US 12,403,895 B2
Method and device for vehicle parking control
Feng Ding, Beijing (CN); Chufan Kong, Beijing (CN); and Nan Wu, Beijing (CN)
Assigned to Beijing Tusen Weilai Technology Co., Ltd., Beijing (CN)
Filed by Beijing Tusen Weilai Technology Co., Ltd., Beijing (CN)
Filed on Mar. 13, 2023, as Appl. No. 18/182,589.
Application 18/182,589 is a continuation of application No. 17/039,217, filed on Sep. 30, 2020, granted, now 11,603,092.
Application 17/039,217 is a continuation of application No. PCT/CN2018/105466, filed on Sep. 13, 2018.
Claims priority of application No. 201810292560.7 (CN), filed on Mar. 30, 2018.
Prior Publication US 2023/0211775 A1, Jul. 6, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/06 (2006.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 30/14 (2006.01); B60W 30/18 (2012.01); B60W 40/105 (2012.01); B60W 50/02 (2012.01); B60W 60/00 (2020.01); G08G 1/14 (2006.01)
CPC B60W 30/06 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 30/143 (2013.01); B60W 30/18072 (2013.01); B60W 40/105 (2013.01); B60W 50/0205 (2013.01); B60W 60/00 (2020.02); B60W 60/001 (2020.02); G08G 1/143 (2013.01); B60W 2520/10 (2013.01); B60W 2520/30 (2013.01); B60W 2540/10 (2013.01); B60W 2554/80 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for vehicle parking control, comprising following steps performed according to a predetermined time period until the vehicle stops at an end point:
determining a target position and a target speed at which the vehicle arrives at the target position based on a current speed of the vehicle and a distance between a current position and the end point, the target position being on a road where the vehicle is located and in front of the vehicle;
determining a deceleration motion mode for the vehicle based on the current speed of the vehicle and the target speed; and
performing braking control for the vehicle in accordance with a vehicle braking strategy corresponding to the deceleration motion mode,
wherein said performing braking control for the vehicle in accordance with the vehicle braking strategy corresponding to the deceleration motion mode comprises performing a first operation in response to determining the deceleration motion mode as a deceleration mode or performing a second operation in response to determining the deceleration motion mode as a low-speed coasting mode,
wherein performing the first operation comprises:
calculating first acceleration for the vehicle to move from the current position to the target position based on a speed error between the current speed and the target speed;
inputting the first acceleration to a predetermined longitudinal dynamics model of the vehicle to obtain a wheel torque; and
in response to the wheel torque being greater than a predetermined torque threshold, determining an engine torque based on the wheel torque and a predetermined transmission ratio, and transmitting an acceleration control instruction carrying a first degree of opening for a throttle pedal to a throttle controller, wherein the first degree of opening for the throttle pedal is determined based on the engine torque, and
wherein performing the second operation comprises:
calculating second acceleration for the vehicle to move from the current position to the target position based on a speed error between the current speed and the target speed; and
in response to the second acceleration being greater than 0, determining a second degree of opening for a throttle pedal corresponding to the second acceleration from a first predetermined correspondence between acceleration and degrees of opening for the throttle pedal, and transmitting an acceleration control instruction carrying the second degree of opening for the throttle pedal to a throttle controller.