CN104401324B - A kind of auxiliary parking system and method based on multiple-objection optimization - Google Patents

A kind of auxiliary parking system and method based on multiple-objection optimization Download PDF

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Publication number
CN104401324B
CN104401324B CN201410617681.6A CN201410617681A CN104401324B CN 104401324 B CN104401324 B CN 104401324B CN 201410617681 A CN201410617681 A CN 201410617681A CN 104401324 B CN104401324 B CN 104401324B
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parking
final
speed
auxiliary
car
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CN104401324A (en
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华丁
华一丁
江浩斌
马世典
唐斌
吴狄
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Jiangsu Zhonghu Automobile Intelligent System Co., Ltd.
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Jiangsu University
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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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/107—Longitudinal acceleration
    • 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
    • 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
    • B60W2050/143—Alarm means
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The present invention provides a kind of auxiliary parking system based on multiple-objection optimization, parked controller, sound prompt device and switch assembly including vehicle speed sensor, acceleration transducer, multiobjective optimal control device, auxiliary, the vehicle speed sensor is arranged on wheel, acceleration transducer is arranged on vehicle body, the vehicle speed sensor, acceleration transducer are connected with the multiobjective optimal control device respectively, and the multiobjective optimal control device, park controller, sound prompt device, switch assembly of auxiliary are sequentially connected；Also provide a kind of auxiliary based on multiple-objection optimization to park method, comprise the following steps：1) multiobjective optimal control model is set up.2) design parameter constraints.3) solution of multiple objective programming Controlling model is carried out using the fgoalattain functions in MATLAB Optimization Toolboxes.Optimize the speed of process of parking, reduce the time in low speed oil consumption stage high of parking, improve comfortableness of the driver during parking, reduce the larger problem of final body gesture error of parking.

Description

A kind of auxiliary parking system and method based on multiple-objection optimization
Technical field
The present invention relates to automatic parking technical field, and in particular to a kind of auxiliary parking system based on multiple-objection optimization and Method.
Background technology
As the important component of driver assistance system, auxiliary parking system APS (Assisted Parking System) because parking workload with reducing driver, alleviate because the urban highway traffic that long-time road occupying being parked and being brought is gathered around It is stifled, potential security risk during parking is reduced, obtain the extensive concern of each research institution and automobile vendor.More than existing APS only Only for final body gesture design of parking, but, with the gradually popularization and the increase of oil price of APS, except necessary pool Outside the final body gesture of car is optimal, because the process of parking is in low vehicle speeds process, it is the stage that oil consumption is higher Distinct disadvantage, the deadline of whole process of parking is controlled as far as possible also turns into the important goal that APS is pursued.Additionally, being enhancing Driver to the degree of belief of APS, park the acceleration that the stage produced due to brake, improves riding comfort by reduction.This is new The functional requirement of generation APS, the basic characteristics of the function are, good final body gesture of parking, it is appropriate park speed and Crew comfort.A kind of a new generation APS's it is critical that propose the method based on multiple-objection optimization is realized, that is, is considered Park final body gesture, speed of parking and driver experience.At present, consider that the APS of simple target has had tentatively both at home and abroad Achievement, but consider the method for the multiple-objection optimization between three and be not seen in report yet.
The content of the invention
In order to solve the above technical problems, the present invention provides a kind of auxiliary parking system and method based on multiple-objection optimization, Make final body gesture of parking, the performance of the aspect of speed of parking and crew comfort etc. three reaches comprehensive optimal, is used to overcome Traditional APS cannot take into account the low problem parked speed and crew comfort and exist.
The present invention provides a kind of auxiliary parking system based on multiple-objection optimization, including vehicle speed sensor, acceleration sensing Device, multiobjective optimal control device, auxiliary are parked controller, sound prompt device and switch assembly, and the vehicle speed sensor is installed On wheel, the acceleration transducer is arranged on vehicle body, and the vehicle speed sensor, acceleration transducer are more with described respectively Objective optimization controller is connected, and the multiobjective optimal control device, auxiliary are parked controller, sound prompt device, switch assembly It is sequentially connected, is stored with the multiobjective optimal control device and count final this spacing preceding object for obtaining by test of many times Apart from a, final this spacing rear obstacle apart from b, finally average displacement c of this car left side edge with respect to parking stall left side boundary line With final this car left side edge line and garage left border line angle theta.When parking, the switch assembly, the multiple target are opened Optimal controller Real-time Collection vehicle speed sensor obtains parked in real time during parking speed v, vehicle-mounted acceleration transducer and adopts The driver of collection produces acceleration a when shut-down operation is carried outY, and the optimal value of each parameter is calculated, then pass to auxiliary Park controller, point out the driver to carry out parking manoeuvres finally by the mode of voice message.
The present invention also provides a kind of auxiliary based on multiple-objection optimization and parks method, comprises the following steps：
1) parked final body gesture, appropriate three sides of speed and crew comfort that park according to auxiliary parking system The demand in face, sets up the final body gesture object function f that parks respectively1(x), speed of parking object function f2X (), driver is relaxed Adaptive object function f3(x)；
2) according to the performance indications design parameter constraints of the auxiliary parking system based on multiple-objection optimization；
3) will be parked final body gesture, and the performance indications of the aspect of speed of parking and crew comfort etc. three are transformed into Single index, the solution of multiple objective programming Controlling model is carried out using the fgoalattain functions in MATLAB Optimization Toolboxes, Finally determine to be based on final body gesture, the optimal value of the performance indications such as speed of parking and crew comfort.
Further, with final this spacing preceding object apart from a, final this spacing rear obstacle apart from b, final this car Left side edge is with respect to the average displacement c and final this car left side edge line in parking stall left side boundary line and garage left border wire clamp angle The weighted sum of θ is used as the final body gesture object function f that parks1(x),
Wherein M represents the times of collection for carrying out test of many times, waIt is aiWeight coefficient, wbIt is biWeight coefficient, wcIt is ci's Weight coefficient, wθIt is θiWeight coefficient, 50cm≤a≤95cm, 110cm≤b≤95cm, -10cm are obtained according to test of many times data statistics ≤ c≤10cm, -5 °≤θ≤5 °.
Further, using the weighted sum of real-time speed average value as the speed object function f that parks2(x),
Wherein N represents the speed number that the stage Real-time Collection of parking is arrived, wvIt is viWeight coefficient, obtained according to vehicle speed sensor The speed v that parked in real time during parking is taken, and considers that actual conditions design the constraints of real-time speed average value 4km/h≤v≤8km/h。
Further, using the weighted sum of real-time vehicle longitudinal acceleration as crew comfort object function f3(x),
Can produce three parking manoeuvres during wherein parking, therefore carry out three cumulative tables of longitudinal direction of car acceleration,ForWeight coefficient, according to vehicle-mounted acceleration transducer gather driver acceleration a is produced when shut-down operation is carried outY, Design the bound of the longitudinal acceleration corresponding to comfort level, -1m/s2≤aY≤1m/s2。
Beneficial effects of the present invention：1st, by building multi-objective optimization question, final body gesture is solved, speed of parking Contradiction and crew comfort between.2nd, entirely mistake of parking can be optimized while keeping well parking final body gesture The speed of journey, reduces the time in residing low speed oil consumption stage high of parking, and improves comfortableness of the driver during parking.3rd, drop It is low due to parking during speed it is too high caused by park the larger problem of final body gesture error.
Brief description of the drawings
Fig. 1 is the auxiliary parking system block diagram based on multiple-objection optimization；
Fig. 2 is that the auxiliary based on multiple-objection optimization is parked specific method flow chart；
Fig. 3 is each parameter schematic diagram in final body gesture index of parking；
Fig. 4 is multiobjective optimal control device operation principle flow chart.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is simultaneously Not limited to this.
It is shown as shown in Figure 1, Figure 3 and Figure 4, a kind of auxiliary parking system based on multiple-objection optimization, including vehicle speed sensor, plus Velocity sensor, multiobjective optimal control device, auxiliary are parked controller, sound prompt device and switch assembly, and the speed is passed Sensor is arranged on wheel, and the acceleration transducer is arranged on vehicle body, the vehicle speed sensor, acceleration transducer difference Be connected with the multiobjective optimal control device, the multiobjective optimal control device, auxiliary park controller, sound prompt device, Switch assembly is sequentially connected, and to be stored with the multiobjective optimal control device and count final this spacing for obtaining by test of many times Preceding object is apart from a, final this spacing rear obstacle apart from b, final this car left side edge with respect to parking stall left side boundary line Average displacement c and final this car left side edge line and garage left border line angle theta.When parking, the switch assembly, institute are opened State parked in real time during the acquisition of multiobjective optimal control device Real-time Collection vehicle speed sensor is parked speed v, vehicle-mounted acceleration The driver of sensor collection produces acceleration a when shut-down operation is carried outY, and the optimal value of each parameter is calculated, then pass Pass auxiliary to park controller, point out the driver to carry out parking manoeuvres finally by the mode of voice message.
A kind of method as shown in Fig. 2 auxiliary based on multiple-objection optimization is parked, comprises the following steps：
1) parked final body gesture, appropriate three sides of speed and crew comfort that park according to auxiliary parking system The demand in face, sets up with final this spacing preceding object apart from a, final this spacing rear obstacle apart from b, final this car respectively Left side edge is with respect to the average displacement c and final this car left side edge line in parking stall left side boundary line and garage left border wire clamp angle The weighted sum of θ is used as the final body gesture object function f that parks1(x), using the weighted sum of real-time speed average value as car of parking Fast object function f2(x), using the weighted sum of real-time vehicle longitudinal acceleration as crew comfort object function f3(x), many mesh Mark Optimized model, sets up multiobjective optimal control model.
2) according to the performance indications design parameter constraints of the auxiliary parking system based on multiple-objection optimization.
3) will be parked final body gesture, and the performance indications of the aspect of speed of parking and crew comfort etc. three are transformed into Single index, the solution of multiple objective programming Controlling model is carried out using the fgoalattain functions in MATLAB Optimization Toolboxes.
In such scheme, with final this spacing preceding object apart from a, final this spacing rear obstacle apart from b, final sheet Average displacement c and final this car left side edge line and garage left border wire clamp of the car left side edge with respect to parking stall left side boundary line The weighted sum of angle θ is used as the final body gesture object function f that parks1(x),
Wherein M represents the times of collection for carrying out test of many times, waIt is aiWeight coefficient, wbIt is biWeight coefficient, wcIt is ci's Weight coefficient, wθIt is θiWeight coefficient, 50cm≤a≤95cm, 110cm≤b≤95cm, -10cm are obtained according to test of many times data statistics ≤ c≤10cm, -5 °≤θ≤5 °.
In such scheme, using the weighted sum of real-time speed average value as the speed object function f that parks2(x),
Wherein N represents the speed number that the stage Real-time Collection of parking is arrived, wvIt is viWeight coefficient, specifically in implementation process, When speed is too low, it is easy to cause the phenomenon of parking and engine misses, so as to influence the continuity of reversing process.By reality Ground experiment, the minimum stabilizing speed of reverse gear for finding test vehicle is 4km/h.But when carrying out reversing experiment with 4km/h, entirely fall Car process time is very short, deviation occurs and is not easily adjusted.Technology experienced driver again, during storehouse be also combine from Clutch and brake adjust speed, thus the constraints for setting as：4km/h≤v≤8km/h.
In such scheme, using the weighted sum of real-time vehicle longitudinal acceleration as crew comfort object function f3(x),
Can produce three parking manoeuvres during wherein parking, therefore carry out three cumulative tables of longitudinal direction of car acceleration,ForWeight coefficient, according to vehicle-mounted acceleration transducer gather driver acceleration a is produced when shut-down operation is carried outY, Design the bound of the longitudinal acceleration corresponding to comfort level, -1m/s2≤aY≤1m/s2。
The embodiment is the preferred embodiment of the present invention, but the present invention is not limited to above-mentioned implementation method, is not carrying on the back In the case of substance of the invention, those skilled in the art can make it is any conspicuously improved, replace or Modification belongs to protection scope of the present invention.

Claims (4)

1. a kind of auxiliary based on multiple-objection optimization is parked method, it is characterised in that comprised the following steps：
1) parked final body gesture according to auxiliary parking system, appropriate three aspects of speed and crew comfort of parking Demand, sets up the final body gesture object function f that parks respectively1(x), speed of parking object function f2(x), crew comfort Object function f3(x)；
2) according to the performance indications design parameter constraints of the auxiliary parking system based on multiple-objection optimization；
3) will park final body gesture, and the performance indications in terms of speed of parking and crew comfort etc. three transform into single Index, the solution of multiple objective programming Controlling model is carried out using the fgoalattain functions in MATLAB Optimization Toolboxes, finally It is determined that being based on final body gesture object function f1(x), speed of parking object function f2(x) and crew comfort object function f3The optimal value of every weight coefficient in (x).
2. a kind of auxiliary based on multiple-objection optimization according to claim 1 is parked method, it is characterised in that by multiple Experiment obtains final this spacing preceding object apart from a, final this spacing rear obstacle apart from b, final this car left side edge phase Average displacement c and final this car left side edge line and garage left border line angle theta to parking stall left side boundary line, with final sheet Spacing preceding object is apart from a, final this spacing rear obstacle apart from b, final this car left side edge with respect to parking stall left border The weighted sum of the average displacement c of line and final this car left side edge line and garage left border line angle theta is used as final car of parking Figure state object function f1(x),
f 1 ( x ) = w a Σ i = 1 M a i + w b Σ i = 1 M b i + w c Σ i = 1 M c i + w θ Σ i = 1 M θ i
Wherein M represents the times of collection for carrying out test of many times, waIt is aiWeight coefficient, wbIt is biWeight coefficient, wcIt is ciPower system Number, wθIt is θiWeight coefficient, 50cm≤a≤95cm, 110cm≤b≤95cm, -10cm≤c are obtained according to test of many times data statistics ≤ 10cm, -5 °≤θ≤5 °.
3. a kind of auxiliary based on multiple-objection optimization according to claim 1 is parked method, it is characterised in that with real-time car The weighted sum of fast average value is used as the speed object function f that parks2(x),
f 2 ( x ) = w v Σ i = 1 N v i N
Wherein N represents the speed number that the stage Real-time Collection of parking is arrived, wvIt is viWeight coefficient, according to vehicle speed sensor obtain moor Parked speed v in real time during car, and consider actual conditions design the constraints 4km/h of real-time speed average value≤ v≤8km/h。
4. a kind of auxiliary based on multiple-objection optimization according to claim 1 is parked method, it is characterised in that with real-time car The weighted sum of longitudinal acceleration is used as crew comfort object function f3(x),
f 3 ( x ) = w a Y Σ i = 1 3 a Y i
Can produce three parking manoeuvres during wherein parking, therefore carry out three cumulative tables of longitudinal direction of car acceleration,ForWeight coefficient, according to vehicle-mounted acceleration transducer gather driver acceleration a is produced when shut-down operation is carried outY, design The bound of the longitudinal acceleration corresponding to comfort level, -1m/s2≤aY≤1m/s2。
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JP6385991B2 (en) * 2016-08-31 2018-09-05 本田技研工業株式会社 Delivery support device
CN109493593B (en) * 2018-10-15 2020-11-27 同济大学 Bus running track optimization method considering comfort level
CN109814115B (en) * 2019-01-16 2021-01-26 杭州湘滨电子科技有限公司 Angle identification and correction method for vertical parking
CN110723137A (en) * 2019-10-24 2020-01-24 重庆长安汽车股份有限公司 Deceleration control method and system for short-distance automatic parking and computer readable storage medium
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