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CN-121822390-A - Automatic parking start control method, system, product, medium and equipment

CN121822390ACN 121822390 ACN121822390 ACN 121822390ACN-121822390-A

Abstract

The application provides an automatic parking start control method, system, product, medium and equipment, which comprise the steps of collecting a brake pedal stroke and a vehicle speed, judging whether a vehicle is parked or not and whether automatic parking is started or not according to the brake pedal stroke and the vehicle speed, collecting the brake pedal stroke in real time in response to the vehicle being parked and the automatic parking not being started, judging whether the collected brake pedal stroke change meets a preset stroke fluctuation condition or not, if so, starting the automatic parking, wherein the stroke fluctuation condition at least comprises at least one first stage in which the brake pedal stroke change is contained in a preset first time threshold value and at least one second stage after the first stage, the brake pedal stroke is reduced through the first stage, the brake pedal stroke is increased through the second stage, and the control method can easily activate AVH under the conditions of traffic jam and ramp so as to reduce the load of a driver.

Inventors

  • XU QILING

Assignees

  • 博世汽车部件(苏州)有限公司

Dates

Publication Date
20260410
Application Date
20251225

Claims (12)

  1. 1. An automatic parking start control method is characterized by comprising the following steps: collecting a brake pedal stroke and a vehicle speed, and judging whether the vehicle is parked or not and whether automatic parking is started or not according to the brake pedal stroke and the vehicle speed; Responsive to the vehicle being parked and the automatic park not being activated, collecting a brake pedal stroke in real time; judging whether the acquired stroke change of the brake pedal meets a preset stroke fluctuation condition, if so, starting automatic parking; The stroke fluctuation conditions at least comprise conditions that the brake pedal stroke change comprises at least one first stage and at least one second stage after the first stage, wherein the first stage and the second stage are within a preset first time threshold value, the brake pedal stroke is reduced through the first stage, and the brake pedal stroke is increased through the second stage.
  2. 2. The automatic parking start control method according to claim 1, wherein the stroke fluctuation condition includes a condition in which a brake pedal stroke variation amount in the first stage is larger than a preset first threshold value, and a brake pedal stroke variation amount in the second stage is larger than a preset second threshold value, which is smaller than a preset brake pedal stroke threshold value for triggering AVH.
  3. 3. The automatic parking start control method according to claim 1, wherein determining whether the collected brake pedal stroke satisfies a preset stroke fluctuation condition comprises the steps of: Collecting the maximum brake pedal stroke in the first stage as a first brake pedal stroke; Collecting the minimum brake pedal stroke in the first stage as a second brake pedal stroke; Collecting the minimum brake pedal travel of the second stage as a third brake pedal travel Collecting the maximum brake pedal stroke in the second stage as a fourth brake pedal stroke; Calculating a difference between the first brake pedal stroke and the second brake pedal stroke to be a first difference, and calculating a difference between the fourth brake pedal stroke and the third brake pedal stroke to be a second difference; And judging whether the first difference value is larger than a preset first threshold value and whether the second difference value is larger than a preset second threshold value, if so, judging that the acquired brake pedal stroke meets a preset stroke fluctuation condition.
  4. 4. The automatic parking start control method according to claim 1, wherein a brake pedal stroke is always greater than a preset stroke minimum value, which is greater than 0, within the first time threshold.
  5. 5. The automatic parking start control method according to claim 1, characterized by comprising the steps of: judging whether the brake pedal is stepped down according to the stroke of the brake pedal; in response to a brake pedal being depressed, collecting an uphill gradient of a road surface on which the vehicle is currently running; And in response to the uphill gradient being greater than a preset first gradient threshold value, calculating a component force of gravity of the vehicle along the direction of the slope, controlling a vehicle driving motor to provide a traction force equal to the component force, and controlling a vehicle braking system to provide a driver target braking force and an additional braking force until automatic parking is started, wherein the additional braking force is equal to the traction force.
  6. 6. The automatic parking start control method according to claim 5, wherein the vehicle brake system establishes the additional braking force at a first braking force rate of change, and the vehicle drive motor establishes the traction force also at the first braking force rate of change.
  7. 7. The automatic parking start control method according to claim 1, characterized by comprising the steps of: judging whether the brake pedal is stepped down according to the stroke of the brake pedal; In response to a brake pedal being depressed, collecting a downhill gradient of a road surface on which the vehicle is currently running; in response to the downhill gradient being greater than a preset second gradient threshold, calculating a component of gravity of the vehicle along the direction of the gradient, and controlling a vehicle braking system to provide braking force according to the stroke of a brake pedal; In response to the brake pedal stroke no longer increasing, the vehicle drive motor is controlled to provide a progressively increasing counter force at a brake force rate of change during the brake pedal stroke increase until the counter force is equal to the component force.
  8. 8. The automatic parking start control method according to claim 7, characterized by comprising the steps of: In response to the driver fully releasing the brake pedal after the vehicle drive motor provides the reverse force, the vehicle drive motor is controlled to gradually reduce the reverse force at a rate of change of braking force during a reduction in brake pedal travel until the reverse force is equal to zero.
  9. 9. An automatic parking start control system, comprising: the acquisition module acquires the stroke and the speed of the brake pedal, and responds to the judgment module to judge that the vehicle is stopped and the automatic parking is not started, and acquires the stroke of the brake pedal in real time; The judging module judges whether the vehicle is stopped or not and whether automatic parking is started or not according to the brake pedal stroke and the vehicle speed, and judges whether the acquired brake pedal stroke change meets a preset stroke fluctuation condition or not; the control module is used for controlling the automatic parking system to start in response to the judgment module judging that the acquired stroke of the brake pedal meets a preset stroke fluctuation condition; The stroke fluctuation conditions at least comprise the following conditions that the brake pedal stroke change comprises at least one first stage and at least one second stage after the first stage, wherein the first stage and the second stage are within a preset first time threshold value, the brake pedal stroke is reduced through the first stage, and the brake pedal stroke is increased through the second stage.
  10. 10. A computer program product comprising a computer program, characterized in that the computer program, when executed, implements the automatic parking start control method according to any one of claims 1 to 8.
  11. 11. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the automatic parking start control method according to any one of claims 1 to 8.
  12. 12. A computer device comprising a memory module, a processor and a computer program stored on the memory module and executable on the processor, characterized in that the processor implements the automatic park-start control method according to any one of claims 1 to 8 when executing the computer program.

Description

Automatic parking start control method, system, product, medium and equipment Technical Field The present application relates to the field of automatic parking control, and in particular, to an automatic parking start control method, system, computer product, computer readable storage medium, and computer device. Background The automatic parking system (Auto Vehicle Hold, AVH) is an auxiliary function capable of automatically maintaining a braking state when the vehicle is temporarily stopped, and its general activation logic depends on two core conditions, firstly, that the vehicle needs to be in a stationary state, and secondly, that the braking hydraulic pressure of the vehicle needs to exceed a set pressure threshold value. The vehicle is required to be stationary, so that impact feeling is avoided to a driver when the system builds parking pressure, comfort is ensured, a brake hydraulic threshold is set, the purpose of confirming clear parking intention of the driver is achieved, and the vehicle can be reliably parked and prevented from slipping in the process of taking over braking force by the system. With known automatic parking systems, each time the driver wants to activate the AVH function, a large braking force is applied to cause the brake fluid pressure to cross the fixed threshold. Under the working conditions of traffic jam and the like requiring frequent start and stop, a driver needs to repeatedly perform deep braking operation. Furthermore, when the vehicle is on a slope, the braking force required to be applied by the driver will be further increased in order to overcome the gravitational component and to stably park the vehicle while satisfying the activation condition of AVH. It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art. Disclosure of Invention According to a different aspect, one of the problems to be solved by the present application is how to enable the driver to activate the AVH by means of an easier brake pedal. In addition, the application aims to solve or alleviate other technical problems in the prior art. According to a first aspect of the present application, there is provided: an automatic parking start control method, comprising the steps of: collecting a brake pedal stroke and a vehicle speed, and judging whether the vehicle is parked or not and whether automatic parking is started or not according to the brake pedal stroke and the vehicle speed; Responsive to the vehicle being parked and the automatic park not being activated, collecting a brake pedal stroke in real time; judging whether the acquired stroke change of the brake pedal meets a preset stroke fluctuation condition, if so, starting automatic parking; The stroke fluctuation conditions at least comprise conditions that the brake pedal stroke change comprises at least one first stage and at least one second stage after the first stage, wherein the first stage and the second stage are within a preset first time threshold value, the brake pedal stroke is reduced through the first stage, and the brake pedal stroke is increased through the second stage. According to a second aspect of the present application, there is provided an automatic parking start control system comprising: the acquisition module acquires the stroke and the speed of the brake pedal, and responds to the judgment module to judge that the vehicle is stopped and the automatic parking is not started, and acquires the stroke of the brake pedal in real time; The judging module judges whether the vehicle is stopped or not and whether automatic parking is started or not according to the brake pedal stroke and the vehicle speed, and judges whether the acquired brake pedal stroke change meets a preset stroke fluctuation condition or not; the control module is used for controlling the automatic parking system to start in response to the judgment module judging that the acquired stroke of the brake pedal meets a preset stroke fluctuation condition; The stroke fluctuation conditions at least comprise the following conditions that the brake pedal stroke change comprises at least one first stage and at least one second stage after the first stage, wherein the first stage and the second stage are within a preset first time threshold value, the brake pedal stroke is reduced through the first stage, and the brake pedal stroke is increased through the second stage. According to a third aspect of the present application, there is provided a computer program product comprising a computer program which when executed implements the automatic park-start control method described above. According to a fourth aspect of the present application, there is provided a computer-readable storage medium having stored thereon a computer progra