Parking method and apparatus

Patent metadata

Field	Value
Publication number	US-12145451-B2
Application number	US-202117790312-A
Country	US
Kind code	B2
Filing date	Jan 13, 2021
Priority date	Jan 16, 2020
Publication date	Nov 19, 2024
Grant date	Nov 19, 2024

Abstract

The method includes: when the vehicle satisfies a one-pedal activating condition, controlling the vehicle to enter a one-pedal-function activating mode; when the vehicle enters the one-pedal-function activating mode and satisfies a parking-controlling-function activating condition, acquiring current-vehicle-speed information, road-slope information and a first electric-motor recovering torque; based on the current-vehicle-speed information and the road-slope information, calculating to obtain a parking torque; acquiring a first torque difference between the parking torque and the first electric-motor recovering torque; and performing pressure buildup to the vehicle based on the first torque difference, to control the vehicle to complete a parking operation.

First claim

The invention claimed is:

1. A parking method, wherein the parking method is applied to a vehicle having a hydraulic braking system, and the method comprises:
by one or more processors, when the vehicle satisfies a one-pedal activating condition, controlling the vehicle to enter a one-pedal-function activating mode;
by one or more processors, when the vehicle enters the one-pedal-function activating mode and satisfies a parking-controlling-function activating condition, acquiring current-vehicle-speed information, road-slope information and a first electric-motor recovering torque;
by one or more processors, based on the current-vehicle-speed information and the road-slope information, calculating to obtain a parking torque;
by one or more processors, acquiring a first torque difference between the parking torque and the first electric-motor recovering torque; and
by one or more processors, performing pressure buildup to the vehicle based on the first torque difference, to control the vehicle to complete a parking operation,
wherein the satisfying the parking-controlling-function activating condition at least comprises: the accelerator-pedal depth being less than a depth calibration value; the accelerator pedal being not trodden within a pedal-continuation calibration duration or the brake-master-cylinder pressure value of the accelerator pedal being less than a pressure calibration value within a continuation calibration duration.

2. The method according to claim 1 , wherein after the step of, when the vehicle satisfies the one-pedal activating condition, controlling the vehicle to enter the one-pedal-function activating mode, the method further comprises:
when the vehicle enters the one-pedal-function activating mode and satisfies a vehicle-stabilization-controlling-function activating condition, generating a hydraulic-compensation increasing instruction; and
in response to the hydraulic-compensation increasing instruction, controlling the vehicle to complete a vehicle stabilizing operation.

3. The method according to claim 2 , wherein after the step of, when the vehicle satisfies the one-pedal activating condition, controlling the vehicle to enter the one-pedal-function activating mode, the method further comprises:
when the vehicle enters the one-pedal-function activating mode and satisfies a vehicle-stabilization-controlling-function exiting condition, generating a hydraulic-compensation reducing instruction; and
in response to the hydraulic-compensation reducing instruction, exiting the vehicle-stabilization controlling mode.

4. The method according to claim 2 , wherein the hydraulic-compensation increasing instruction comprises an instruction for increasing a hydraulic braking force, wherein the hydraulic braking force enables the vehicle to stop within a preset slope range.

5. The method according to claim 1 , wherein after the step of, when the vehicle satisfies the one-pedal activating condition, controlling the vehicle to enter the one-pedal-function activating mode, the method further comprises:
when the vehicle enters the one-pedal-function activating mode and satisfies a deceleration-controlling-function activating condition, acquiring a current deceleration controlling torque and a second electric-motor recovering torque of the vehicle;
calculating a second torque difference between the deceleration controlling torque and the second electric-motor recovering torque; and
performing pressure buildup to the vehicle based on the second torque difference, to control the vehicle to complete a decelerating operation.

6. A computer-readable medium, wherein the computer-readable medium stores a computer-readable code, and when the computer-readable code is executed, a parking method according to claim 1 is performed.

7. A parking apparatus, wherein the parking apparatus is applied to a vehicle having a hydraulic braking system, and the apparatus comprises:
one or more processors and a storage apparatus; and
the storage apparatus stores a computer program which, when executed by the processor, perform the operations comprising:
when the vehicle satisfies a one-pedal activating condition, controlling the vehicle to enter a one-pedal-function activating mode;
when the vehicle enters the one-pedal-function activating mode and satisfies a parking-controlling-function activating condition, acquiring current-vehicle-speed information, road-slope information and a first electric-motor recovering torque;
based on the current-vehicle-speed information and the road-slope information, calculating to obtain a parking torque;
acquiring a first torque difference between the parking torque and the first electric-motor recovering torque; and
performing pressure buildup to the vehicle based on the first torque difference, to control the vehicle to complete a parking operation,
wherein the satisfying the parking-controlling-function activating condition at least comprises: the accelerator-pedal depth being less than a depth calibration value; the accelerator pedal being not trodden within a pedal-continuation calibration duration or the brake-master-cylinder pressure value of the accelerator pedal being less than a pressure calibration value within a continuation calibration duration.

8. The parking apparatus according to claim 7 , wherein the operations further comprise:
when the vehicle enters the one-pedal-function activating mode and satisfies a vehicle-stabilization-controlling-function activating condition, generating a hydraulic-compensation increasing instruction; and
in response to the hydraulic-compensation increasing instruction, controlling the vehicle to complete a vehicle stabilizing operation.

9. The parking apparatus according to claim 8 , wherein the apparatus further comprises:
when the vehicle enters the one-pedal-function activating mode and satisfies a vehicle-stabilization-controlling-function exiting condition, generating a hydraulic-compensation reducing instruction; and
in response to the hydraulic-compensation reducing instruction, exiting the vehicle-stabilization controlling mode.

10. The parking apparatus according to claim 8 , wherein the hydraulic-compensation increasing instruction comprises an instruction for increasing a hydraulic braking force, wherein the hydraulic braking force enables the vehicle to stop within a preset slope range.

11. The parking apparatus according to claim 7 , wherein the operations further comprise:
when the vehicle enters the one-pedal-function activating mode and satisfies a deceleration-controlling-function activating condition, acquiring a current deceleration controlling torque and a second electric-motor recovering torque of the vehicle;
calculating a second torque difference between the deceleration controlling torque and the second electric-motor recovering torque; and
performing pressure buildup to the vehicle based on the second torque difference, to control the vehicle to complete a decelerating operation.

12. A computing and processing device, wherein the computing and processing device comprises:
a memory storing a computer-readable code; and
one or more processors, wherein when the computer-readable code is executed by the one or more processors, the computing and processing device executes a parking method, wherein the parking method is applied to a vehicle having a hydraulic braking system, and the method comprises:
when the vehicle satisfies a one-pedal activating condition, controlling the vehicle to enter a one-pedal-function activating mode;
when the vehicle enters the one-pedal-function activating mode and satisfies a parking-controlling-function activating condition, acqu

Assignees

• Great Wall Motor Co Ltd

Inventors

• Zhang Shuai
• Chen Shujiang
• Hou Wentao
• Zhao Qing
• Chang Xiao
• Kang Tong
• Sun Jiaxin
• Ling Wenchao
• Deng Weifeng

Classifications

• B60T2210/10

  Detection or estimation of road conditions · CPC title

• B60T8/52

  Torque sensing, i.e. wherein the braking action is controlled by forces producing or tending to produce a twisting or rotating motion on a braked rotating member · CPC title

• B60T8/265

  for hydraulic brake systems · CPC title

• B60L2240/642

  Slope of road · CPC title

• B60L2240/423

  Torque · CPC title