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CN-121973764-A - Method for automatic parking control, automatic parking system and vehicle

CN121973764ACN 121973764 ACN121973764 ACN 121973764ACN-121973764-A

Abstract

The application relates to a method for automatic parking control, comprising detecting ambient information of a vehicle (1) when an automatic parking function of the vehicle (1) is activated, determining a parking planning path (S1) of the vehicle (1) based on the detected ambient information, determining a desired steering angle of each wheel of the vehicle (1) at a current position based on the parking planning path, and measuring steering torque of each wheel of the vehicle (1) at the current position, wherein the steering torque is used for adjusting the steering angle of the corresponding wheel of the vehicle (1) to the determined desired steering angle (S2), calculating a road surface friction coefficient (S3) at the current position based on at least the steering torque of each wheel of the vehicle (1), adjusting control parameters of the automatic parking function of the vehicle (1) based on at least the calculated road surface friction coefficient, and controlling the vehicle (1) to park (S4).

Inventors

  • WOLTERMANN BERND

Assignees

  • 梅赛德斯-奔驰集团股份公司

Dates

Publication Date
20260505
Application Date
20260401

Claims (20)

  1. 1. A method for automated parking control, the method comprising: Detecting ambient information of the vehicle (1) in the event of an activation of an automatic parking function of the vehicle (1), and determining a parking plan trajectory of the vehicle (1) on the basis of the detected ambient information; Determining a desired steering angle of each wheel of the vehicle (1) at the current position based on the parking plan trajectory, and measuring a steering torque of each wheel of the vehicle (1) at the current position, the steering torque being used to adjust the steering angle of the corresponding wheel of the vehicle (1) to the determined desired steering angle; calculating a road surface friction coefficient at the current position based at least on steering torque of each wheel of the vehicle (1); Adjusting control parameters of an automatic parking function of the vehicle (1) based on at least the calculated road surface friction coefficient and controlling the vehicle (1) to park.
  2. 2. The method according to claim 1, wherein the method further comprises: The ramp information at the current position is determined based on steering torque of each wheel of the vehicle (1), wherein the ramp information includes, for example, one or more of ramp presence information and ramp grade information.
  3. 3. Method according to claim 2, characterized in that in case it is determined that a slope is present at the current location, the control parameters of the auto-park function of the vehicle (1) are adjusted and the vehicle (1) is controlled to park based on at least the calculated road friction coefficient and the slope information.
  4. 4. Method according to claim 1, characterized in that control parameters of the automatic parking function of the vehicle (1) are adjusted and the vehicle (1) is controlled to park at least on the basis of the calculated road friction coefficient and vehicle load information, which for example comprises one or more of the following parameters measured total vehicle weight, estimated total vehicle weight on the basis of the number of occupants in the vehicle, measured load information of the individual wheels of the vehicle (1), and measured load information of the individual axles of the vehicle (1).
  5. 5. The method according to any one of claims 1 to 4, characterized in that the control parameters comprise one or more of the following parameters, the turning on and/or off of the rear axle wheel steering function, the vehicle driving speed, the maximum steering angle of the rear axle wheels and the parking plan trajectory.
  6. 6. The method according to claim 5, wherein the maximum steering angle of the rear axle wheels is adjusted based on at least one or more of the calculated road surface friction coefficient and information of vehicle travel speed, vehicle load information and motor temperature information of a steering system of the vehicle (1).
  7. 7. Method according to claim 5, characterized in that the rear axle wheel steering function of the vehicle (1) is turned off in a road area where the road friction coefficient is smaller than a predetermined first friction coefficient threshold value and/or the rear axle wheel steering function of the vehicle (1) is turned on in a road area where the road friction coefficient is greater than or equal to a predetermined first friction coefficient threshold value.
  8. 8. The method of claim 5, wherein the step of determining the position of the probe is performed, In the road surface region, in which the road surface friction coefficient is greater than or equal to a predetermined second friction coefficient threshold value, the maximum steering angle of the rear axle wheels of the vehicle (1) is reduced at least on the basis of the road surface friction coefficient, and/or In the road surface region where the road surface friction coefficient is smaller than a predetermined third friction coefficient threshold value, the vehicle running speed is reduced based on at least the road surface friction coefficient.
  9. 9. Method according to claim 5, characterized in that in a road surface region where the road surface friction coefficient is smaller than a predetermined fourth friction coefficient threshold value, the parking plan trajectory of the vehicle (1) is adjusted at least on the basis of the road surface friction coefficient such that steering operations in the road surface region are reduced when the vehicle (1) is travelling along the parking plan trajectory.
  10. 10. Method according to claim 5, characterized in that in case it is determined based on the vehicle load information that the load capacity of the vehicle (1) exceeds a predefined load capacity threshold value, the rear axle wheel steering function of the vehicle (1) is turned off when the vehicle driving speed is greater than zero and/or the rear axle wheel steering function of the vehicle (1) is turned on when the vehicle driving speed is equal to zero.
  11. 11. Method according to claim 5, characterized in that in case it is determined that a slope is present at the current position and that the road surface friction coefficient of the road surface area is smaller than a pre-given fifth friction coefficient threshold value, the rear axle wheel steering function of the vehicle (1) is turned off and/or one or more of the following operations are performed, reducing the vehicle driving speed, reducing the maximum steering angle of the rear axle wheels and adjusting the planned driving trajectory, based on the calculated road surface friction coefficient and the gradient information of the slope.
  12. 12. Method according to any one of claims 1 to 11, characterized in that the steering torque measured at the current position of the respective wheels of the vehicle (1) is compared with a standard steering torque for adjusting the steering angle of the respective wheels of the vehicle (1) to the determined desired steering angle, wherein the standard steering torque is a preset value and/or is adjusted on the basis of the measured steering torque with respect to time or an average value of the vehicle running speed; When the measured steering torque is smaller than the standard steering torque and the deviation between the measured steering torque and the standard steering torque is greater than or equal to a preset deviation threshold value, the control parameter of the automatic parking function of the vehicle (1) is adjusted at least based on the calculated road surface friction coefficient, and the vehicle (1) is controlled to park.
  13. 13. The method according to claim 12, wherein the method further comprises: Locally storing steering torque measured at the current position of each wheel of the vehicle (1) and current position information of the vehicle (1) in association with each other; retrieving a steering torque associated with the current position information of the vehicle (1) from the stored steering torque based on the current position information of the vehicle (1), and adjusting a control parameter of an automatic parking function of the vehicle (1) based on at least the calculated road surface friction coefficient and the retrieved steering torque.
  14. 14. The method according to claim 12, wherein the method further comprises: uploading steering torque measured at the current position of each wheel of the vehicle (1) and current position information of the vehicle (1) to a cloud server (2); Transmitting current position information of a vehicle (1) and request information on steering torque to the cloud server (2); in response to steering torque received from the cloud server (2) associated with current position information of the vehicle (1), control parameters of an auto-park function of the vehicle (1) are adjusted based at least on the calculated road surface friction coefficient and the received steering torque.
  15. 15. An automated parking system (10), the automated parking system (10) comprising: An environment sensing unit (11) configured to detect an ambient environment of the vehicle (1); A torque measurement unit (12) configured to measure steering torque of each wheel of the vehicle (1) at a current position; an in-vehicle control unit (13) configured for at least assisted execution of the method according to any one of claims 1 to 14.
  16. 16. The automated parking system (10) of claim 15, wherein the automated parking system (10) further comprises an in-vehicle communication unit (14) configured for information interaction with the cloud server (2), and/or The on-board control unit (13) is integrated in the environment-aware unit (11), and an end-to-end model is deployed in the on-board control unit (13), by means of which end-to-end model the method according to any one of claims 1 to 14 is at least assisted performed, wherein the end-to-end model comprises, for example, a vision-language-action model, wherein the environment-aware unit (11) comprises, for example, one or more of an on-board camera, a millimeter wave radar, a lidar and an ultrasound radar.
  17. 17. A method for managing steering torque information of a vehicle (1), the method comprising: Responsive to steering torque measured at a current position of each wheel of a vehicle (1) and current position information of the vehicle (1) received from the automatic parking system (10) according to claim 15 or 16, cloud storing the steering torque and the current position information of the vehicle (1) in association with each other, and/or In response to the current position information of the vehicle (1) and the request information on the steering torque received from the automatic parking system (10) according to claim 15 or 16, retrieving the steering torque associated with the current position information of the vehicle (1) based on the current position information of the vehicle (1), and transmitting the retrieved steering torque to the automatic parking system (10).
  18. 18. A cloud server (2), the cloud server (2) comprising: cloud communication unit (21) configured for information interaction with the automated parking system (10) according to claim 15 or 16; cloud control unit (22) configured for at least assisted execution of the method according to claim 17.
  19. 19. A vehicle (1), the vehicle (1) comprising an automatic parking system (10) according to claim 15 or 16.
  20. 20. A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions which, when executed by a processor, at least assist in carrying out the steps of the method according to any one of claims 1 to 14 and 17.

Description

Method for automatic parking control, automatic parking system and vehicle Technical Field The present application relates to the field of automatic parking, in particular to a method for automatic parking control, an automatic parking system, a method for managing steering torque information of a vehicle, a cloud server, a vehicle comprising an automatic parking system according to the present application, and a computer program product. Background The running speed of the vehicle during parking is low and frequent steering operations are performed, which results in a much larger tire wear during parking than in a normal running state. On the road surface of partial material, the vehicle can also send out the harshness noise that arouses by the friction of tire and road surface in the parking in-process, and this has not only seriously influenced user's experience sense of parking, can shorten the life of tire by a wide margin moreover. Therefore, there is a certain room for improvement in the existing parking control methods. Disclosure of Invention It is an object of the present application to provide a method for automatic parking control, an automatic parking system, a method for managing steering torque information of a vehicle, a cloud server, a vehicle comprising an automatic parking system according to the present application, and a computer program product to at least partly solve the problems of the prior art. According to a first aspect of the present application, there is provided a method for automatic parking control, the method may include: In the event of an activation of the automatic parking function of the vehicle, ambient information of the vehicle can be detected and a parking plan trajectory of the vehicle can be determined on the basis of the detected ambient information; -a desired steering angle of each wheel of the vehicle at the current position may be determined based on the parking plan trajectory, and a steering torque of each wheel of the vehicle at the current position is measured, the steering torque being used to adjust the steering angle of the respective wheel of the vehicle to the determined desired steering angle; -the road surface friction coefficient at the current position may be calculated based at least on the steering torque of the respective wheels of the vehicle; -adjusting control parameters of an automatic parking function of the vehicle and controlling the vehicle to park based at least on the calculated road surface friction coefficient. The method comprises the steps of calculating the road friction coefficient based on the steering torque measured by the vehicle at the current position in the process of controlling the vehicle to automatically park, and flexibly adjusting the control parameters of the automatic parking function of the vehicle based on at least the calculated road friction coefficient, so that the phenomena of skidding, sideslip and out-of-control of the vehicle in the parking process and the overheating of a motor of a steering system can be avoided, noise generated in the parking process of the vehicle can be effectively reduced, the tire wear in the parking process and the component wear of the steering system can be reduced, the running safety and the control stability of the vehicle in the automatic parking process can be effectively improved, and the service lives of the tires of the vehicle and the components of the steering system can be prolonged. According to an alternative embodiment of the application, the method may further comprise: The ramp information at the current position may be determined based on steering torque of the respective wheels of the vehicle, wherein the ramp information comprises, for example, one or more of ramp presence information, ramp gradient information, and the like. According to another alternative embodiment of the present application, in case it is determined that a slope exists at the current location, a control parameter of an automatic parking function of the vehicle may be adjusted and the vehicle may be controlled to park based on at least the calculated road surface friction coefficient and the slope information. According to another alternative embodiment of the present application, control parameters of an automatic parking function of a vehicle may be adjusted and the vehicle may be controlled to park based on at least the calculated road surface friction coefficient and vehicle load information including, for example, one or more of measured total weight of the vehicle, estimated total weight of the vehicle based on the number of occupants in the vehicle, measured load information of each wheel of the vehicle, measured load information of each axle of the vehicle, and the like. According to another alternative embodiment of the application, said control parameters may comprise one or more of the following parameters, the turning on and/or off of the rear axle wheel steering function, the