CN-122009159-A - Longitudinal driving method and device for automatic parking of traditional fuel oil vehicle, vehicle and medium

CN122009159ACN 122009159 ACN122009159 ACN 122009159ACN-122009159-A

Abstract

The invention discloses a traditional automatic parking longitudinal driving method, a device, a vehicle and a medium for a fuel vehicle, which are characterized in that a gearbox controller TCU is actively led into a control loop of a parking working condition, two interfaces of a longitudinal control signal and a target creep speed are led into an IPB and the TCU respectively, a staged arbitration mechanism is led into an engine controller EMS, smooth starting of the vehicle is ensured, backward slip and accurate following of the target creep speed are effectively prevented, and the problems of unsmooth speed, running and the like of the traditional fuel vehicle in the automatic parking process are fundamentally solved.

Inventors

ZHANG WEIFENG
TAO ZHENGBING
YU ZHENGHUA

Assignees

魔视智能科技(上海)股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (5)

1. A conventional fuel vehicle automatic parking longitudinal driving method, comprising: Under the automatic parking working condition, determining a longitudinal control signal according to a target creep speed by an ADAS controller, sending the longitudinal control signal to an electronic brake system IPB, and sending the target creep speed to a gearbox controller TCU; Determining a first target driving moment according to the target creep speed by the TCU based on a self-contained creep speed closed-loop control strategy, and sending the first target driving moment to an engine controller EMS, wherein the TCU monitors an electronic brake system IPB, and resets the first target driving moment to 0 when the electronic brake system IPB needs longitudinal braking; determining a second target driving moment by the electronic brake system IPB according to the longitudinal control signal and sending the second target driving moment to the engine controller EMS; And the engine controller EMS arbitrates the first target driving moment and the second target driving moment and then controls the engine output, namely, in the starting stage of the automatically parked vehicle, the engine output is controlled according to the second target driving moment, and in the non-starting stage of the automatically parked vehicle, the engine output is controlled according to the first target driving moment.
2. A conventional fuel-vehicle auto-park longitudinal driving method according to claim 1, wherein the longitudinal control signal comprises a distance-maximum speed signal and/or a target acceleration-deceleration.
3. A conventional fuel vehicle automatic parking longitudinal driving apparatus, comprising: The automatic parking system comprises a first module, a second module and a third module, wherein the first module is used for determining a longitudinal control signal according to a target creep speed by an ADAS controller under an automatic parking working condition, sending the longitudinal control signal to an electronic brake system (IPB) and sending the target creep speed to a gearbox controller (TCU); The second module is used for determining a first target driving moment according to the target creep speed by the TCU based on a self-contained creep speed closed-loop control strategy and sending the first target driving moment to the EMS, wherein the TCU monitors the IPB, and resets the first target driving moment to 0 when the IPB needs longitudinal braking; A third module, configured to determine, by the electronic brake system IPB, a second target driving torque according to the longitudinal control signal, and send the second target driving torque to the engine controller EMS; And a fourth module, configured to arbitrate the first target driving torque and the second target driving torque by the engine controller EMS and then control the engine output, where the engine output is controlled according to the second target driving torque in a start stage of the automatically parked vehicle, and the engine output is controlled according to the first target driving torque in a non-start stage of the automatically parked vehicle.
4. A vehicle comprising an ADAS controller, an electronic brake system IPB, a gearbox controller TCU, an engine controller EMS, a memory module and a processor, the memory module comprising instructions loaded and executed by the processor, which instructions when executed cause the processor to perform a conventional fuel vehicle auto park longitudinal drive method according to any of claims 1-2.
5. A computer readable storage medium storing one or more programs, which when executed by a processor, implement a conventional fuel-vehicle auto-park longitudinal driving method according to any one of claims 1-2.

Description

Longitudinal driving method and device for automatic parking of traditional fuel oil vehicle, vehicle and medium Technical Field The invention belongs to the technical field of automatic parking, and particularly relates to a longitudinal driving method, device, vehicle and medium for automatic parking of a traditional fuel vehicle. Background With the development of automatic driving technology, an automatic parking function has become a standard of modern vehicles. In the longitudinal control process of automatic parking, an upper ADAS (ADVANCED DRIVING ASSISTANCE SYSTEM ) controller generally generates a longitudinal control signal (such as a distance-speed signal S-V or a target acceleration-deceleration signal) according to the perceived information such as the distance of surrounding obstacles) And sent to the electronic brake system IPB. In the existing mainstream scheme, the electronic brake system IPB obtains the currently required braking torque and driving torque of the vehicle through internal calculation. The braking torque is executed by the IPB, and the driving torque is sent to a Vehicle Control Unit (VCU) or an engine controller (EMS) to be responsible for execution. The scheme is suitable for new energy vehicles, but for traditional fuel vehicles, as a gearbox controller TCU exists in a power transmission system, the driving force command directly given to EMS by the IPB can be transmitted to a wheel end through the TCU in the execution process (the TCU does not actively participate in the calculation of driving torque in the process and only passively transmits the driving torque calculated by an electronic brake system IPB to the wheel end), if the TCU is subjected to gear switching or clutch state change in the process, the driving force transmitted to the wheel end by an engine can be caused to fluctuate, so that the problems of unsmooth speed, starting shake (secondary starting) and the like of the whole vehicle are caused, and the longitudinal control precision and the user experience of the traditional fuel vehicles in the automatic parking process are seriously influenced. Disclosure of Invention Based on the above technical problems, a conventional automatic parking longitudinal driving method, device, vehicle and medium for a fuel vehicle are provided. The technical scheme adopted by the invention is as follows: As a first aspect of the present invention, there is provided a conventional automatic parking longitudinal driving method of a fuel vehicle, comprising: Under the automatic parking working condition, determining a longitudinal control signal according to a target creep speed by an ADAS controller, sending the longitudinal control signal to an electronic brake system IPB, and sending the target creep speed to a gearbox controller TCU; Determining a first target driving moment according to the target creep speed by the TCU based on a self-contained creep speed closed-loop control strategy, and sending the first target driving moment to an engine controller EMS, wherein the TCU monitors an electronic brake system IPB, and resets the first target driving moment to 0 when the electronic brake system IPB needs longitudinal braking; determining a second target driving moment by the electronic brake system IPB according to the longitudinal control signal and sending the second target driving moment to the engine controller EMS; And the engine controller EMS arbitrates the first target driving moment and the second target driving moment and then controls the engine output, namely, in the starting stage of the automatically parked vehicle, the engine output is controlled according to the second target driving moment, and in the non-starting stage of the automatically parked vehicle, the engine output is controlled according to the first target driving moment. As a second aspect of the present invention, there is provided a conventional automatic parking longitudinal driving apparatus for a fuel vehicle, comprising: The automatic parking system comprises a first module, a second module and a third module, wherein the first module is used for determining a longitudinal control signal according to a target creep speed by an ADAS controller under an automatic parking working condition, sending the longitudinal control signal to an electronic brake system (IPB) and sending the target creep speed to a gearbox controller (TCU); The second module is used for determining a first target driving moment according to the target creep speed by the TCU based on a self-contained creep speed closed-loop control strategy and sending the first target driving moment to the EMS, wherein the TCU monitors the IPB, and resets the first target driving moment to 0 when the IPB needs longitudinal braking; A third module, configured to determine, by the electronic brake system IPB, a second target driving torque according to the longitudinal control signal, and send the second target driving torque to the en