The invention provides an identification control method for a limiter for automatic parking of an electric vehicle, and the method comprises the steps: calculating and analyzing a change relation between a motor loading torque and a vehicle speed in a parking process through an automatic parking system according to a vehicle speed signal, a slope signal, a motor torque signal and a gear signal, and judging whether the vehicle rolls a higher object such as the limiter or not. When the condition meets the condition that the system recognizes that the vehicle rolls to the limiting stopper, the automatic parking system calculates the torque value needed by reverse low-speed running of the vehicle according to the gradient signal, and meanwhile the gear controller is requested to shift to the reverse gear of the current gear; and when the vehicle enters the reverse gear and travels for a certain distance, and the posture of the vehicle meets the front-back and left-right distance and deflection angle deviation range with the parking space line or surrounding obstacles, the system judges that the vehicle meets the parking completion condition, and parking is completed. The device can effectively improve the situation that when a vehicle presses the limiting block in the automatic parking process, a tire rolls the limiting block for a long time and is damaged, and the potential safety hazard that the vehicle crosses the limiting block is eliminated.

    本发明提供一种电动汽车自动泊车的限位器识别控制方法,自动泊车系统根据车速信号、坡度信号、电机扭矩信号和档位信号,计算分析泊车过程中电机加载扭矩与车速的变化关系,判断车辆是否碾压到限位器等较高物体。当条件满足系统识别车辆碾压到限位器条件时,自动泊车系统再根据坡度信号计算得出车辆反向低速行驶需要扭矩值、同时请求档位控制器进行换挡至当前档位的反向档位;当车辆进入反向档位行驶一定距离,且车辆姿态满足与车位线或周边障碍物前后左右距离、偏角偏差范围时,系统判断车辆满足泊车完成条件,完成泊车。该发明可有效改善车辆自动泊车过程中压到限位块时,避免轮胎长时间碾压限位块而损伤、以及消除车辆越过限位块的安全隐患。


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    Title :

    Limiting stopper recognition control method for automatic parking of electric automobile


    Additional title:

    电动汽车自动泊车的限位器识别控制方法


    Contributors:
    GAO JIE (author) / GAO FAHUA (author) / TANG QINGTAO (author) / GUO XIANLEI (author) / ZHANG FEI (author) / WANG XINSHU (author) / GUO JIANGTAO (author)

    Publication date :

    2022-07-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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