CN-116588086-B - Automatic parking method and device, vehicle and storage medium

CN116588086BCN 116588086 BCN116588086 BCN 116588086BCN-116588086-B

Abstract

The application relates to the technical field of vehicles, in particular to an automatic parking method, an automatic parking device, a vehicle and a storage medium, wherein the method comprises the steps of identifying a road state of the vehicle in an automatic parking mode; matching a torque output mode in an automatic parking mode according to the current road state, and acquiring a pre-calibration parameter corresponding to the torque output mode, wherein the output torques of different torque output modes are different; and controlling the output torque of the vehicle based on the pre-calibrated parameters to execute the automatic parking action. Therefore, the embodiment of the application can solve the problems that in the related technology, the driving mode parameter and the parking mode demand parameter are not matched, so that the power conflict occurs between the parking speed control and the idle speed of the driving mode, the undershoot and the sudden brake can occur due to the over-strong power of the vehicle, or the joint adjustment time under different power expressions is increased, the influence of the power change on the parking performance is caused under the driving mode, the use experience of a user is poor and the like.

Inventors

WANG NINGGUANG
ZHOU YANG

Assignees

重庆长安汽车股份有限公司

Dates

Publication Date: 20260512
Application Date: 20230629

Claims (8)

1. An automatic parking method, comprising the steps of: Identifying the road state of the vehicle in the automatic parking mode; automatically jumping the vehicle to a corresponding control mode after entering parking control; matching a torque output mode in the automatic parking mode according to the current road state, and acquiring a pre-calibration parameter corresponding to the torque output mode, wherein the output torques of different torque output modes are different; The road conditions include a flat road condition and a non-flat road condition, the torque output modes include a first output mode and a second output mode, the matching the torque output mode in the automatic parking mode according to the current road condition includes: the torque output mode is the second output mode if the current road state is the non-flat road state, wherein the output torque of the second output mode is larger than the output torque of the first output mode; The pre-calibrated parameters of the second output mode include a starting clutch torque request slope and/or a starting engine speed, and before the pre-calibrated torque output curve corresponding to the torque output mode is obtained, the method further includes: calibrating a starting clutch torque request slope in the second output mode, wherein the starting clutch torque request slope in the automatic parking mode is different from the starting clutch torque request slope in the non-automatic parking mode, and the priority is higher than the torque request slope in the non-automatic parking mode; calibrating the starting engine speed in the second output mode, wherein the starting engine speed in the automatic parking mode is different from the starting engine speed in the non-automatic parking mode, and the priority is higher than the starting engine speed in the non-automatic parking mode; and controlling the vehicle output torque based on the pre-calibrated parameters to execute automatic parking actions.
2. The automatic parking method according to claim 1, wherein the pre-calibration parameters of the first output mode include one or more of a torque maximum value, a torque minimum value, a torque limit value, an acceleration, an open loop control shaft speed threshold value, and a torque ramp rate, and the obtaining the pre-calibration parameters corresponding to the torque output mode includes: calibrating a torque maximum value of the idle speed request in the first output mode based on a one-dimensional table of oil temperatures; Calibrating a torque minimum value of the idle speed request in the first output mode based on a two-dimensional table of gradient and target gear; Calibrating a torque limit value of an idle speed request at a rotating speed rising stage in the first output mode; calibrating acceleration in the first output mode based on a two-dimensional table of a rotating speed synchronization process and an actual gear; Calibrating an open loop control shaft speed threshold value in the first output mode; and calibrating the torque rising slope of the open loop control stage in the first output mode based on a two-dimensional table of the oil temperature and the actual gear.
3. An automatic parking device for implementing the method according to any one of claims 1-2, comprising: the identification module is used for identifying the road state of the vehicle in the automatic parking mode; the acquisition module is used for matching the torque output mode in the automatic parking mode according to the current road state and acquiring a pre-calibration parameter corresponding to the torque output mode, wherein the output torques of different torque output modes are different; and the execution module is used for controlling the vehicle output torque based on the pre-calibration parameters so as to execute automatic parking actions.
4. The automated parking apparatus of claim 3, wherein the road conditions include a flat road condition and a non-flat road condition, the torque output mode includes a first output mode and a second output mode, and the acquisition module is further configured to determine that the torque output mode is the first output mode if the current road condition is the flat road condition, and determine that the torque output mode is the second output mode if the current road condition is the non-flat road condition, wherein an output torque of the second output mode is greater than an output torque of the first output mode.
5. The automated parking apparatus of claim 4, wherein the pre-calibration parameters of the first output mode include one or more of a torque maximum, a torque minimum, a torque limit, an acceleration, an open loop control axle speed threshold, and a torque ramp rate, the acquisition module further configured to calibrate the torque maximum of the idle request in the first output mode based on a one-dimensional table of oil temperatures, to calibrate the torque minimum of the idle request in the first output mode based on a two-dimensional table of gradients and target gear, to calibrate the torque limit of the idle request during the speed ramp up phase in the first output mode, to calibrate the acceleration during the first output mode based on a two-dimensional table of speed synchronization process and actual gear, to calibrate the open loop control axle speed threshold in the first output mode, and to calibrate the torque ramp rate during the open loop control phase in the first output mode based on a two-dimensional table of oil temperatures and actual gear.
6. The automated parking apparatus of claim 4, wherein the pre-calibrated parameters of the second output mode include a launch clutch torque request slope and/or a launch engine speed, the acquisition module is further configured to calibrate the launch clutch torque request slope in the second output mode, wherein the launch clutch torque request slope in the automated parking mode is different from and higher in priority than the launch clutch torque request slope in the non-automated parking mode, and to calibrate the launch engine speed in the second output mode, wherein the launch engine speed in the automated parking mode is different from and higher in priority than the launch engine speed in the non-automated parking mode.
7. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the auto-park method of any of claims 1-2.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing the automatic parking method according to any one of claims 1-2.

Description

Automatic parking method and device, vehicle and storage medium Technical Field The present application relates to the field of parking technologies, and in particular, to an automatic parking method, device, vehicle, and storage medium. Background With the promotion and development of automatic parking technology, the application range of the automatic parking technology on vehicles is wider and wider. In the related art, automatic parking can be realized by using a mode of intelligent control on the transverse and longitudinal directions of the automobile, wherein the longitudinal control can be matched with the control of a TCU (Transmission Control Unit, an automatic gearbox control unit) and the control of an ECU (Electronic Control Unit, an electronic control unit), the TCU can have three power driving modes of economy, standard and motion, and the control on the TCU can be matched or three driving modes can be simultaneously matched on the basis of determining to select one driving mode. However, during parking, if the TCU in the related art only performs a gear shifting operation, and the vehicle starts and controls speed through the ESP (Electronic Stability Program, electronic stability system of the vehicle body), there is a possibility that parameters such as idle speed of the vehicle engine, idle crawling maximum torque, clutch engagement ratio and the like are not matched during the whole parking process, so that during short-circuit planning, the vehicle starts and suddenly brakes due to over-strong power, and if the gear shifting of the TCU and the change of the power combination degree are controlled simultaneously, under the condition that the vehicle type configures multiple driving modes, the power performances of different driving modes need to be matched simultaneously, and the joint adjustment time is doubled. Disclosure of Invention The application provides an automatic parking method, an automatic parking device, a vehicle and a storage medium, which are used for solving the problems that in the related technology, driving mode parameters and parking mode demand parameters are not matched, so that power conflict occurs between parking speed control and driving mode idling, the phenomenon that the vehicle is over-powered to cause a step shock and an emergency brake or the phenomenon that the joint debugging time is increased under different power performances occurs, the influence of power change in the driving mode on the parking performance is caused, the use experience of a user is poor and the like. An embodiment of a first aspect of the application provides an automatic parking method, which comprises the following steps of identifying a road state of a vehicle in an automatic parking mode, matching a torque output mode in the automatic parking mode according to a current road state, and obtaining pre-calibration parameters corresponding to the torque output mode, wherein output torques of different torque output modes are different, and controlling the output torque of the vehicle based on the pre-calibration parameters so as to execute automatic parking action. According to the embodiment of the application, the vehicle can enter the automatic parking control mode and be completely distinguished from the driving mode when the vehicle is automatically parked, so that the low-speed performance requirement of the parking control speed is met, the idle power conflict between parking complaints and the driving mode is effectively reduced, the parking performance is not influenced by the power change in the driving mode in the automatic parking mode, the parking intelligence and safety are improved, the power is more comfortable in the parking process of the vehicle, the starting and braking are more stable, the actual use requirement is met, and the use experience of a user is improved. Optionally, the road state comprises a flat road state and a non-flat road state, the torque output mode comprises a first output mode and a second output mode, the torque output mode in the automatic parking mode is matched according to the current road state, the torque output mode is the first output mode if the current road state is the flat road state, the torque output mode is the second output mode if the current road state is the non-flat road state, and the output torque of the second output mode is larger than the output torque of the first output mode. According to the technical means, the road surface states can be classified, and the matching modes when the road surface states are different are distinguished, so that the vehicles can automatically enter the corresponding modes, match the corresponding parameters and control the vehicles after entering the automatic parking state, the driving mode and the automatic parking mode can be completely distinguished, the automatic parking matching speed is improved, and the actual use needs are met. Optionally, the pre-calibration parameters of