CN102632837A - Auxiliary parking system and controlling method thereof - Google Patents
Auxiliary parking system and controlling method thereof Download PDFInfo
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Abstract
The invention discloses an auxiliary parking system and a controlling method thereof. The auxiliary parking system comprises a parking controller, wherein the parking controller acquires signals of a steering wheel corner sensor, a brake controller and an electric spray controller through a CAN (Controller Area Network) bus, acquires signals of a radar controller and a front radar controller through a serial interface, acquires signals of a side surface ultrasonic wave sensor and a wheel speed sensor through wire harnesses and is connected with a parking mode selecting button through wire harness; and the parking controller controls to start processing the acquired signals through the parking mode selecting button and outputs commands to a buzzer, a voice device and a display in the parking controller so as to assist a driver to park. According to the auxiliary parking system disclosed by the invention, the utilized signals are from an original resource of a vehicle so as to save cost, a parking control manner can be selected by a user as required, a control method assisting to park is also simple and reasonable, data processing amount of a controller can be reduced, the cost of the controller is reduced, the system has higher reliability and effectively assists a driver to park in a garage.
Description
Technical field
The present invention relates to vehicle electric field, in particular, relate to a kind of automobile auxiliary parking system and control method thereof.
Background technology
Along with the increase of domestic automobile recoverable amount, the parking position day of road both sides is becoming tight, and is necessary with regard to what show for the space utilization of parking position.The aid parking technology is ripe at present, radar mode before and after most of vehicle all possesses, though there is Reverse Sensor auxiliary, for the narrow and small space of parking, and not familiar roadcraft, make the fresh driver reversing put very headache in storage.And advanced automatic parking technology has only minority luxury car just to be equipped with, and the total system component devices is more, the complicated and easy-maintaining not of control.The half auxiliary technology of parking is arisen at the historic moment thus, and half auxiliary parking produces on the basis of automatic parking, also claims auxiliary parking.Chaufeur is parked according to the prompting of the half auxiliary controller of parking, and in the short time, can effectively stop.
In the prior art; Disclosed patent name: " a kind of parking assistance system and control method thereof " only mention in (CN201010533850.X.A) stop auxiliary before and after radar function pattern and system architecture; Belong to present representative type aid parking device; But auxiliaring effect is not good, can not actv. guarantees the chaufeur warehouse-in of parking.Disclosed patent name: " a kind of parking assist apparatus " is a kind of auxiliary parking system (CN201010292305.6).Display system is separated with control system in this patent, stresses the application of front and back and side ultrasonic transduter, and system is not with gear on the car; The speed of a motor vehicle, signals such as corner, thereby system does not possess the automated closed-loop function; Do not possess the handoff functionality of function of parking and aid parking function, result of use is general.
Summary of the invention
Technical matters to be solved by this invention is to realize a kind of low cost of manufacture, and it is convenient to install, and can independently become product, auxiliary park effective auxiliary parking system and control method thereof.
To achieve these goals; The technical scheme that the present invention adopts is: a kind of auxiliary parking system; System is provided with the controller of parking, and through the signal of CAN bus acquisition steering wheel angle sensor, brake controller and EFI controller, obtains the signal of back radar controller and preceding radar controller through serial interface; Obtain side ultrasonic transduter and wheel speed sensors signal through wire harness; And be connected with the model selection button of parking through wire harness, the described controller of parking is started by the model selection push button control of parking handles the signal that obtains, and output command is parked to park controller in-to-in buzzer phone, voice device and telltale driver assistance person.
The described controller of parking comprises main control module and display module; The pass imput output circuit that the imput output circuit that described main control module contains buzzer phone, voice device, MCU and is complementary, described display module contain telltale, display driver and be complementary.
The MCU of described main control module adopts Freescale 9S08dz64 chip; SPI function and the speech chip ZY1730 of described MCU carry out communication, play phonetic function, the parallel port control LED chip for driving ST2225A of described MCU; Provide output cue prompting; Carry out the bright function of LED lamp, the PWM function of described MCU is controlled buzzer phone, output buzzing warning function.
The display driver of described display module contains chip for driving ST2225A.
Described main control module and display module are the levels structure.
Control method based on auxiliary parking system comprises
(1) auxiliary parking system electrifying startup optionally gets into the front and back radar mode through car model selection button, auxiliary park pattern or default mode;
(2) hang into reverse gear when gear, if then do not get into default mode by the model selection button of getting off, start the back radar controller this moment, the controller of parking receives the back radar signal and gives chaufeur rear obstacle distance prompt;
(3) radar mode before and after getting into by the model selection button of getting off; Gather gear signal according to the controller of parking this moment; If being in reverse, vehicle then starts the back radar controller; Do not advance the then preceding radar controller of startup of shelves if vehicle is in reversing, and give the obstacle distance prompting of chaufeur front and back according to radar signal;
(4) when getting into the auxiliary pattern of parking by the model selection button of getting off; Side ultrasonic transduter work with signal conveys to the controller of parking; The gear signal that the controller of parking is simultaneously gathered; Then start the back radar controller simultaneously if vehicle is in reverse, if vehicle is in reversing advance shelves and then start simultaneously before radar controller, and give chaufeur front and back obstacle distance according to radar and sensor signal and point out.
Described front and back radar mode and default mode give chaufeur rear obstacle distance prompt and comprise that telltale provides the range finding distance prompt of front and back radar; Read concrete distance value through voice device, buzzer phone sends the high more chimes of doom of frequency along with distance is approaching.
Described step 4 gives the chaufeur guidance of parking simultaneously, is followed successively by that critical area 1 instructs, critical area 2 instructs and the adjustment parking stall is instructed;
Described critical area 1 instructs: side ultrasonic transduter 8 is found range; It is 1-1.5m that there is the obstacle distance scope side, when the row flanking obstacle disappear and running distance 1.5-2 doubly the interscan of this car bodywork length scope to there being obstacle to exist, perhaps when running distance above 2 times of bodywork lengths clear still; Confirm that then current parking stall is a critical area 1; Voice device stop prompting, right play the bearing circle prompting, change reverse and point out, vehicle laggard critical area 2 positions of going into that begin to move backward;
Described critical area 2 instructs: the voice device prompting of stopping, and the bearing circle prompting is played on a left side, continues to hang the prompting that reverse is moveed backward then, and the position, parking stall was adjusted in entering after vehicle began to move backward;
Described adjustment parking stall is instructed: the side ultrasonic transduter is closed, and back radar controller and preceding radar controller give the condition of road surface of vehicle forward direction according to moveing backward or the gear that the advances controller signals of parking.
The signal that the invention has the advantages that this system's utilization mostly comes from the original resource of vehicle, practiced thrift cost, and system's wire harness cabling is clearly demarcated; The controller volume is less, and is quick for installation, and the mode of parking can self-service as required selection; Auxiliary control method of parking is advantages of simple also, can reduce the data processing amount of controller, reduces the controller cost; Can make that also system reliability is higher, the actv. driver assistance person warehouse-in of parking.
Description of drawings
Face the content of every width of cloth accompanying drawing expression in the specification sheets of the present invention and the mark among the figure down and make brief description:
Fig. 1 auxiliary parking system block diagram;
Fig. 2 auxiliary parking system controller principle figure that parks;
Fig. 3 auxiliary parking system controller telltale differential plot;
Fig. 4 parking system software flow pattern;
Fig. 5 seeks the parking position system flowchart;
Fig. 6 key area scheme drawing of parking;
Fig. 7 key area switching flow figure that parks
Mark among the above-mentioned figure is: 1, steering wheel angle sensor; 2, brake controller; 3, EFI controller; 4, the model selection button of parking; 5, the controller of parking; 6, back radar controller; 7, preceding radar controller; 8, side ultrasonic transduter; 9; Wheel speed sensors.
The specific embodiment
Can know referring to Fig. 1; Auxiliary parking system comprises the controller 5 of parking, steering wheel angle sensor 1, brake controller 2, EFI controller 3, the model selection button 4 of parking, back radar controller 6, preceding radar controller 7, side ultrasonic transduter 8 and wheel speed sensors 9; The wherein auxiliary controller 5 of parking is connected with steering wheel angle sensor 1, brake controller 2 and EFI controller 3 through the CAN bus; Thereby obtain the wheel steering angle signal from steering wheel angle sensor 1 through CAN; Obtain GES and speed-slackening signal from brake controller 2, obtain gear signal from EFI controller 3; The auxiliary controller 5 of parking is connected with back radar controller 6 and preceding radar controller 7 through serial interface, thereby radar controller 6 obtains back radar ranging signal from the back through serial interface, radar ranging signal before obtaining through preceding radar controller 7; The auxiliary controller 5 of parking is connected with the Pattern Select Switch 4 of parking, side ultrasonic transduter 8 and wheel speed sensors 9 through wire harness; Thereby obtaining through Pattern Select Switch 4 signals of parking is the aid parking pattern; Send the auxiliary mode signal of parking to the auxiliary controller 5 of parking; Ultrasonic transduter 8 obtains the side distance measuring signal from the side, obtains wheel speed signal through wheel speed sensors 9.Said structure makes full use of existing car upper sensor and CAN Internet resources signal, as system's input, realizes the auxiliary function of parking.Effectively save system cost and relevant wire harness, realize quick cabling, reduce vehicle body space utilization and weight.
Can know referring to Fig. 2; The controller 5 of parking comprises main control module and display module; The main control module imput output circuit that contains buzzer phone, voice device, MCU and be complementary wherein, the pass imput output circuit that display module contains telltale, display driver and is complementary.The controller 5 of parking is realized telltale and the two-in-one function of controller; Give chaufeur with voice guidance through the voice device information; Provide warning and information through buzzer phone; Giving chaufeur through display module is that the front and back radar ranging shows the parking instructions signal aspect and indication in real time with image graphics information.
Can know that referring to Fig. 3 the main control module of the controller 5 of parking contains MCU and relevant imput output circuit, is mainly used in receiving inputted signal, carries out signal conditioning, provides the output cue.Main control module adopts Freescale 9S08dz64 chip as MCU.CAN module and outside CAN bus through MCU are carried out information exchange.SPI function and speech chip ZY1730 through MCU carry out communication, play phonetic function.Through the parallel port function of MCU, control LED chip for driving ST2225A provides output cue prompting, carries out the bright function of LED lamp, also is the graph image prompting.PWM function through MCU is controlled buzzer phone, output buzzing warning function.Graph image is in display module in the output signal, and voice and buzzing are then in main control module.Display module contains display driver ST2225A, and the digital demonstration of front and back radar and the information number prompting figure of parking.Main control module and display module are the levels structure, and main control module is arranged at the telltale back side and becomes one with it specifically, does not connect with wire harness; Be convenient to direct control, save the parking system cost, effectively save installing space in the car; Telltale and controller are the levels circuit card, in the time of integrated, are placed in the shell; Route between controller and the telltale transmits through inner wire harness; MCU through controller gives an order, and drives ST2225A, system sends according to strategy so that telltale upgrades in time demonstration and figure signal through its LPT control telltale.
Can know referring to Fig. 4, comprise based on the control method of parking of above-mentioned parking system:
1, auxiliary parking system electrifying startup optionally gets into the front and back radar mode through car model selection button 4, auxiliary park pattern or default mode;
2, hang into reverse gear when gear, if do not get into default mode by 4 on the model selection button of getting off, start back radar controller 6 this moment, the controller 5 of parking receives the back radar signal and gives chaufeur rear obstacle distance prompt;
3, radar mode before and after getting into by the model selection button 4 of getting off; Gather gear signal according to the controller 5 of parking this moment; If being in reverse, vehicle then starts back radar controller 6; Do not advance the then preceding radar controller 7 of startup of shelves if vehicle is in reversing, and give the obstacle distance prompting of chaufeur front and back according to radar signal;
4 when getting into the auxiliary pattern of parking by the model selection button 4 of getting off; Side ultrasonic transduter 8 is worked signal conveys to the controller 5 of parking; The gear signal that the controller 5 of parking is simultaneously gathered; Then start back radar controller 6 simultaneously if vehicle is in reverse, if vehicle is in reversing advance shelves and then start simultaneously before radar controller 7, and give chaufeur front and back obstacle distance according to radar and sensor signal and point out.
Wherein radar mode and default mode give chaufeur rear obstacle distance prompt comprise telltale provide before and after the range finding distance prompt of radar, read concrete distance value through voice device, buzzer phone sends the high more chimes of doom of frequency along with distance is approaching.
Can know that referring to Fig. 5,6 the auxiliary pattern of parking can give chaufeur guidances of parking, specifically, this pattern can following successively tutorial program: critical area 1 instructs, critical area 2 instructs and the guidance of adjustment parking stall, the warehouse-in thereby driver assistance person moves backward.
Wherein critical area 1 instructs: side ultrasonic transduter 8 is found range; It is 0.5-1.5m that there is the obstacle distance scope side, when the row flanking obstacle disappear and running distance 1.5-2 doubly the interscan of this car bodywork length (being generally 6.5-8m) scope perhaps write down the current driving distance to the obstacle existence is arranged; Confirm parking position length; When running distance surpasses still clear of 2 times of this car bodywork lengths (being generally 8m) side, confirm that then current parking stall is a critical area 1, stops prompting, the right side of voice device beaten bearing circle and pointed out; Change reverse prompting, vehicle laggard critical area 2 positions of going into that begin to move backward; As far as new hand, critical area 1 generally can not settle at one go with critical area 2, system can set critical area 1 and critical area 2 maximums back and forth number of times be 3 (setting values arbitrarily), when in stipulated number, driving does not reach key area, will abandon the function of parking;
Wherein critical area 2 instructs: the voice device prompting of stopping, and the bearing circle prompting is played on a left side, continues to hang the prompting that reverse is moveed backward then, and the position, parking stall was adjusted in entering after vehicle began to move backward;
Described adjustment parking stall is instructed: side ultrasonic transduter 8 is closed, and back radar controller 6 and preceding radar controller 7 give the condition of road surface of vehicle forward direction according to moveing backward or the gear that advances controller 5 signals of parking.When car got into the parking stall and gets into the Reverse Sensor viewing area, back radar controller 6 beginnings and the controller 5 of parking carried out communication specifically, and the controller 5 of parking provides the picture cues of Ben Che and back spacing.When car gets into the parking stall and before the adjustment parking stall gets into during the radar viewing area, preceding radar controller 7 beginnings and the controller 5 of parking carry out communication, the controller 5 of parking provides the picture cues of preceding this car and leading vehicle distance.When the auxiliary parking of parking finished, system provided the voice and the graphical cues of the success of parking.
In two step critical areas 1 and critical area 2; The auxiliary controller 5 of parking provides voice suggestion through voice module; Display module provides promptings such as graph image prompting, and according to steering wheel angle sensor 1, brake controller 2; EFI controller 3, car speed sensor 9 incoming signals such as grade carry out closed loop control; Chaufeur is according to prompting and operation braking, brake, behaviors such as reversing.
Above-mentioned master mode can be selected according to the chaufeur needs, and system flow is simple, so good reliability, avoids too numerous and diverse operation and control, has also practiced thrift manufacturing cost, can be widely used in low and middle-grade automobiles through adding side ultrasonic transduter 8.
The computing formula of critical area 1 is following:
Point1_min＝SYS_PARA+side_dis(slot_len-Lmin)
Point1_max＝SYS_PARA+side_dis
In the formula:
Point1_min is critical area 1 minimum value, and point1_max is critical area 1 maxim.
SYS_PARA is a system parameter;
When side_dis＞=1m, SYS_PARA=VECHILLE_LEN-side_cali_max;
When side_dis＜1m, SYS_PARA=VECHILE_LEN-side_cali_min;
Side_dis is a side radar ranging distance; S1ot_len is a car from getting into the distance of straight-line travelling after the auxiliary function of parking; Lmin is the minimum value that car meets parking position length; VECHILE_LEN is long height degree; Side_cali_max is a side radar maximum measure distance real vehicle calibration value; Side_cali_min is the minimum range finding of a side radar real vehicle calibration value;
The calculating of critical area 2
In the formula: Rmin is a hind axle center turn radius; WHEEL_DIS is a wheel distances; PI is a constant 3.14159; Side_dis is the distance of side radar ranging.
Key area 1 is seen Fig. 7 to the mobile flow process of key area 2.
When this flow process is carried out, need the wheel speed signal of real-time update, the steering wheel angle signal of steering wheel angle sensor from wheel speed sensors; Brake signal from brake controller; From the gear signal of EFI controller, so that in real time system is pointed out, chaufeur is operated according to prompting.
" EFI controller 3, car speed sensor 9 incoming signals such as grade carry out closed loop control for steering wheel angle sensor 1, brake controller 2 " its idiographic flow is described below:
After system finds parking position, real-time update wheel speed, according to wheel speed, radius of wheel and running time calculate operating range.Then calculate key area 1 like operating range according to correlation parameter greater than minimum parking position length.The relevant incoming signal of real-time update this moment, and calculate when getting into parking position to the operating range of this moment, judge the interval position of car place key area 1.
Flow process stresses key area 1, and the moving process of key area 2 is no longer described as emphasis moving voluntarily of key area 1.In the flow process, system makes the sound of parking to chaufeur, graphical cues, if chaufeur does not carry out associative operation in the set time, perhaps illegal associative operation then can withdraw from parking system.
Sailed the point1_min of key area 1 into like car, and between the point1_max.Judge according to live signal whether car stops.Then provide auditory tone cues and graphical cues like Che Weiting, inform the chaufeur brake.Brake like chaufeur, then judge whether to move backward according to operation.As not reversing, then point out chaufeur to move backward.When chaufeur is moveed backward, then point out low-reverse.When moveing backward nominal time such as 1S, the prompting chaufeur carries out the right side and makes bearing circle.Carry out the right side like chaufeur and make bearing circle, then begin to calculate second key area, and write down the current driving distance according to relevant real-time parameter.System provides the right side and makes bearing circle, keeps the prompting of low-reverse.And calculate operating range in real time according to wheel speed signal.When operating range during greater than point2_min, do not stop like car, then provide the prompting of brake.Brake like chaufeur, then carry out gear whether in the judgement of reverse.Not in reverse, then the system prompt chaufeur is moveed backward like current gear.In reverse, then the system prompt chaufeur continues to keep low-reverse 1S like current gear.System can provide the prompting that direction is faced left and made subsequently, if system makes then provides the prompting that bearing circle continuation low-reverse is made on a left side in a left side.Car has got into parking position through the adjustment of two big key areas at this moment, and radar mode before and after getting into, and adjustment parking stall instructional model.
Combine accompanying drawing that the present invention has been carried out exemplary description above; Obviously the concrete realization of the present invention does not receive the restriction of aforesaid way; As long as adopted the improvement of the various unsubstantialities that method of the present invention design and technical scheme carry out; Or design of the present invention and technical scheme are directly applied to other occasion without improving, all within protection scope of the present invention.
Claims (8)
1. auxiliary parking system; It is characterized in that: system is provided with the controller of parking (5); Obtain the signal of steering wheel angle sensor (1), brake controller (2) and EFI controller (3) through the CAN bus; Obtain the signal of back radar controller (6) and preceding radar controller (7) through serial interface; Obtain side ultrasonic transduter (8) and wheel speed sensors (9) signal through wire harness; And be connected with the model selection button (4) of parking through wire harness, the described controller of parking (5) is started by model selection button (4) control of parking handles the signal that obtains, and output command to the controller of parking (5) in-to-in buzzer phone, voice device and telltale driver assistance person park.
2. auxiliary parking system according to claim 1; It is characterized in that: the described controller of parking (5) comprises main control module and display module; The pass imput output circuit that the imput output circuit that described main control module contains buzzer phone, voice device, MCU and is complementary, described display module contain telltale, display driver and be complementary.
3. auxiliary parking system according to claim 2 is characterized in that: the MCU of described main control module adopts Freescale 9S08dz64 chip, and SPI function and the speech chip ZY1730 of described MCU carry out communication; Play phonetic function; The parallel port control LED chip for driving ST2225A of described MCU provides output cue prompting, carries out the bright function of LED lamp; The PWM function of described MCU is controlled buzzer phone, output buzzing warning function.
4. auxiliary parking system according to claim 2 is characterized in that: the display driver of described display module contains chip for driving ST2225A.
5. according to each described auxiliary parking system among the claim 2-4, it is characterized in that: described main control module and display module are the levels structure.
6. based on the control method of the described auxiliary parking system of claim 1-6, it is characterized in that:
(1) auxiliary parking system electrifying startup optionally gets into the front and back radar mode through car model selection button (4), auxiliary park pattern or default mode;
(2) hang into reverse gear when gear, if then do not get into default mode by the model selection button (4) of getting off, start back radar controller (6) this moment, the controller of parking (5) receives the back radar signal and gives chaufeur rear obstacle distance prompt;
(3) radar mode before and after getting into by the model selection button (4) of getting off; Gather gear signal according to the controller (5) of parking this moment; If being in reverse, vehicle then starts back radar controller (6); Do not advance the then preceding radar controller (7) of startup of shelves if vehicle is in reversing, and give the obstacle distance prompting of chaufeur front and back according to radar signal;
(4) when getting into the auxiliary pattern of parking by the model selection button (4) of getting off; Side ultrasonic transduter (8) is worked signal conveys to the controller of parking (5); The gear signal that the controller (5) of parking is simultaneously gathered; Then start back radar controller (6) simultaneously if vehicle is in reverse, if vehicle is in reversing advance shelves and then start simultaneously before radar controller (7), and give chaufeur front and back obstacle distance according to radar and sensor signal and point out.
7. control method according to claim 6; It is characterized in that: described front and back radar mode and default mode give chaufeur rear obstacle distance prompt and comprise that telltale provides the range finding distance prompt of front and back radar; Read concrete distance value through voice device, buzzer phone sends the high more chimes of doom of frequency along with distance is approaching.
8. control method according to claim 6 is characterized in that: described step 4 gives the chaufeur guidance of parking simultaneously, is followed successively by that critical area 1 instructs, critical area 2 instructs and the adjustment parking stall is instructed;
Described critical area 1 instructs: side ultrasonic transduter 8 is found range; It is 0.5-1.5m that there is the obstacle distance scope side; When the row flanking obstacle disappear and running distance 1.5-2 doubly the interscan of this car bodywork length scope to the obstacle existence is arranged; Perhaps surpass still clear of 2 times of bodywork lengths when running distance, confirm that then current parking stall is a critical area 1, stops prompting, the right side of voice device beaten bearing circle and pointed out; Change reverse prompting, vehicle laggard critical area 2 positions of going into that begin to move backward;
Described critical area 2 instructs: the voice device prompting of stopping, and the bearing circle prompting is played on a left side, continues to hang the prompting that reverse is moveed backward then, and the position, parking stall was adjusted in entering after vehicle began to move backward;
Described adjustment parking stall is instructed: side ultrasonic transduter (8) is closed, and back radar controller (6) and preceding radar controller (7) give the condition of road surface of vehicle forward direction according to moveing backward or the gear that advances controller (5) signal of parking.
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