CN103661373B - A kind of handoff-security is parked the control setup of pattern and control method - Google Patents
A kind of handoff-security is parked the control setup of pattern and control method Download PDFInfo
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- CN103661373B CN103661373B CN201310726553.0A CN201310726553A CN103661373B CN 103661373 B CN103661373 B CN 103661373B CN 201310726553 A CN201310726553 A CN 201310726553A CN 103661373 B CN103661373 B CN 103661373B
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- pattern
- microprocessor
- parking
- signal
- torque sensor
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
Abstract
The present invention discloses a kind of handoff-security and to park the control setup of pattern and control method, and control setup 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 LED Warning light, EPS motor and buzzer phone respectively to.When entering autonomous parking pattern, microprocessor has judged whether impressed torque according to torque sensor thus has judged whether to need autonomous parking pattern to be switched to power-assisted to park pattern; Suppose to switch, Microprocessor S3C44B0X EPS motor rotating speed reduces the rotating speed of bearing circle, is switched to power-assisted safely and parks pattern, until end of parking.The present invention can solve under autonomous parking pattern, the safety problem that may cause because chaufeur contacts bearing circle suddenly.
Description
Technical field
The present invention relates to automated parking system, especially a kind of handoff-security is parked the control setup of pattern and control method.
Background technology
Automated parking system refers to after system starts and finds effective parking stall, and driver is without the need to direction of operating dish, and vehicle just can enter the system of position by automatic train stop.Its general working process is: information acquisition system gathers the relevant information such as parking position size and vehicle self coordinate by sensor, and generate the input of data as system, information handling system is according to these data messages, judge that can vehicle moor the space provided into this parking stall automatically by calculating, and generating suitable park reference path and corresponding control command, vehicle is moored into parking stall according to control command by actuating unit automatically.
There are two kinds of patterns in automated parking system: a kind of is autonomous parking pattern, another kind ofly park pattern for power-assisted.Autonomous parking pattern refers in automatic parking process, and microprocessor is by controlling EPS motor, autonomous manipulative rotating of steering wheel.There are two stages in the power-assisted pattern of parking, first, at the automated parking system work initial stage, the storehouse stage initially sought by chaufeur steer direction dish, now automatic parking microprocessor is only supplied to and carries out for driver assistance the power-assisted that low-angle turns to and park, making chaufeur when seeking storehouse, the adjustment in easy and convenient low-angle can be carried out vehicle.Secondly, be the stage of carrying out autonomous manipulative bearing circle at vehicle, at this moment chaufeur by contact bearing circle, and can apply certain moment of torsion, namely can recapture the control of bearing circle, gets involved power-assisted in time and to park pattern, avoid the generation of accident.
From whole process of parking, when last chaufeur judgement that automatic parking microprocessor experiences two kinds of patterns, the switching of three periods: if be first the assistant mode initially seeking the storehouse stage---being secondly the autonomous parking pattern of the autonomous manipulative rotating of steering wheel in automatic parking stage---is about to cause danger collision, timely intervention, 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 judges may to be about to cause danger collision and have a mind to direction of operating dish, or chaufeur contacts bearing circle unintentionally when being safe from danger, 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 control setup and the control method of weak point pattern and a kind of handoff-security proposed is parked in order to solve 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 LED Warning light, EPS motor and buzzer phone respectively to.
The concrete steps of control method of the present invention are as follows:
1) chaufeur presses button of parking, and starts autonomous parking pattern, and buzzer phone prompting chaufeur is linked into reverse; Astern signal detected when gear signal detecting device and astern signal is sent to microprocessor, namely microprocessor sends instruction to LED Warning light and buzzer phone, and LED Warning light is glimmered and buzzer warning; Automated parking system will time delay 5s process, has time enough by hand departure direction dish to chaufeur;
2) enter the automatic parking stage, this one-phase rotary angle transmitter detects that angular signal is changing, and shows that bearing circle is in autonomous rotation; Now torque sensor detects whether there is impressed torque signal, if do not have impressed torque signal, then judges current as autonomous parking pattern, until end of parking; If torque sensor has detected impressed torque signal, then judge current as precarious position, needed to switch to power-assisted and to park pattern; Now the electric current of Microprocessor S3C44B0X EPS motor diminishes, reduce the rotating speed n1 of EPS motor, also just reduce the rotating speed n2 of bearing circle, be at this moment switched to power-assisted by autonomous parking mode safety and park pattern, and carry out parking under power-assisted parks pattern until end of parking.
Beneficial effect of the present invention: when vehicle launch automatic parking pattern, whether microprocessor needs autonomous parking pattern to switch to power-assisted to park pattern according to having impressed torque to carry out to judge whether, bearing circle rotating speed is reduced by Microprocessor S3C44B0X EPS motor rotating speed when switching, be switched to power-assisted safely to park pattern, thus prevent from chaufeur under autonomous parking pattern because of the rotation of bearing circle coming to harm.
Accompanying drawing explanation
Fig. 1 be control setup of the present invention connect and compose figure;
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.
Detailed description of the invention
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 are all connected with microprocessor 4 with buzzer phone 7, the signal that rotary angle transmitter 1, torque sensor 2 and gear signal detecting device 3 gather, as the incoming signal of microprocessor 4, sends processing signals to LED Warning light 5, EPS motor 6 and buzzer phone 7 after microprocessor 4 pairs of incoming signals process.
As shown in Figure 2, the concrete steps of control method of the present invention are as follows:
1) chaufeur presses button of parking, and start autonomous parking pattern, buzzer phone 7 points out chaufeur to be linked into reverse; Astern signal detected when gear signal detecting device 3 and astern signal is sent to microprocessor 4, namely microprocessor 4 sends instruction to LED Warning light 5 and buzzer phone 7, LED Warning light 5 is glimmered and buzzer phone 6 is reported to the police; Automated parking system will time delay 5s process, has time enough by hand departure direction dish to chaufeur;
2) enter the automatic parking stage, this one-phase rotary angle transmitter 1 detects that angular signal is changing, and shows that bearing circle is in autonomous rotation; Whether now torque sensor 2 detects impressed torque signal, if do not have impressed torque signal, then judges current as autonomous parking pattern, until end of parking; If torque sensor 2 has detected impressed torque signal, then judge current as precarious position, needed to switch to power-assisted and to park pattern; The electric current that now microprocessor 4 controls EPS motor 6 diminishes, reduce the rotating speed n1 of EPS motor 6, also just reduce the rotating speed n2 of bearing circle, be at this moment switched to power-assisted by autonomous parking mode safety and park pattern, and carry out parking under power-assisted parks pattern until end of parking.
Claims (1)
1. handoff-security is parked a control setup for pattern, it 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) are all connected with microprocessor (4) with buzzer phone (7), 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 output signal is sent to LED Warning light (5), EPS motor (6) and buzzer phone (7) by microprocessor (4);
Described handoff-security is parked the control method of control setup of pattern, comprises the steps:
1) chaufeur presses button of parking, and starts autonomous parking pattern, and buzzer phone (7) prompting chaufeur is linked into reverse; Astern signal detected when gear signal detecting device (3) and astern signal sent to microprocessor (4), microprocessor (4) namely sends instruction to LED Warning light (5) and buzzer phone (7), LED Warning light (5) is glimmered and buzzer phone (6) warning; Automated parking system will time delay 5s process, has time enough by hand departure direction dish to chaufeur;
2) enter the automatic parking stage, this one-phase rotary angle transmitter (1) detects that angular signal is changing, and shows that bearing circle is in autonomous rotation; Now torque sensor (2) detects whether there is impressed torque signal, if do not have impressed torque signal, then parks under current autonomous parking pattern, until end of parking; If torque sensor (2) has detected impressed torque signal, then judge current as precarious position, needed to switch to power-assisted and to park pattern; Now microprocessor (4) controls the electric current reduction of EPS motor (6), the rotating speed n1 of EPS motor (6) reduces, at this moment be namely switched to power-assisted by autonomous parking mode safety to park pattern, and carry out parking under power-assisted parks pattern until 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 CN103661373A (en) | 2014-03-26 |
| CN103661373B true CN103661373B (en) | 2016-04-06 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015795B (en) * | 2014-06-19 | 2017-01-25 | 江苏大学 | Automatic steering control method and device based on EPS |
| US10286953B2 (en) | 2014-09-17 | 2019-05-14 | 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 |
| 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 |
| 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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| 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 |
-
2013
- 2013-12-26 CN CN201310726553.0A patent/CN103661373B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| CN103661373A (en) | 2014-03-26 |
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