The invention provides an automobile automatic parking control method, device and equipment and a vehicle. In the parking process, when the vehicle needs to be decelerated, the needed deceleration is calculated based on parking planning data, then the needed target torque is determined based on the deceleration, the target torque is compared with the negative torque upper limit value capable of being executed by a motor, and the vehicle can be automatically parked according to the target torque. Judging whether motor braking can meet the braking requirement or not, if the braking requirement is not met, calculating needed hydraulic braking force based on the difference value between the target torque and the upper limit value of the negative torque, loading the hydraulic braking force into a hydraulic braking request, and sending the hydraulic braking request to a braking controller; and the braking controller controls the hydraulic brake to conduct hydraulic braking based on the hydraulic braking force, and in the braking process, the generated braking noise is very low.
本发明提供一种汽车自动泊车控制方法、装置、设备和车辆,在泊车过程中,在车辆需要减速时,基于泊车规划数据计算所需的减速度,再基于所述减速度确定所需的目标扭矩,将目标扭矩与电机可执行的负扭矩上限值进行比较,判断电机制动是否能够满足本次制动需求,如果不满足制动需求时,基于所述目标扭矩与负扭矩上限值的差值计算所需的液压制动力,将所述液压制动力加载至液压制动请求中发送给制动控制器,以使得所述制动控制器基于所述液压制动力控制液压制动器进行液压制动,该制动过程中,所产生的制动噪音很小。
Automobile automatic parking control method, device and equipment and vehicle
一种汽车自动泊车控制方法、装置、设备和车辆
2022-11-01
Patent
Electronic Resource
Chinese
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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