is improved, the electronic hand brake is automatically pulled up after the automatic parking is finished, and the safety of the vehicle is improved. Therefore, the problems that in the related art, the automatic parking of the vehicle is controlled by using the torque, the complexity is high, the controllability and the stability are poor, the user experience is poor and the like are solved.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic architecture diagram of an APA functional power drive control system according to an embodiment of the present application;

fig. 2 is a schematic flow chart of an automatic parking method for a vehicle according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a rotational speed control algorithm for a vehicle provided in accordance with an embodiment of the present application;

FIG. 4 is a schematic flow chart diagram illustrating a method for automatic parking of a vehicle according to an embodiment of the present application;

fig. 5 is an exemplary diagram of an automatic parking device of a vehicle according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

The following describes an automatic parking method and device for a vehicle and a vehicle according to an embodiment of the present application with reference to the drawings. In the method, the vehicle is driven to automatically park through a rotating speed instruction, complex torque calculation is not needed, the complexity of automatic parking control can be effectively reduced, the controllability of automatic parking is improved, the automatic parking of the vehicle is stably controlled, the stability of automatic parking of the vehicle is improved, the vehicle shaking in the automatic parking process can be effectively avoided, the use experience of a user is improved, the electronic hand brake is automatically pulled up after the automatic parking is finished, and the safety of the vehicle is improved. Therefore, the problems that in the related art, the automatic parking of the vehicle is controlled by using the torque, the complexity is high, the controllability and the stability are poor, the user experience is poor and the like are solved.

Before describing the automatic parking method of the vehicle in the figure, the APA function power driving control system is described, as shown in fig. 1, the control system includes: a vehicle control unit, a motor controller, a driving motor, an EPB (Electrical Park Brake system), an automatic parking control system, and the like.

The automatic parking control system comprehensively judges all factors and variables in the automatic parking process, sends out automatic parking starting, parking and ending instructions, and overall automatic parking. The vehicle control unit is used for receiving the command of the automatic parking control system and sending a rotating speed command and a stopping command to the motor controller. The motor controller is used for receiving a rotating speed instruction and a stopping instruction sent by the vehicle control unit and stably controlling the driving motor to stably output through a certain algorithm. The driving motor comprises a torque and rotating speed output unit and is used for providing power for the whole vehicle and controlling the vehicle to run at a certain rotating speed. The EPB is an electronic hand brake, plays a role in starting and ending an automatic parking function and emergency parking, and is used for ensuring the safety of the vehicle.

Specifically, fig. 2 is a flowchart illustrating an automatic parking method for a vehicle according to an embodiment of the present application.

As shown in fig. 2, the automatic parking method of a vehicle includes the steps of:

in step S101, it is detected whether the vehicle satisfies an automatic parking condition.

The automatic parking condition may be set such that the automatic parking control system is in a controllable state, and/or the vehicle is driven out without an obstacle.

For example, if all preparations of the automatic parking control system are completed, such as initialization is completed, no fault is detected, and the like, it may be detected that the vehicle satisfies the automatic parking condition.

In step S102, after it is detected that the automatic parking condition is satisfied, the automatic parking strategy is executed while controlling the driving motor of the vehicle to operate at a preset target rotation speed.

The automatic parking strategy is a strategy for controlling the automatic parking of the vehicle, which is commonly used by an automatic parking assistance system, and is not described too much. The preset target rotating speed can be calibrated according to experiments or specifically set according to actual conditions, for example, the vehicle control unit sends a calibrated rotating speed instruction to the can network, and the motor controller controls the driving motor to operate at the preset target rotating speed after receiving the rotating speed instruction.

In this embodiment, after detecting that the automatic parking condition is satisfied, the method further includes: and releasing the electronic parking brake system of the vehicle so that the vehicle enters a driving mode.

It can be understood that after the vehicle meets the automatic parking condition, the electronic parking brake system is released, the vehicle is ready to drive, the automatic parking control system sends a driving start instruction, the vehicle control unit sends a rotating speed request instruction after receiving the driving start instruction, and the motor controller receives the rotating speed request instruction and stably controls the output of the driving motor according to a rotating speed control algorithm.

In this embodiment, the rotational speed control algorithm includes: calculating a reference torque of a driving motor according to a reference target rotating speed before controlling the driving motor of the vehicle to operate at the preset target rotating speed; and generating a correction value of the reference target rotating speed according to the reference torque and the vehicle stability parameters until the vehicle meets the stable running condition to obtain the preset target rotating speed.

Specifically, as shown in fig. 3, the rotation speed control algorithm is mainly composed of a current inner ring and a rotation speed outer ring which are matched with amplitude limiting, and the PI parameters and the amplitude limiting coefficients are adjusted to control the whole vehicle to run stably. At the beginning, a rotating speed reference instruction is given by the vehicle controller, Q-axis current is regulated through PI and amplitude limiting, the Q-axis current is transmitted to a current inner ring, corresponding torque is output through vector control, and the vehicle is kept to stably run at a certain speed.

In this embodiment, controlling the operation of the driving motor of the vehicle at the preset target rotation speed further includes: receiving a modification instruction of a user; modifying the preset target rotating speed according to the modification instruction; and controlling the driving motor of the vehicle to operate at a preset target rotating speed.

It can be understood that the preset target rotating speed can be modified according to the requirements of the user, so that the automatic parking speed meets the actual feeling of the user, and the use experience of the user is effectively improved.

In this embodiment, after modifying the preset target rotation speed according to the modification instruction, the method further includes: judging whether the preset target rotating speed is greater than the maximum target rotating speed or not; if the maximum target rotating speed is larger than the maximum target rotating speed, the maximum target rotating speed is used as a preset target rotating speed, the limitation reminding is carried out on the user, and otherwise, the preset target rotating speed is modified according to the modification instruction.

It can be understood that, the rotating speed is set to be larger than the maximum target rotating speed, the rotating speed can be effectively prevented from being mistakenly modified into a larger rotating speed by a user, potential safety hazards caused by too fast vehicle speed in the parking process are avoided, safety and intelligence of the automatic parking process are improved, and use experience of the user is improved.

In step S103, after the vehicle enters the parking space according to the automatic parking strategy, the driving motor is controlled to stop operating, and the electronic parking brake system of the vehicle is pulled up.

It can be understood that after the automatic parking of the vehicle is completed, the automatic parking control system sends out a driving stop command, the vehicle control unit sends out a zero rotating speed request command after receiving the zero rotating speed request command, the motor controller controls the rotating speed of the motor to be zero, the vehicle is kept static, meanwhile, the EPB is pulled up, and the motor controller quits rotating speed control, so that the automatic parking is completed.

In summary, the embodiment of the application adopts a power driving mode for controlling the vehicle speed to realize the automatic parking function of the vehicle, after judging that the vehicle can be automatically parked, the vehicle control unit only sends a safe rotating speed instruction, after receiving the rotating speed instruction, the electric driving system stably runs the vehicle to the specified position at the instruction rotating speed through an algorithm, keeps the vehicle still after reaching the specified position, and cancels the rotating speed control after waiting for the pulling-up of the EPB, so that the control method has the advantages of simplicity, better vehicle speed control, more stable vehicle, better driving feeling and the like.

The method for automatically parking a vehicle will be explained by an embodiment, as shown in fig. 4, including the following steps:

step 1: the automatic parking control system judges that the control is finished, the EPB is released, and the vehicle is ready to drive;

step 2: the automatic parking control system sends a driving starting instruction, and the vehicle control unit sends a rotating speed request instruction after receiving the driving starting instruction;

and step 3: the motor controller receives a rotating speed request instruction and stably controls the output of the driving motor according to a certain algorithm;

and 4, step 4: judging whether the automatic parking control system sends out a driving stop instruction, if so, skipping to the step 5, and if not, skipping to the step 3 to execute a rotating speed instruction all the time;

and 5: the vehicle controller sends a zero rotating speed request instruction after receiving the zero rotating speed request instruction, and the motor controller controls the rotating speed of the motor to be zero and keeps the vehicle static;

step 6: judging whether the vehicle reaches a preset position or not, and repeating the step 2-5 if the vehicle does not reach the preset position; and when the EPB is pulled up when the preset position is reached, the motor controller quits the rotating speed control, and the automatic parking is completed.

According to the automatic parking method of the vehicle, the vehicle is driven to park automatically through the rotating speed instruction, complex torque calculation is not needed, the complexity of automatic parking control can be effectively reduced, the controllability of automatic parking is improved, automatic parking of the vehicle is stably controlled, the stability of automatic parking of the vehicle is improved, the vehicle can be effectively prevented from shaking in the automatic parking process, the use experience of a user is improved, the electronic hand brake is automatically pulled up after the automatic parking is completed, and the safety of the vehicle is improved.

Next, an automatic parking apparatus for a vehicle according to an embodiment of the present application will be described with reference to the drawings.

Fig. 5 is a block diagram schematically illustrating an automatic parking apparatus for a vehicle according to an embodiment of the present application.

As shown in fig. 5, the automatic parking apparatus 10 for a vehicle includes: a detection module 100, a first control module 200, and a second control module 300.

The detection module 100 is configured to detect whether a vehicle meets an automatic parking condition; the first control module 200 is configured to execute an automatic parking strategy and control a driving motor of a vehicle to operate at a preset target rotation speed after detecting that an automatic parking condition is met; the second control module 300 is configured to control the driving motor to stop operating and pull up the electronic parking brake system of the vehicle after the vehicle drives into the parking space according to the automatic parking strategy.

Further, the apparatus 10 of the embodiment of the present application further includes: the device comprises a calculation module, a generation module and an entry module. The calculation module is used for calculating reference torque of a driving motor according to a reference target rotating speed before the driving motor of the vehicle is controlled to operate at the preset target rotating speed; the generating module is used for generating a correction value of the reference target rotating speed according to the reference torque and the vehicle stability parameter until the vehicle meets the stable running condition to obtain a preset target rotating speed; and the entering module is used for releasing the electronic parking braking system of the vehicle after detecting that the automatic parking condition is met, so that the vehicle enters a driving mode.

Further, the first control module 200 includes: a receiving unit and a control unit. The receiving unit is used for receiving a modification instruction of a user; the modification unit is used for modifying the preset target rotating speed according to the modification instruction; and the control unit is used for controlling the running of a driving motor of the vehicle at a preset target rotating speed.

Further, the apparatus 10 of the embodiment of the present application further includes: and a judging module. The judging module is used for judging whether the preset target rotating speed is greater than the maximum target rotating speed or not after the preset target rotating speed is modified according to the modification instruction; if the maximum target rotating speed is larger than the maximum target rotating speed, the maximum target rotating speed is used as a preset target rotating speed, the limitation reminding is carried out on the user, and otherwise, the preset target rotating speed is modified according to the modification instruction.

It should be noted that the foregoing explanation of the embodiment of the automatic parking method for a vehicle also applies to the automatic parking device for a vehicle of this embodiment, and details are not repeated here.

According to the automatic parking device of the vehicle, the vehicle is driven to park automatically through the rotating speed instruction, complex torque calculation is not needed, the complexity of automatic parking control can be effectively reduced, the controllability of automatic parking is improved, automatic parking is completed through stable control of the vehicle, the stability of automatic parking of the vehicle is improved, vehicle shaking in the automatic parking process can be effectively avoided, the use experience of a user is improved, the electronic hand brake is pulled up automatically after the automatic parking is completed, and the safety of the vehicle is improved.

In addition, the embodiment also provides a vehicle, which comprises the automatic parking device of the vehicle of the embodiment. The automatic parking control system can effectively reduce the complexity of automatic parking control, improves the controllability of automatic parking, stably controls the vehicle to finish automatic parking, improves the stability of automatic parking of the vehicle, effectively avoids the vehicle from shaking in the automatic parking process, improves the use experience of a user, automatically pulls up the electronic hand brake after the automatic parking is finished, and improves the safety of the vehicle.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.