CN103661373A - Control device and method for safe switching between parking modes - Google Patents
Control device and method for safe switching between parking modes Download PDFInfo
- Publication number
- CN103661373A CN103661373A CN201310726553.0A CN201310726553A CN103661373A CN 103661373 A CN103661373 A CN 103661373A CN 201310726553 A CN201310726553 A CN 201310726553A CN 103661373 A CN103661373 A CN 103661373A
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- parking
- microprocessor
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- pattern
- torque sensor
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 abstract 2
- 230000006378 damage Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
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Classifications
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a control device and method for safe switching between parking modes. The control device comprises an angle sensor, a torque sensor, a gear signal detection device, a microprocessor, an LED warning lamp, an EPS motor and a buzzer, wherein signals collected by the angle sensor, signals collected by the torque sensor and signals collected by the gear signal detection device serve as input signals of the microprocessor, and output signals of the microprocessor are transmitted to the LED warning lamp, the EPS motor and the buzzer. When an automobile is in the independent parking mode, the torque sensor judges whether externally-added torque exists or not, and the microprocessor judges whether the independent parking mode needs to be switched to the assistance parking mode or not according to the judgment result of the torque sensor; if switching needs to be carried out, the microprocessor controls the rotating speed of the EPS motor to reduce the rotating speed of a steering wheel, the independent parking mode is safely switched to the assistance parking mode, and the assistance parking mode is carried out until parking is stopped. According to the control device and method for safe switching between the parking modes, the problem that safety accidents are possibly caused due to the fact that a driver touches the steering wheel suddenly in the independent parking mode can be solved.
Description
Technical field
The present invention relates to automated parking system, especially a kind of handoff-security park control setup and the control method of pattern.
Background technology
Automated parking system refers in system and starts and find behind effective parking stall, and driver is without direction of operating dish, and vehicle just can automatic train stop enters the system of position.Its general working process is: information acquisition system gathers the relevant informations such as parking position size and vehicle self coordinate by sensor, and generated data is as the input of system, information handling system is according to these data messages, by calculating, judge that can vehicle the space providing into this parking stall be provided automatically, and generating suitable park reference path and corresponding control command, actuating unit is moored vehicle into parking stall automatically according to control command.
In automated parking system, there are two kinds of patterns: a kind of for autonomous parking pattern, another kind of is the power-assisted pattern of parking.Autonomous parking pattern refers in automatic parking process, and microprocessor is by controlling EPS motor, and autonomous steering dish rotates.There are two stages in the power-assisted pattern of parking, first, at the automated parking system work initial stage, chaufeur steer direction dish is initially sought the storehouse stage, now automatic parking microprocessor only offers and for driver assistance, carries out the power-assisted that low-angle turns to and park, make chaufeur when seeking storehouse, can carry out the adjustment in easy and convenient low-angle to vehicle.Secondly, be to carry out the stage of autonomous steering dish at vehicle, at this moment chaufeur can be by contact bearing circle, and applies certain moment of torsion, can recapture the control of bearing circle, gets involved in time the power-assisted pattern of parking, and avoids the generation of accident.
From the whole process of parking, two kinds of patterns of automatic parking microprocessor experience, the switching of three periods: if be first the assistant mode of initially seeking the storehouse stage---are secondly the autonomous parking patterns of the autonomous steering dish rotation in automatic parking stage---when last chaufeur judgement is about to cause danger collision, get involved in time, recapture control, make system come back to assistant mode.
There is such weak point in existing automated parking system: under autonomous parking pattern, bearing circle is in completely autonomous rotary state, at this moment chaufeur judgement may be about to cause danger collision and have a mind to direction of operating dish, or while being safe from danger, chaufeur contacts unintentionally bearing circle, in both cases, chaufeur is very possible is subject to certain injury because of the rotation of bearing circle.
Summary of the invention
The present invention is park control setup and the control method of pattern of a kind of handoff-security of proposing in order to solve the weak point of above-mentioned automated parking system.
Control setup of the present invention comprises rotary angle transmitter, torque sensor, gear signal detecting device, microprocessor, LED Warning light, EPS motor and buzzer phone; The signal that rotary angle transmitter, torque sensor and gear signal detecting device gather is respectively as the incoming signal of microprocessor, and the output signal of microprocessor sends respectively LED Warning light, EPS motor and buzzer phone to.
The concrete steps of control method of the present invention are as follows:
1) chaufeur is pressed the button of parking, and starts autonomous parking pattern, and buzzer phone prompting chaufeur is hung into reverse; When gear signal detecting device detects astern signal and astern signal is sent to microprocessor, microprocessor sends instruction to LED Warning light and buzzer phone, makes the flicker of LED Warning light and buzzer warning; Automated parking system will be processed by time delay 5s, to chaufeur, has time enough by hand departure direction dish;
2) enter the automatic parking stage, this one-phase rotary angle transmitter detects angular signal and is changing, and shows that bearing circle is in autonomous rotation; Now torque sensor detects whether there is impressed torque signal, if there is no impressed torque signal, judges current for autonomous parking pattern, until the end of parking; If torque sensor has detected impressed torque signal, judge currently for precarious position, need to switch to the power-assisted pattern of parking; The electric current of now microprocessor control EPS motor diminishes, reduce the rotation speed n 1 of EPS motor, also just reduced the rotation speed n 2 of bearing circle, be at this moment about to autonomous parking mode safety and be switched to the power-assisted pattern of parking, and under power-assisted is parked pattern, park until the end of parking.
Beneficial effect of the present invention: when vehicle launch automatic parking pattern, whether microprocessor is according to there being impressed torque to judge whether autonomous parking pattern to be switched to the power-assisted pattern of parking, when switching, by microprocessor, control EPS motor speed and reduce bearing circle rotating speed, be switched to safely the power-assisted pattern of parking, thereby prevent chaufeur, under autonomous parking pattern, because of the rotation of bearing circle, come to harm.
Accompanying drawing explanation
Fig. 1 is the figure that connects and composes of control setup of the present invention;
Fig. 2 is the particular flow sheet of control method of the present invention;
In figure: 1. rotary angle transmitter; 2. torque sensor; 3. gear signal detecting device; 4. microprocessor; 5.LED Warning light; 6.EPS motor; 7. buzzer phone.
The specific embodiment
As shown in Figure 1, control setup of the present invention comprises rotary angle transmitter 1, torque sensor 2, gear signal detecting device 3, microprocessor 4, LED Warning light 5, EPS motor 6 and buzzer phone 7; Rotary angle transmitter 1, torque sensor 2, gear signal detecting device 3, LED Warning light 5, EPS motor 6 and buzzer phone 7 are all connected with microprocessor 4, the signal that rotary angle transmitter 1, torque sensor 2 and gear signal detecting device 3 gather is as the incoming signal of microprocessor 4, and 4 pairs of incoming signals of microprocessor send processing signals to LED Warning light 5, EPS motor 6 and buzzer phone 7 after processing.
As shown in Figure 2, the concrete steps of control method of the present invention are as follows:
1) chaufeur is pressed the button of parking, and starts autonomous parking pattern, and buzzer phone 7 prompting chaufeurs are hung into reverse; When gear signal detecting device 3 detects astern signal and astern signal is sent to microprocessor 4, microprocessor 4 sends instruction to LED Warning light 5 and buzzer phone 7, and 5 flickers of LED Warning light and buzzer phone 6 are reported to the police; Automated parking system will be processed by time delay 5s, to chaufeur, has time enough by hand departure direction dish;
2) enter the automatic parking stage, this one-phase rotary angle transmitter 1 detects angular signal and is changing, and shows that bearing circle is in autonomous rotation; Now torque sensor 2 detects whether there is impressed torque signal, if there is no impressed torque signal, judges current for autonomous parking pattern, until the end of parking; If torque sensor 2 has detected impressed torque signal, judge currently for precarious position, need to switch to the power-assisted pattern of parking; The electric current that now microprocessor 4 is controlled EPS motor 6 diminishes, reduce the rotation speed n 1 of EPS motor 6, also just reduced the rotation speed n 2 of bearing circle, be at this moment about to autonomous parking mode safety and be switched to the power-assisted pattern of parking, and under power-assisted is parked pattern, park until the end of parking.
Claims (2)
1. the handoff-security control setup for pattern of parking, is characterized in that: comprise rotary angle transmitter (1), torque sensor (2), gear signal detecting device (3), microprocessor (4), LED Warning light (5), EPS motor (6) and buzzer phone (7); Described rotary angle transmitter (1), torque sensor (2), gear signal detecting device (3), LED Warning light (5), EPS motor (6) and buzzer phone (7) are all connected with microprocessor (4), the signal that rotary angle transmitter (1), torque sensor (2) and gear signal detecting device (3) gather is as the incoming signal of microprocessor (4), and microprocessor (4) sends output signal to LED Warning light (5), EPS motor (6) and buzzer phone (7).
2. the handoff-security as claimed in claim 1 control method of control setup for pattern of parking, is characterized in that comprising the steps:
1) chaufeur is pressed the button of parking, and starts autonomous parking pattern, and buzzer phone (7) prompting chaufeur is hung into reverse; When gear signal detecting device (3) detects astern signal and astern signal is sent to microprocessor (4), microprocessor (4) sends instruction to LED Warning light (5) and buzzer phone (7), and LED Warning light (5) flicker and buzzer phone (6) are reported to the police; Automated parking system will be processed by time delay 5s, to chaufeur, has time enough by hand departure direction dish;
2) enter the automatic parking stage, this one-phase rotary angle transmitter (1) detects angular signal and is changing, and shows that bearing circle is in autonomous rotation; Now torque sensor (2) detects whether there is impressed torque signal, if there is no impressed torque signal, under current autonomous parking pattern, parks, until the end of parking; If torque sensor (2) has detected impressed torque signal, judge currently for precarious position, need to switch to the power-assisted pattern of parking; The electric current that now microprocessor (4) is controlled EPS motor (6) reduces, and the rotation speed n 1 of EPS motor (6) reduces, and at this moment by autonomous parking mode safety, is switched to the power-assisted pattern of parking, and under power-assisted is parked pattern, parks until the end of parking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310726553.0A CN103661373B (en) | 2013-12-26 | 2013-12-26 | A kind of handoff-security is parked the control setup of pattern and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310726553.0A CN103661373B (en) | 2013-12-26 | 2013-12-26 | A kind of handoff-security is parked the control setup of pattern and control method |
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| Publication Number | Publication Date |
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| CN103661373A true CN103661373A (en) | 2014-03-26 |
| CN103661373B CN103661373B (en) | 2016-04-06 |
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| CN201310726553.0A Active CN103661373B (en) | 2013-12-26 | 2013-12-26 | A kind of handoff-security is parked the control setup of pattern and control method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015795A (en) * | 2014-06-19 | 2014-09-03 | 江苏大学 | Automatic steering control method and device based on EPS |
| CN105416391A (en) * | 2014-09-17 | 2016-03-23 | 福特全球技术公司 | Autopark steering wheel snap reduction |
| CN106740818A (en) * | 2016-12-19 | 2017-05-31 | 合肥工业大学 | A kind of automatic parking route planning method and system based on EPS |
| CN107344568A (en) * | 2017-06-09 | 2017-11-14 | 佛山职业技术学院 | A kind of automatic catch automobile steering wheel return reminder |
| CN108016432A (en) * | 2016-10-28 | 2018-05-11 | 上海航天汽车机电股份有限公司 | The direction disk control method and automatic parking control system of a kind of automatic parking |
| CN109733387A (en) * | 2019-01-21 | 2019-05-10 | 江苏大学 | A kind of park method and control device automatically switching park mode |
| CN110566024A (en) * | 2019-09-27 | 2019-12-13 | 佛山科学技术学院 | Parking control device |
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| EP0835796A2 (en) * | 1996-10-09 | 1998-04-15 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for verhicle |
| CN202243452U (en) * | 2011-10-31 | 2012-05-30 | 辉创电子股份有限公司 | Parking guide system |
| CN102582620A (en) * | 2012-03-27 | 2012-07-18 | 上海大学 | All-terrain automatic parking system |
| CN103332191A (en) * | 2013-02-07 | 2013-10-02 | 江苏大学 | EPS integrated intelligent parking control system and control method |
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2013
- 2013-12-26 CN CN201310726553.0A patent/CN103661373B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP0835796A2 (en) * | 1996-10-09 | 1998-04-15 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for verhicle |
| CN202243452U (en) * | 2011-10-31 | 2012-05-30 | 辉创电子股份有限公司 | Parking guide system |
| CN102582620A (en) * | 2012-03-27 | 2012-07-18 | 上海大学 | All-terrain automatic parking system |
| CN103332191A (en) * | 2013-02-07 | 2013-10-02 | 江苏大学 | EPS integrated intelligent parking control system and control method |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015795A (en) * | 2014-06-19 | 2014-09-03 | 江苏大学 | Automatic steering control method and device based on EPS |
| CN105416391A (en) * | 2014-09-17 | 2016-03-23 | 福特全球技术公司 | Autopark steering wheel snap reduction |
| US10286953B2 (en) | 2014-09-17 | 2019-05-14 | Ford Global Technologies, Llc | Autopark steering wheel snap reduction |
| CN105416391B (en) * | 2014-09-17 | 2019-11-19 | 福特全球技术公司 | Reduce prominent turn of automatic parking steering wheel |
| US11919568B2 (en) | 2014-09-17 | 2024-03-05 | Ford Global Technologies, Llc | Autopark steering wheel snap reduction |
| CN108016432A (en) * | 2016-10-28 | 2018-05-11 | 上海航天汽车机电股份有限公司 | The direction disk control method and automatic parking control system of a kind of automatic parking |
| CN106740818A (en) * | 2016-12-19 | 2017-05-31 | 合肥工业大学 | A kind of automatic parking route planning method and system based on EPS |
| CN106740818B (en) * | 2016-12-19 | 2019-06-04 | 合肥工业大学 | A kind of automatic parking route planning method and system based on EPS |
| CN107344568A (en) * | 2017-06-09 | 2017-11-14 | 佛山职业技术学院 | A kind of automatic catch automobile steering wheel return reminder |
| 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 |
| CN110566024A (en) * | 2019-09-27 | 2019-12-13 | 佛山科学技术学院 | Parking control device |
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| Publication number | Publication date |
|---|---|
| CN103661373B (en) | 2016-04-06 |
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