CN109017766A - A kind of parallel space for automatic driving vehicle is automatically parked control system - Google Patents
A kind of parallel space for automatic driving vehicle is automatically parked control system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
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Abstract
The invention belongs to automatic driving vehicle control fields, a kind of parallel space for automatic driving vehicle is disclosed automatically to park control system, by vehicle-surroundings environmental information module, collecting vehicle information module, vehicle execution module, interactive module, unmanned controller, controller of automatically parking composition.The present invention can be realized auto-steering, self-actuating brake, auto-throttle, self shifter, automatic parking and correlation BCM movement (light, loudspeaker etc.), be finally completed the function of automatically parking of vehicle.Interactive interface and man-machine interactive interface with unmanned controller is provided simultaneously, the function that makes automatically to park can not only complete (human-computer interaction switch park enabled) independently of unmanned controller, can also be used cooperatively with unmanned controller, thus realize under automatic driving mode vehicle drive and parallel direction park all act it is unmanned.
Description
Technical field
The invention belongs to automatic driving vehicle control field more particularly to a kind of parallel spaces for automatic driving vehicle
Full-automatic control system of parking.
Background technique
Currently, the prior art commonly used in the trade is such that
1, autonomous driving vehicle is closed by artificial intelligence, vision calculating, radar, monitoring device and global positioning system collaboration
Make, computer is allowed can to operate motor vehicles to automatic safe under the operation of nobody class active.
2, current most of automated parking system is primarily referred to as semiautomatic parking system.Semiautomatic parking system is, according to
Environmental information is perceived by ultrasonic sensor or camera, control module of parking obtains optimal according to the environmental information on periphery
Parking path, and control electric boosting steering system and correspondingly rotated, driver needs in the process control throttle parked
With switching gear, automobile is stopped completing to park in parking position so that automobile moves forward or back.
3, full-automatic parking system is to remind driver's parking after searching for parking position, vehicle gear is linked into p at present
Gear, unclamp steering wheel release brake and etc. after, controller of automatically parking detects vehicle-surroundings according to environment sensing unit
Environmental information, by control electric boosting steering system, electric stabilizing system and gear box control unit according to controller of parking
Planning path completion is parked.
With the research and development from unmanned the relevant technologies, many vehicle factors, components supplying quotient, Internet enterprises
Automatic Pilot sample car or automated driving system are all had launched with scientific research institutions, the automatic Pilot technology of L2, L3 rank tends to
It is mature.Based on the deployment of L4 rank, technology of automatically parking becomes a typical application scenarios of automatic driving vehicle, answers
With making, vehicle is on the berth to be entered parking stall and to moor out and do not need manual intervention during parking stall.
In conclusion problem of the existing technology is:
(1) at present volume production of the automatic parking technology on vehicle assist using mostly drive form presence, not with
Automatic Pilot is connected well, and control unit and automatic Pilot control unit are relatively independent, parks movement to a certain degree
On need man-machine coordination to complete jointly, enabled, parking stall including function of parking find, speed control etc., so that driver
Both hands both feet in parking process is not liberated thoroughly.
(2) semiautomatic parking system is that in parking process only controls electric boosting steering system at present, not
It is related to speed control and gear switching, in parking process needs driver to participate in, only solves and park to a certain extent
It is difficult.
(3) full-automatic parking system only exists on volume production vehicle with a kind of auxiliary system at present, relative to other auxiliary
Driving function is to be individually present, and be can not achieve and other intelligent driving system Collaborative Controls.
(4) current full-automatic parking system driver according to prompt parking can only hang up P after searching parking position
Gear, release brake, throttle, steering wheel could start and realize automatic parking.
(5) current full-automatic parking system needs driver to participate in when searching for parking position, cannot be by searching vehicle and pool
Vehicle process effectively connects.
Solve the difficulty and meaning of above-mentioned technical problem:
Meaning:
(1) it can drive and be connected with active, realize that automated parking system control unit is mutually melted with automatic Pilot control unit
It closes, realizes in parking process, enabled, parking stall of parking is found, speed control is executed by machine (herein referring to vehicle) completely, makes to drive
The both hands both feet in parking process for the person of sailing thoroughly is liberated.
(2) it reduces because in parking process is not because driver attention concentrates, it is caused to be scraped in narrow space
The unnecessary traffic accident such as rub.
(3) full-automatic parking system is in conjunction with automatic Pilot, may be implemented with other intelligent driving system Collaborative Controls, it is excellent
Vehicle control architecture is changed.
(4) park it is enabled by key pressing after, vehicle can actively search parking stall, stop, start to park, complete to park,
It realizes and automatically parks to realize that driver is no longer participate in, the both hands both feet of process of entirely parking thorough liberation driver.
Summary of the invention
In view of the problems of the existing technology, it is complete certainly that the present invention provides a kind of parallel spaces for automatic driving vehicle
Dynamic control system of parking.The present invention is for controlling Vehicular turn, brake, throttle, gear, parking and light loudspeaker etc., so that institute
Stating automatic driving vehicle can be realized the transverse path planning and travel speed control moored and moored out under two kinds of scenes, pass through vehicle
Coordinated between each actuator completes movement of automatically parking.
The control system the invention is realized in this way a kind of parallel space for automatic driving vehicle is automatically parked,
It can be realized auto-steering, self-actuating brake, auto-throttle, self shifter, automatic parking and correlation BCM movement (light, loudspeaker
Deng), it is finally completed the function of automatically parking of vehicle.It provides simultaneously and the interactive interface of unmanned controller and human-computer interaction
Interface, the function that makes automatically to park can not only complete that (human-computer interaction switch park making independently of unmanned controller
Can), it can also be used cooperatively with unmanned controller, to realize vehicle drive and parallel direction pool under automatic driving mode
Vehicle all acts unmanned.
It specifically includes:
Automatic driving vehicle surrounding enviroment information module, for detect parking position information and periphery barrier it is relatively described from
The dynamic range information and angle information for driving vehicle.Main to be formed using 12 ultrasonic sensors, the front tailstock respectively installs 4
Only, vehicle two sides respectively install 2.Ultrasonic sensor (APA) positioned at vehicular sideview utilizes ultrasonic measurement vehicle and barrier
The distance between, it is full-automatic parking system with information such as this relative positions for obtaining the width of parking stall, depth and vehicle
Core component, measurement range is reachable
30cm-500cm；Front and back ultrasonic sensor (UPA) utilizes between ultrasonic measurement vehicle and forward and backward side's barrier
Distance, measurement range is up to 15cm-250cm.In the process of moving, APA sensor carries out the both sides of automobile lateral vehicle
Scanning maps out parking space, and UPA sensor cooperates APA sensor to carry out the differentiation of stop, and exports and front and back barrier
Shortest distance information.This application is generalized at present with low-cost advantage, has entered economical auto market, future will become
Automobile standard configuration.
Collecting vehicle information module, CAN bus and sideway angle transducer including the automatic driving vehicle itself, mainly
Acquire steering wheel angle signal, speed signal, vehicle accelerator signal, electronic parking signal, vehicle body relatively horizontal orientation angle
Information and each actuator status information, collected information of vehicles are sent to FAPA controller by way of CAN bus.
Vehicle execution module by vehicle accelerator (EMS), turns to (EPS), braking (ESC), parking (EPB), light and loudspeaker
(BCM), the vehicles ECU such as gear (TCU) receives the movement that automatically park controller or unmanned controller are sent from CAN line
Instruction, control vehicle accelerator, steering, braking, parking, gear and light etc. execute corresponding actions according to control instruction of parking.
Interactive module, contain FAPA controller interacted with the machine machine of unmanned controller and FAPA module and people it
Between interaction.The interaction of machine machine is mainly used in the function of automatically parking under automatic Pilot state, is that unmanned controller is logical
It crosses latticed form and issues enabled control command of parking to FAPA controller, and FAPA controller is forwarded by CAN bus mode
Steering, throttle, brake, gear, parking and BCM control instruction to vehicle actuator, while FAPA controller passes through on network
Biography is parked operating status.Human-computer interaction, which is embodied in, automatically parks in enabled switch and MP5 multimedia system, when unmanned control
Device processed is independent in use, FAPA function can be enabled by hand push button；MP5 can show the items during automatically parking simultaneously
Prompt information (only illustrate and park here relevant information), including action message of parking (find left/right parking stall, parking, extension
Keep off, move forward, travelling backward, completion etc. of parking), actuator status information (locating gear information, speed etc.) and mistake
Prompt information (EPS be not enabled on, FAPA failure etc.).
Unmanned controller, function is to complete the autonomous driving function of vehicle under complicated road environment, in the present invention
In main function be to provide FAPA controller under unmanned mode to park enable signal, including moor into enable signal, moor out
Enable signal, cancelling signal of parking, automatically park functional independence in automatic driving mode in use, above-mentioned enable signal by
Hardware trigger switchs (hand push button) to complete.
It automatically parks controller, receives barrier vehicle that lateral APA ultrasonic radar detects with respect to parking vehicles
Size and parking stall the hanging down apart from parking vehicles of parking stall is obtained by calculation in range information and parking vehicles' driving speed information
Straight distance, positions parking stall, and Vehicle Speed is maintained within the scope of 5km/h during finding parking stall, the vehicle detected
Position size is greater than 1 meter of parking vehicles' total length or more.
Further, the controller of automatically parking, believes according to the parking stall of the vehicle-surroundings environmental information of acquisition and positioning
Breath carries out lateral parking path planning, calculates steering wheel target rotation angle, Vehicle Speed is maintained at 5km/ during parking
Within h.
Further, the controller of automatically parking, after it located the parking stall of parallel direction, according to control strategy pair
Throttle (EMS) turns to (EPS), braking (ESC), parking (EPB), gear (TCU), light and loudspeaker (BCM) sending CAN bus
Instruction is controlled, and is controlled to adjust by feedback information, and operation vehicle is realized according to the path of planning and control flow
It parks movement.
Further, described automatically to park controller, function be to complete full-automatic moor of parallel space to act into mooring out,
During mooring, motion flow of parking be find right side or left parallel parking stall, find parking position, please stop, hangs R keep off, backward
It travels, please stop, hang D gear, move forward, front and back progress two is theoretical mainly depending on foundation parking space's size to adjusting three times
Front and back adjustment number is on the high side when upper truck spaces are smaller, after vehicle moors parking stall, is stopped and hung the automatic behaviour of P gear
To make, vehicle steadily stops the automatic pull-up of EPB, and MP5 show completion of parking, and in the process park to act has display on MP5, and
With voice prompting.During mooring out, motion flow of parking is pine EPB, please stop, hang D and keep off, move forward, please stop, hang R
Gear travels backward, and front and back carries out two to adjusting three times, after vehicle moors out parking stall, is stopped and hung the automatic behaviour of N gear
Make, MP5 shows to moor out and complete, and with voice prompting, if it is in automatic driving mode, by unmanned controller adapter tube vehicle
, if automatically parking function exclusive use, vehicle is taken over by people.
Further, the controller of automatically parking, in order to enable the vehicle to moor as much as possible into the lesser parking stall of size, pool
It needs to control transverse path during vehicle and longitudinal velocity control is effectively cooperated, this is because the parallel vehicle in parking lot
Position is generally at 6.2 meters or so, and now most SUV vehicle length is 4.8 meters or so, simultaneously because fore-aft vehicle is parked not
Rule, it is smaller to may cause parking position size, and vehicle is difficult to normally to moor into providing a kind of controlling party of delayed type in the present invention
Method can effectively solve the above problems, and during mooring, reversing course changing control and speed control act on vehicle simultaneously for the first time,
I.e. vehicle controls steering wheel in slowly reversing (in 5km/h), travels it by planned trajectory, subsequent everything is adopted
Delays time to control is taken, i.e., is stopped vehicle brake by ESC, steering wheel movement is first controlled, just discharges ESC after the completion of steering wheel movement, make
Vehicle slowly travels.The process of mooring out is not distinguished for the first time and subsequent action, whole process use delays time to control.
The controller of automatically parking, carries out real-time monitoring to sensor information and vehicle actuator information, works as appearance
After exception, MP5 shows FAPA fault message, and carries out steady parking process, i.e., is first braked using ESC, detect vehicle
Electronics parking brake pull-up after stopping, while P gear is hung, discharge the control of FAPA.When under automatic driving mode, steadily stopped
While, need to upload FAPA fault message to unmanned controller.
Further, the controller of automatically parking, in parking process control priority is followed successively by moors (from high to low)
Vehicle failure, cancellation of parking, normally travel, when parking failure or controlling party cancellation is parked, vehicle can be timely responded to, first
Steady parking movement is first carried out, power is then released the control.
Another object of the present invention is to provide automatically park control equipped with the parallel space for automatic driving vehicle
The automatic driving vehicle of system processed.
It is complete equipped with the parallel space for automatic driving vehicle that another object of the present invention is to provide a kind of
The automatic driving vehicle control system of automatic parking control system.
It is complete equipped with the parallel space for automatic driving vehicle that another object of the present invention is to provide a kind of
The intelligent vehicle Ride Control System of automatic parking control system.
It is complete equipped with the parallel space for automatic driving vehicle that another object of the present invention is to provide a kind of
The unmanned plane of automatic parking control system.
In conclusion advantages of the present invention and good effect are as follows:
The present invention can be realized oneself of steering, brake, throttle, shift, parking and correlation BCM movement (light, loudspeaker etc.)
Dynamic control, is finally completed the function of automatically parking of vehicle, while providing and the interactive interface of unmanned controller and man-machine
Interactive interface, the function that makes automatically to park can not only complete that (human-computer interaction switch is moored independently of unmanned controller
Vehicle is enabled), it can also be used cooperatively with unmanned controller, the function that makes to park obtains depth in automatic driving vehicle and answers
With.
Relative to function of vertically parking in real life, Parallel parking can be more with number, in order to better illustrate
With the actual effect of description the invention, according to parking system, actual requirement is emulated in vehicle of parking, simulation process road
Diameter and planning algorithm are identical with Actual path planning algorithm, as shown in Fig. 3-1, Fig. 3-2, Fig. 3-3, Fig. 3-4.It was emulating
Vehicle regarded as in journey it is rectangular, parking path mainly and the parking of speed, front wheel angle, initial position and target be it is related,
In Simulation Engineering of parking, control algolithm of parking can calculate a parking path, vehicle according to starting parking position and termination parking position
During parking along this parking path, each corresponding parks can a little correspond to corresponding full rotating wheel on path
Angle, front wheel angle is corresponding, and path curve has showed in Fig. 3-2 as shown in Figure 3-4, and parking path curvature is description pool
The important parameter of bus or train route diameter smoothness, the better control of the more smooth vehicle corner of parking path is as shown in Fig. 3-3.To sum up related personnel
This simulated effect of the understanding that can be will be apparent that and effect of actually parking.
Detailed description of the invention
Fig. 1 is that the parallel space provided in an embodiment of the present invention for automatic driving vehicle control system of automatically parking is shown
It is intended to (function use of parking under wherein, _ _ _ _ unmanned mode；--- --- -- automatically parks independent use).
In figure: 1, vehicle-surroundings environmental information module；2, collecting vehicle information module；3, vehicle execution module；4, interaction
Module；5, unmanned controller；6, it automatically parks controller.
Fig. 2 is that system is parked the control flow chart of process in an example provided in an embodiment of the present invention.
Fig. 3-1 is the emulation schematic diagram for the process of parking.In order to preferably describe process of parking of the invention, the present invention passes through
Simulated effect figure indicates effect picture of entirely parking, and in simulations indicates entire vehicle with rectangle, the length of rectangle is vehicle
Length, the width of rectangle is the width of vehicle, parks by observation and emulates schematic diagram, so that it may intuitively observe practical pool
Vehicle effect.Curve in this figure is exactly practical parking path, in order to preferably model and study in research process of the present invention,
Regard into the track of parking at vehicle rear axle center as track of parking.
Fig. 3-2 is parking path curvature emulation change curve.Parking path Curvature varying is weight during practical study
The parameter request wanted, parking path curvature may indicate that the continuity and flatness of practical parking path, comfort of parking
Important parameter, parking path curvature is coherent, and process of parking is more comfortable.
Fig. 3-3 be vehicle body course angle emulation change curve schematic diagram park course angle when indicate in parking process vehicle phase
For the important parameter of parking stall position, as shown in the figure when curve initial value is 0 just to illustrate that vehicle body is and parks when parking and starting
Bit parallel, it is also that parallel can prove that this says by Fig. 3-1 that stop value, which is 0 explanation, which terminates rear and parking stall in the process of parking,
Method, vehicle body course angle be also evaluation park whether successfully it is important in parameter.
Fig. 3-4 is front wheel angle angular speed emulation change curve.In parking process vehicle is real by control front wheel angle
Change parking vehicles' motion profile, the angle change of front-wheel affects motion profile of parking, that is to say, that corner variation is to park
Important parameter, only angled control, which is accurately just able to achieve, accurately parks.Since the bright vehicle of this chart successful to parking parking
The variation of overall process front wheel angle.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
As indicated with 1, the parallel space provided in an embodiment of the present invention for automatic driving vehicle, which is automatically parked, controls system
System includes:
Vehicle-surroundings environmental information module 1, for detecting parking position information and the relatively described automatic Pilot of periphery barrier
The range information and angle information of vehicle；
Collecting vehicle information module 2 passes through the CAN bus and sideway angle transducer of integrated packet automatic driving vehicle itself
Acquire steering wheel angle signal, speed signal, vehicle accelerator signal, electronic parking signal, vehicle body relatively horizontal orientation angle
Information and each actuator status information, collected information of vehicles are sent to control of automatically parking by way of CAN bus
Device processed；
Vehicle execution module 3 by vehicle accelerator EMS, turns to EPS, braking ESC, parking EPB, light and loudspeaker BCM, shelves
The vehicle ECU of position TCU receives the action command that automatically park controller or unmanned controller are sent, control from CAN line
Vehicle accelerator, steering, braking, parking, gear and light execute corresponding actions according to control instruction of parking；
Interactive module 4 makes unmanned controller pass through network shape applied to automatically parking under automatic Pilot state
Formula issues enabled control command of parking to FAPA controller, and forwards turning for controller of automatically parking by CAN bus mode
To, throttle, brake, gear, parking and BCM control instruction to vehicle actuator, while controller of automatically parking passes through net
Network uploads operating status of parking；
Unmanned controller 5 is under unmanned mode for completing the autonomous driving of vehicle under complicated road environment
Controller of automatically parking is provided to park enable signal；It is automatically parking independently of automatic driving mode in use, enabled letter
It number is carried out by trigger switch；
Full-automatic controller 6 of parking, receives the barrier vehicle phase that lateral ultrasonic sensor APA ultrasonic radar detects
The size and parking stall distance of parking stall is obtained by calculation in range information and parking vehicles' driving speed information to parking vehicles
The vertical range of parking vehicles, positions parking stall, and Vehicle Speed is detected in 5km/h during finding parking stall
Truck spaces are greater than 1 meter of parking vehicles' total length.
Such as Fig. 1, the vehicle-surroundings environmental information module uses 4 APA ultrasonic radars and 8 UPA supersonic sensings
Device, is uniformly distributed in vehicle's surroundings, main function be detect the relatively described automatic driving vehicle of periphery barrier distance and
Angle information, the APA ultrasonic radar of two sides are used for the positioning of parking position, and the UPA ultrasonic sensor that front and back is surveyed is for detecting
The distance of front and back barrier differentiates the position of stop, and exports the shortest distance information with front and back barrier.
The collecting vehicle information module, including vehicle CAN bus information and yaw angle sensor information, vehicle CAN mention
For speed needed for function of automatically parking, steering wheel angle, automobile gear level value, electronic parking state, BCM information and each execution
Device operating status, yaw angle sensor obtain the angle that vehicle body deviates horizontal direction for differentiating vehicle body state.
The vehicle execution module is received entirely certainly by the vehicles such as vehicle EMS, EPS, ESC, EPB, BCM, TCU ECU from CAN line
The action command that dynamic park controller or unmanned controller are sent, control vehicle accelerator, steering, braking, parking, gear and
Light etc. executes corresponding actions according to control instruction.
The interactive module, include hardware switch and MP5 display module, hardware switch need realize Parallel parking to the right,
Parallel parking to the left, Parallel parking and 4 kinds of switch commands of cancellation of parking, since interior space is limited, four kinds of setting is different to be opened
Close button will cause the significant wastage in space, one can be used to park key and the cooperation control of left and right turn lamp switch is parked switch
Order, button, which clicks, indicates Parallel parking to the right, and left steering lamp and key of parking are with the use of expression Parallel parking to the left, pool
Vehicle key indicates down cancellation of parking by second；MP5 display module is used to show every prompt information during automatically parking
(only illustrate and park here relevant information), including action message of parking (find left/right parking stall, stop, put into gear, forward
Travel, travel backward, completion etc. of parking), actuator status information (locating gear information, speed etc.) and miscue information
(EPS be not enabled on, APA failure etc.).
The machine machine interactive module is mainly used in the function of automatically parking under automatic driving mode, unmanned control
Device issues enabled control command of parking to FAPA controller by latticed form, while being based on security consideration, automatic Pilot state
Under, actuator receives control command and takes single pass form, the control instruction issued from unmanned controller is only received,
Therefore the control instruction of the steering of FAPA controller, throttle, brake, gear, parking and BCM need to be turned by unmanned controller
Vehicle actuator is issued, while FAPA controller uploads operating status of parking by network.
It is described automatically to park controller, receive barrier vehicle that lateral APA ultrasonic radar detects it is relatively described from
The dynamic range information and Vehicle Speed information for driving vehicle, the size and parking stall distance that parking stall is obtained by calculation are parked
The vertical range of vehicle, positions parking stall, and Vehicle Speed is maintained within the scope of 5km/h during finding parking stall, examines
The truck spaces measured are greater than 1 meter of parking vehicles' total length or more.
The controller of automatically parking is carried out according to the vehicle-surroundings environmental information of acquisition and the parking space information of positioning
Lateral parking path planning, calculates steering wheel target rotation angle, and Vehicle Speed is maintained within 3km/h during parking,
The position according to the vehicle appearance state and the automatic driving vehicle of the output of sideway angle transducer apart from front and back barrier determines simultaneously
It moors into completion and moors out the time point completed.
Fig. 2 is that system is parked the control flow chart of process in an example of the invention, as shown in Fig. 2, described for automatic
The full-automatic parallel space parking system control flow for driving vehicle can be illustrated by mooring into and mooring out two processes,
Control flow comprises the steps of.
Moored described in Fig. 2 into control, first include Parallel parking position searching, automatically park functional independence in use,
The movement for finding parking stall is completed by people, keeps straight line traveling, travel speed is lower than 5km/h, while prompting to the right on MP5
The prompt information for finding parking stall carries out vehicle by unmanned controller using function of automatically parking under automatic driving mode
The movement that position is found, the automatic driving vehicle starts movement of automatically parking after system searches out parking position.
It is moored described in Fig. 2 into control, motion flow of parking is to find right side or left parallel parking stall, find parking position, ask
It stops, hang R gear, travel, please stop backward, hangs D gear, moves forward, front and back carries out two to adjusting three times, mainly according to vehicle of parking
Position size depending on, when theoretically truck spaces are smaller front and back adjustment number it is on the high side, after vehicle moors parking stall, carry out parking and
Being automatically brought into operation for P gear is hung, vehicle steadily stops the automatic pull-up of EPB, and MP5 show completion of parking, and parking in the process is acted in MP5
On have display, and with voice prompting.
It is moored described in Fig. 2 into control, in order to enable the vehicle to moor as much as possible into the lesser parking stall of size, is needed during parking
Transverse path is controlled and longitudinal velocity control is effectively cooperated, in order to solve full-automatic parallel space parking system energy
It enough moors into size parking stall as small as possible, using the control method of delay in present example, move backward for the first time course changing control and speed
Vehicle is controlled while acting on, i.e. vehicle controls steering wheel in slowly reversing (in 3km/h), makes it by planned trajectory
Traveling, subsequent everything take delays time to control, i.e., stop vehicle brake by ESC, first control steering wheel movement, make after the 4s that is delayed
ESC is just discharged after the completion of steering wheel control action, travels vehicle slowly.
Moor out and control described in Fig. 2, motion flow of parking be release EPB, please stop, hang D keep off, move forward, please stop,
It hangs R gear, travel backward, front and back carries out two to adjusting three times, after vehicle moors out parking stall, is stopped and hung the automatic of N gear
It operates, MP5 shows to moor out and complete, and with voice prompting.
It moors described in Fig. 2 into mooring out control flow, parks under state, should have most in vehicle occur parking failure or cancel
Height control priority, i.e., no matter which kind of movement vehicle is currently at, and should abandon current action, carry out steady parking process.
Fig. 3 is simulated effect figure of the invention.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
- The control system 1. a kind of parallel space for automatic driving vehicle is automatically parked, which is characterized in that described for certainly The dynamic parallel space for driving vehicle control system of automatically parking includes:Vehicle-surroundings environmental information module, for detecting parking position information and the relatively described automatic driving vehicle of periphery barrier Range information and angle information；Collecting vehicle information module is acquired by the CAN bus and sideway angle transducer of integrated packet automatic driving vehicle itself Steering wheel angle signal, speed signal, vehicle accelerator signal, electronic parking signal, vehicle body relatively horizontal orientation angle information And each actuator status information, collected information of vehicles are sent to controller of automatically parking by way of CAN bus；Vehicle execution module by vehicle accelerator EMS, turns to EPS, braking ESC, parking EPB, light and loudspeaker BCM, gear TCU Vehicle ECU receive the action command that automatically park controller or unmanned controller are sent, control vehicle oil from CAN line Door, steering, braking, parking, gear and light execute corresponding actions according to control instruction of parking；Interactive module, applied under automatic Pilot state automatically park, make unmanned controller by latticed form to FAPA controller issues enabled control command of parking, and steering, the oil of controller of automatically parking are forwarded by CAN bus mode Door, brake, gear, parking and BCM control instruction to vehicle actuator, while controller of automatically parking passes through network upload It parks operating status；Unmanned controller, for completing the autonomous driving of vehicle under complicated road environment, to be provided under unmanned mode Controller of automatically parking is parked enable signal；Automatically park independently of automatic driving mode in use, enable signal by Trigger switch carries out；Full-automatic controller of parking receives the opposite pool of barrier vehicle that lateral ultrasonic sensor APA ultrasonic radar detects The range information and parking vehicles' driving speed information of vehicle vehicle, the size and parking stall distance that parking stall is obtained by calculation are parked The vertical range of vehicle, positions parking stall, and Vehicle Speed is in 5km/h during finding parking stall, the parking stall that detects Size is greater than 1 meter of parking vehicles' total length.
- The control system 2. parallel space for being used for automatic driving vehicle as described in claim 1 is automatically parked, feature exist In controller of automatically parking is also used to acquire the parking space information of vehicle surrounding enviroment information and positioning, carries out road of laterally parking Diameter planning, calculates steering wheel target rotation angle, and Vehicle Speed is less than 5km/h during parking.
- The control system 3. parallel space for being used for automatic driving vehicle as described in claim 1 is automatically parked, feature exist In controller of automatically parking is also used to behind the parking stall in Addressable Parallel direction, according to control strategy to throttle EMS, steering EPS, braking ESC, parking EPB, gear TCU, light and loudspeaker BCM issue CAN bus instruction and are controlled, and pass through feedback letter Breath is controlled to adjust, and is operated vehicle according to the path of planning and control flow and is carried out movement of parking.
- The control system 4. parallel space for being used for automatic driving vehicle as described in claim 1 is automatically parked, feature exist In controller of automatically parking is also used to: during mooring, motion flow of parking is to find right side or left parallel parking stall, look for To parking position, it please stop, hang R gear, travel, please stop, hang D and keep off, move forward backward, front and back progress two to adjusting three times；Vehicle After mooring parking stall, being automatically brought into operation for P gear is stopped and hung, vehicle steadily stops the automatic pull-up of EPB, and MP5, which is shown, to have parked At；Movement of parking has display on MP5 and with voice prompting；During mooring out, motion flow of parking be pine EPB, please stop, hang D keep off, move forward, please stop, hang R keep off, go backward It sails, front and back carries out two to adjusting three times, after vehicle moors out parking stall, is stopped and hung being automatically brought into operation for N gear；MP5 shows and moors out It completes and with voice prompting.
- The control system 5. parallel space for being used for automatic driving vehicle as described in claim 1 is automatically parked, feature exist In controller of automatically parking is also used to: during parking to transverse path control and longitudinal velocity control cooperate, moor into In the process, whole to use delays time to control.
- The control system 6. parallel space for being used for automatic driving vehicle as described in claim 1 is automatically parked, feature exist In controller of automatically parking is also used to:Real-time monitoring is carried out to sensor information and vehicle actuator information, after there is exception, MP5 shows FAPA failure letter Breath, and steady parking process is carried out, it is first braked using ESC, detects electronics parking brake pull-up after vehicle stopping, while hanging P Gear, discharges the control of FAPA；When under automatic driving mode, while steadily parking, uploads FAPA fault message and give Unmanned controller.
- The control system 7. parallel space for being used for automatic driving vehicle as described in claim 1 is automatically parked, feature exist In controller of automatically parking is also used to:In parking process control priority is followed successively by failure of parking, cancellation of parking, normally travel, failure of parking or control When side's cancellation is parked, vehicle is timely responded to, and carries out steady parking movement first, then releases the control power.
- 8. a kind of automatically park control system equipped with the parallel space described in claim 1 for automatic driving vehicle Automatic driving vehicle control system.
- 9. a kind of automatically park control system equipped with the parallel space described in claim 1 for automatic driving vehicle Intelligent vehicle Ride Control System.
- 10. a kind of automatically park control system equipped with the parallel space described in claim 1 for automatic driving vehicle Unmanned plane.
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| CN201810877685.6A CN109017766A (en) | 2018-08-03 | 2018-08-03 | A kind of parallel space for automatic driving vehicle is automatically parked control system |
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| CN201810877685.6A CN109017766A (en) | 2018-08-03 | 2018-08-03 | A kind of parallel space for automatic driving vehicle is automatically parked control system |
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| CN109733387A (en) * | 2019-01-21 | 2019-05-10 | 江苏大学 | A kind of park method and control device automatically switching park mode |
| CN109917779A (en) * | 2019-03-26 | 2019-06-21 | 中国第一汽车股份有限公司 | Redundancy control system towards L3 automatic Pilot |
| CN110155041A (en) * | 2019-04-11 | 2019-08-23 | 汉腾汽车有限公司 | A kind of multi-functional automated parking system |
| CN110466506A (en) * | 2019-07-31 | 2019-11-19 | 惠州市德赛西威汽车电子股份有限公司 | A kind of prediction technique and its system of intention of parking |
| CN110497913A (en) * | 2019-07-16 | 2019-11-26 | 深圳市航盛电子股份有限公司 | A kind of transforming gear method improving semiautomatic parking system suitability |
| CN110696821A (en) * | 2019-11-20 | 2020-01-17 | 安徽江淮汽车集团股份有限公司 | Full-automatic parking control method, equipment, storage medium and device |
| CN110796889A (en) * | 2019-01-25 | 2020-02-14 | 长城汽车股份有限公司 | Parking space determining method and device for passenger-riding parking |
| CN110901632A (en) * | 2019-11-29 | 2020-03-24 | 长城汽车股份有限公司 | Automatic parking control method and device |
| CN111267859A (en) * | 2020-03-11 | 2020-06-12 | 吉利汽车研究院（宁波）有限公司 | Method and system for automatically judging whether vehicle is parked or not |
| CN111775954A (en) * | 2020-06-11 | 2020-10-16 | 上海迅猛龙汽车电子有限公司 | Emergency fault processing method and system for passenger-replacing parking vehicle and automobile |
| CN112141082A (en) * | 2019-06-27 | 2020-12-29 | 博世汽车部件(苏州)有限公司 | Control unit and method for parking assistance and driving assistance system |
| CN112896149A (en) * | 2021-01-23 | 2021-06-04 | 行云智能(深圳)技术有限公司 | Automatic parking system based on computer vision |
| CN113370971A (en) * | 2021-07-21 | 2021-09-10 | 浙江吉利控股集团有限公司 | Backup method for automatic parking, control system thereof and vehicle |
| CN113665564A (en) * | 2021-08-10 | 2021-11-19 | 东风汽车集团股份有限公司 | Magnetic track memory parking method and system |
| CN113879285A (en) * | 2020-07-01 | 2022-01-04 | 北京新能源汽车股份有限公司 | Automatic parking control method and device and electric automobile |
| CN114013429A (en) * | 2021-12-23 | 2022-02-08 | 东风悦享科技有限公司 | Integrated automatic driving vehicle control system |
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| CN115512570A (en) * | 2022-08-22 | 2022-12-23 | 宁波均胜智能汽车技术研究院有限公司 | Parking method, parking device, intelligent vehicle and readable storage medium |
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| CN109733387A (en) * | 2019-01-21 | 2019-05-10 | 江苏大学 | A kind of park method and control device automatically switching park mode |
| CN109733387B (en) * | 2019-01-21 | 2021-04-20 | 江苏大学 | Parking method capable of automatically switching parking modes and control device |
| CN110796889A (en) * | 2019-01-25 | 2020-02-14 | 长城汽车股份有限公司 | Parking space determining method and device for passenger-riding parking |
| CN109917779A (en) * | 2019-03-26 | 2019-06-21 | 中国第一汽车股份有限公司 | Redundancy control system towards L3 automatic Pilot |
| CN110155041A (en) * | 2019-04-11 | 2019-08-23 | 汉腾汽车有限公司 | A kind of multi-functional automated parking system |
| CN112141082B (en) * | 2019-06-27 | 2024-03-22 | 博世汽车部件(苏州)有限公司 | Control unit and method for parking assistance and driving assistance system |
| CN112141082A (en) * | 2019-06-27 | 2020-12-29 | 博世汽车部件(苏州)有限公司 | Control unit and method for parking assistance and driving assistance system |
| CN110497913A (en) * | 2019-07-16 | 2019-11-26 | 深圳市航盛电子股份有限公司 | A kind of transforming gear method improving semiautomatic parking system suitability |
| CN110466506A (en) * | 2019-07-31 | 2019-11-19 | 惠州市德赛西威汽车电子股份有限公司 | A kind of prediction technique and its system of intention of parking |
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| CN111267859A (en) * | 2020-03-11 | 2020-06-12 | 吉利汽车研究院（宁波）有限公司 | Method and system for automatically judging whether vehicle is parked or not |
| CN111267859B (en) * | 2020-03-11 | 2021-04-27 | 吉利汽车研究院（宁波）有限公司 | Method and system for automatically judging whether vehicle is parked or not |
| CN111775954A (en) * | 2020-06-11 | 2020-10-16 | 上海迅猛龙汽车电子有限公司 | Emergency fault processing method and system for passenger-replacing parking vehicle and automobile |
| CN113879285A (en) * | 2020-07-01 | 2022-01-04 | 北京新能源汽车股份有限公司 | Automatic parking control method and device and electric automobile |
| US20220194318A1 (en) * | 2020-12-21 | 2022-06-23 | Panasonic Intellectual Property Management Co., Ltd. | Vehicle monitoring method and vehicle monitoring device |
| CN112896149A (en) * | 2021-01-23 | 2021-06-04 | 行云智能(深圳)技术有限公司 | Automatic parking system based on computer vision |
| CN113370971A (en) * | 2021-07-21 | 2021-09-10 | 浙江吉利控股集团有限公司 | Backup method for automatic parking, control system thereof and vehicle |
| CN113370971B (en) * | 2021-07-21 | 2022-06-17 | 浙江吉利控股集团有限公司 | Backup method for automatic parking, control system thereof and vehicle |
| CN113665564A (en) * | 2021-08-10 | 2021-11-19 | 东风汽车集团股份有限公司 | Magnetic track memory parking method and system |
| CN113665564B (en) * | 2021-08-10 | 2023-04-18 | 东风汽车集团股份有限公司 | Magnetic track memory parking method and system |
| CN114013429A (en) * | 2021-12-23 | 2022-02-08 | 东风悦享科技有限公司 | Integrated automatic driving vehicle control system |
| CN115512570A (en) * | 2022-08-22 | 2022-12-23 | 宁波均胜智能汽车技术研究院有限公司 | Parking method, parking device, intelligent vehicle and readable storage medium |
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