CN105197010B - Auxiliary parking system and auxiliary are parked control method - Google Patents

Auxiliary parking system and auxiliary are parked control method Download PDF

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CN105197010B
CN105197010B CN201410244728.9A CN201410244728A CN105197010B CN 105197010 B CN105197010 B CN 105197010B CN 201410244728 A CN201410244728 A CN 201410244728A CN 105197010 B CN105197010 B CN 105197010B
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CN105197010A (en
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郭孔辉
李红
陈禹行
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Zhejiang Kong Hui Automobile Technology Co ltd
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Changchun Konghui Automative Technology Co Ltd
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Abstract

The invention discloses a kind of auxiliary parking system parking path planing method and motion control method of parking.Multistage smooth parking path is designed based on the theoretical parking path planing method of B-spline and meets multiple nonlinear restrictions such as vehicle obstacle-avoidance constraint, min. turning radius constraint, highest turning velocity.Path curvatures continuity, which avoids pivot stud phenomenon, reduces tire wear and steering motor load, and the multistage flatness in path is easy to vehicle tracking.Motion Control Strategies proposed by the present invention of parking, reduce parking system and driver are parked rate request, and driver need to only control low vehicle speeds.For during parking because the excessively high factor of speed causes vehicle to deviate destination path can not VEHICLES MUST PARK WITHIN THE MARKED BAY phenomenon, it is proposed the vehicle pose adjustable strategies based on fixed point tracing control, add success rate of parking, and vehicle is paralleled parking with parking stall using fixed point tracing control, realize storing cycle normalization.

Description

Auxiliary parking system and auxiliary are parked control method
Technical field
The present invention relates to a kind of apparatus and method of parking position, more particularly to a kind of auxiliary parking system and auxiliary pool Car control method.
Background technology
The space for making city limited with the increase of vehicle fleet size becomes gradually crowded, and the diminution of parking space adds pool Car is difficult, therefore people increasingly increase the demand of auxiliary parking system.
It is existing that VEHICLES MUST PARK WITHIN THE MARKED BAY that control method mainly has：(1) method based on Heuristics；(2) side based on path planning Method.
Method based on Heuristics is using drive simulating person's parking manoeuvres such as fuzzy control, neutral net, genetic algorithms Behavior, the acquisition of this method sample data is more difficult, and control logic structure is not easy to obtain, and control rule is not easy to train.
It is made up of based on paths planning method path planning and path following control.Paths planning method is mainly using circle Arc-straight-line method planning parking path.Because circular arc and the parking path curvature of rectilinear(-al) are discontinuous, need to stop during parking Turn to.Steer without driving phenomenon causes tire wear to accelerate the increase of course changing control motor live load.During parking, vehicle tracking When circular arc straight line path is reached at circular arc and straight line tie point or circular arc and circular sliding slopes point, driver is needed to reduce speed or even stop Car coordinates wheel steering action.Speed is too high or does not stop completely, and parking system can be caused to lose optimal steering opportunity, vehicle Deviate destination path, the failure that ultimately results in that VEHICLES MUST PARK WITHIN THE MARKED BAY controls driver's speed during parking and requires high.
In actual parking manoeuvres, when once can not VEHICLES MUST PARK WITHIN THE MARKED BAY when, driver is follow-up by the small segment distance of forward travel Continuous back in parking, for once can not VEHICLES MUST PARK WITHIN THE MARKED BAY situation, existing parking system do not have remedial measure.
Finally parked for vehicle and do not park regulating measures with parking stall parallelism, existing parking system.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of auxiliary parking system and aid in control method of parking,
The present invention to solve the above problems, and use following technical scheme, there is provided a kind of auxiliary parking system, including path Memory, parking system sensing unit, motion controller of parking turn to executing agency, and parking system man-machine interactive system is described Path memory, for storing according to vehicle structure parameter, B-spline curves mode is taken to determine the parking path of minimum parking position Data；The parking system sensing unit, it is transferred to for sensing particular location of the vehicle relative to parking stall, and by sensed data The motion controller of parking；The motion controller of parking, for the data provided according to path memory and park and be Togetherness knows the required particular location parked that unit provides, and determines Motion Control Strategies and calculated direction disk corner value.Described turn To executing agency, for receiving the signal of the motion controller of parking, wheel steering system is driven, realizes motion controller of parking The steering wheel angle value of calculating；The parking system man-machine interactive system, for by parking stall measure result, gear shift operation show, week Enclose barrier and situation be present to driver's displaying, and driver's operational order is passed into parking system.The parking system people Machine interactive system is communicated by CAN communication mode with parking system, receives the prompt message that parking system is sent and with image shape Formula is shown, and obtains driver's operational order by touch-screen, and instruction is sent into controller by CAN communication mode.
To solve problems of the prior art, present invention also provides one kind auxiliary to park control method, including with Lower step：
Step 1, parking path planning；The minimum according to needed for vehicle structure parameter determines vehicle is parked bit space, is established complete Office's coordinate system, using the parking path of minimum parking position needed for B-spline curves design vehicle；The parking path of the minimum parking position For path curve, the path curve is solidified in parking path memory with data mode.
Step 2, parking stall inductive hint；Parking system is opened, parking system sensing unit starts detection right side parking stall, and Pass through display screen vehicle and the lateral distance of right side parking stall.When detect right side parking stall meet minimum parking stall demand, parking is System judges whether parking stall is effective according to vehicle with parking stall lateral distance, for effective parking stall, in vehicle tail end and parking stall starting point When distance is more than 7m, man-machine interaction screen display has detected that parking stall and prompts to stop.
Step 3, motion control of parking；Parking system reads in parking path, subsequently into motion control；In motion of parking Path following control state is initially entered in control, when vehicle X-coordinate is more than xflagWhen, parking system takes path trace always Control, when X-coordinate is equal to xflagWhen, parking system according to the deviation in vehicle-to-target path judge started position control or after It is continuous to use path following control, when tracing deviation is respectively less than setting value, then continue to use path following control, when tracing deviation is big In setting value, then start-up trace position control.Wherein, xflag=lc-Kflag·(Lr+ L), KflagSpan is：0.4~0.7, Actual parking stall is smaller, KflagValue should be smaller.
Step 4, storing cycle adjustment；After vehicle enters parking stall, if vehicle is not parallel with parking stall, parking system used Position control rate adjustment vehicle is parallel with parking stall.
Further, the step 1 comprises the following steps：
(1) the minimum parking stall length according to needed for vehicle structure parameter determines vehicle
And minimum parking stall width；
Wherein：lcminFor required minimum parking stall length, lkminFor required minimum parking stall width, LrFor vehicle rear axle to vehicle Tail end distance, RminFor vehicle rear axle midpoint min. turning radius, LkFor vehicle width, L is vehicle wheelbase, LfArrived for automobile front-axle Vehicle front distance, lcsafeFor parking stall length safe clearance, lksafeFor parking stall width safe clearance.
(2) global coordinate system is established by the origin of coordinates of starting point on the outside of parking stall, selects the sample at 45 rank B-spline control points Bar Curve Design parking path, constraints is set, choose control point number, B-spline curves song is calculated by optimized algorithm Rate minimizes path curve.
Further, the constraints includes：1) vehicle is not sent out along path curve traveling is minimized with the side of parking stall three Raw collision；2) completely into parking stall and parallel with parking stall when vehicle reaches path termination；3) curve maximum curvature is not more than 1/ Rmin；4) vehicle is with vmaxSpeed along path curve travel when, front axle effective rotationRotational speed omega is not more than ωmax, vmaxTo park Process allows max. speed, value 0.5~1.5m/s, ωmaxFor vehicle steering shaft highest steering angular velocity.
Further, lateral distance is maintained at 0.5~1.5m in the step 2.
Further, the destination path deviation in the step 3 includes lateral distance deviation and heading angle deviation, works as vehicle And destination path lateral distance deviation | y-yr|≤ΔyoAnd heading angle deviation | θ-θr|≤Δθo, control strategy of parking continues to adopt With path following control, if the lateral range deviation in vehicle-to-target path | y-yr|>ΔyoOr heading angle deviation | θ-θr|>Δθo, Control strategy of parking crosses position control using vehicle, adjusts vehicle pose；Wherein：Y is vehicle rear axle midpoint Y-axis coordinate, yrFor Cross vehicle rear axle midpoint and the straight line perpendicular with X-coordinate axle and the Y-axis coordinate of path point of intersection, Δ yoMaximum lateral distance is inclined Difference limen value, θ are vehicle line of symmetry and coordinate system X-axis angle, θrTo cross vehicle rear axle midpoint and the straight line perpendicular with X-coordinate axle With the path tangent line at the joining of path and X-coordinate axle angle, Δ θoFor heading angle deviation threshold values.
Further, the lateral distance variance thresholds：Δyo=(lc-lcmin)/K2, K2Span is：10~100, lc Smaller value should be bigger；Heading angle deviation threshold values：Δθo=(lc-lcmin)/K3, K3Span：50~100, lcSmaller value Ying Yue great；L in formulacFor actual parking stall length, lcminFor minimum parking stall length needed for vehicle.
Path following control described further, its wagon control rate are：
X is the X-coordinate at the rear axle midpoint 106 of vehicle 101 in formula, and y is the Y-axis coordinate at the rear axle midpoint 106 of vehicle 101, and θ is car Line of symmetry and the angle of coordinate system X-axis, i.e. vehicle course angle, yrPoint P on destination path is corresponded to for vehicle x coordinaterY-axis sit Mark, θrFor PrTangent line and coordinate system X-axis angle, i.e. vehicle target course angle, ρ at pointrIt is parking path 301 in PrThe curvature of point, L is the rear axle of vehicle 101 to front axle distance, k1For path trace lateral distance deviation factor, k2For path trace heading angle deviation system Number, k when vehicle advance travels1、k2Take negative value, k when vehicle rollback travels1Take negative value, k2Take on the occasion of,For equivalent turn of front axle Angle, controller of parking obtain turning angle of steering wheel according to execution structure steering gear ratio is turned to, and are turned by turning to executing agency and realizing To,To be turned right on the occasion of steering wheel, negative value steering wheel turns left.
Further, the tracking position control, its vehicle tracking fixed point course changing control rate are：
In formula, x is vehicle rear axle midpoint X-coordinate, and y is vehicle rear axle midpoint Y-axis coordinate, and θ is vertical axis and X-axis angle That is vehicle course angle, xp、ypTo track the position of pinpoint, θpFor course angle at pinpoint.L is vehicle wheelbase, k3It is fixed Point tracing positional deviation factor, k4Heading angle deviation coefficient is tracked for fixed point, when vehicle advance travels, k3Take on the occasion of k4Take just Value, when vehicle rollback travels, k3Take honest, k4Take negative value,For the effective rotation of front axle 104,To be turned right on the occasion of steering wheel, bear It is worth steering wheel to turn left.
The present invention can obtain following technique effect according to above-mentioned technical proposal：
(1) plan that multistage smooth parking path method avoids steer without driving phenomenon using SPL, reduce tire Abrasion and motor live load.
(2) path tracking control method based on non-temporal reference requires low to speed control, it is desirable to which driver is not higher than vmaxSpeed smooth-ride, it is easier to operate, alleviate driver's nervous psychology during parking.
(3) deviate destination path for vehicle, once can not VEHICLES MUST PARK WITHIN THE MARKED BAY situation, used position control Developing Tactics car Pose, makes vehicle be travelled again along predefined paths, improves success rate of parking.
(4) phenomenon is not paralleled parking with parking stall for vehicle, used position control Developing Tactics vehicle pose, and realized car Paralleled parking with parking stall
Brief description of the drawings
Fig. 1 is the vehicle structure to be moored and Parameter Map of the present invention
Fig. 2 is the parking path planning schematic diagram based on B-spline curves
Fig. 3 is vehicle tracking parking path course changing control rate analysis chart
Fig. 4 is vehicle tracking fixed point course changing control rate analysis chart
Fig. 5 is to VEHICLES MUST PARK WITHIN THE MARKED BAY the vehicle adjustable strategies schematic diagram of can not once succeeding
Fig. 6 is auxiliary parking system schematic diagram
Fig. 7 is auxiliary parking system workflow diagram
Fig. 8 is motion control flow chart of parking
Fig. 9 is storing cycle adjustment control flow chart
Wherein：101st, parking is treated；102nd, steering wheel；103rd, steering；104th, automobile front-axle：105th, vehicle rear axle； 106th, rear axle midpoint；107th, the vehicle axis of symmetry；201~212, B-spline curves control point；301st, parking path；401st, vehicle Actual travel path；402nd, vehicle heading indicates；A, parking stall rear object；B, road；C, parking stall objects in front；D parking stalls Boundary line.
Embodiment
Further describe the auxiliary below in conjunction with the accompanying drawings to park control method, accompanying drawing 7 shows that the auxiliary is parked controlling party The workflow diagram of method.First, parking path planning curve is solidified in parking path memory with data mode, opens pool Car system, parking system sensing unit starts to detect the right side parking stall surrounded by parking stall boundary line D as shown in accompanying drawing 2, and leads to Cross the lateral distance of display screen vehicle and right side parking stall.When detect right side parking stall meet what is stored in parking path memory During minimum parking stall demand, parking system judges whether parking stall is effective according to vehicle with parking stall lateral distance, when lateral distance is 0.3 ~2m, when vehicle tail end and parking stall starting point distance are more than 7m, man-machine interaction screen display has detected that parking stall and prompts to stop Car.Then, motion control of parking is carried out；Vehicle is driven into parking stall.If vehicle is parallel with parking stall, control of parking terminates, no Then, storing cycle adjustment is started, parking system used position control rate adjustment vehicle parallel with parking stall.
Accompanying drawing 1,2 shows the parking path planning of the control method.With reference to the accompanying drawings 1 vehicle parameter is first had to, it is determined that Treat the minimum parking stall required for parking.The minimum parking stall length according to needed for vehicle structure parameter determines vehicle
And minimum parking stall width；
Wherein：L in formulakFor the width of vehicle 101, LrTail length is arrived for vehicle rear axle 105, L is that the front axle 104 of vehicle 101 arrives The distance of rear axle 105, LfFront end distance, R are arrived for the front axle 104 of vehicle 101minFor the min. turning radius of 105 midpoint of rear axle 106,For front axle maximum equivalent corner, ωmaxFor front axle effective rotation maximum speed, vmaxFor the pool of setting Car process max. speed, vmaxMax. speed of parking, span 0.1~1.5m/s, l are determined according to front axle maximum speedksafeFor Minimum parking stall width safe clearance, value are more than or equal to 0.1m.
Secondly, as shown in Fig. 2 establishing global coordinate system by the origin of coordinates of starting point on the outside of parking stall, 45 rank B samples are selected The SPL design parking path at bar control point, control point number n, n spans：12~15, path clustering point is designated as： Q1, Q2..., Qn.By n control point Q1~QnCoordinate and parking path curve can obtain according to formula (a).By n control point Q1~QnCoordinate combinatorial formula (a), (b), (e), (f) can obtain vehicle along parking path travel when, 4 summits of vehicle's contour Track.By n control point Q1~QnCoordinate can combine (a), (b), (e) obtain vehicle along parking path travel when vehicle body exist Course angle at each point of path.Path curve curvature is according to control point Q1~QnCoordinate and combine formula (a), (b), (c), (g) Obtain.Vehicle is with speed vmaxDuring along route, front axle effective rotation steering angular speed omega is according to control point Q1~QnCoordinate Obtained with formula (a), (b), (c), (d), (h).
The present invention selects 12 control point planning parking paths, as shown in Figure 2.Use genetic algorithm with control point 201~ 212 coordinates are optimized variable, and target is minimised as with B-spline curves curvature, and parking path is optimized with following constraint：1) Vehicle 101 does not collide along route and surrounding objects A, B, C；2) when vehicle reaches path termination completely into parking stall and 3) curve maximum curvature parallel with parking stall is not more than 1/Rmin；4) vehicle is with vmaxSpeed along parking path travel when, automobile front-axle Effective rotation rotating speed is not more than wheel steering system maximum speed ωmax。ωmaxFor the deflecting roller maximum speed of front axle 105, vmaxFor Setting park during max. speed, value 0.5~1.5m/s, L are vehicle wheelbase, and ρ is parking path curvature.
To reduce controller path planning amount of calculation of parking, the B-spline parking path of planning is stored into control system, When detecting that parking stall meets vehicle minimum parking stall demand, control system of parking reads destination path and controls vehicle tracking target Path.
Q=[Qi Qi+1 Qi+2 Qi+3 Qi+4] ', i=1,2, n-4
I represents i-th section of B-spline curves, and n is control point number, Qi~Qi+4, to produce 5 points processed of i-th section of B-spline curves Coordinate, the B-spline path of n control point generation are made up of n-4 section B-spline smooth connections.
U ∈ [0,1], it is the dimensionless variable of every section of B-spline curves.
In formula (a) x be SPL in X-axis coordinate, y is that SPL in Y-axis coordinate, u is B-spline curves variable, and Q is B-spline curves control point.
In formula (b)For path X-axis coordinate pair u first derivative,For path Y-axis coordinate pair u first derivative, u B SPL variable, Q are B-spline curves control point.
In formula (c)For path X-axis coordinate pair u second dervative,For path Y-axis coordinate pair u second dervative, u B SPL variable, Q are B-spline curves control point.
In formula (d)For path X-axis coordinate pair u three order derivatives,For path Y-axis coordinate pair u three order derivatives, u B SPL variable, Q are B-spline curves control point.
In formula (e), θ is B-spline curves tangent line and X-axis angle,For the first derivative of path X-axis coordinate,For path Y The first derivative of axial coordinate
In formula (f), x be SPL in X-axis coordinate, y be SPL in Y-axis coordinate, θ is SPL tangent line and X Axle clamp angle, L are vehicle wheelbase, LfFor automobile front-axle to front end distance, LrFor vehicle rear axle to rear vehicle end distance, LkFor vehicle Width, xzqFor vehicle left front end X-axis coordinate, yzqFor vehicle left front end Y-axis coordinate, xyqFor vehicle right front ends X-axis coordinate, yyqFor Vehicle right front ends Y-axis coordinate, xyhFor vehicle right rear end X-axis coordinate, yyhFor vehicle right rear end Y-axis coordinate, xzhFor the left back end of vehicle X-axis coordinate, yzhFor the left back end Y-axis coordinate of vehicle.
In formula (g), ρ is path curvatures,Path X-axis coordinate first derivative,For road strength Y-axis coordinate first derivativeFor Path X-axis coordinate second dervative,For path Y-axis coordinate second dervative.
In formula (h), vmaxFor max. speed of parking, ω is vehicle with vmaxSpeed along SPL travel when front axle it is equivalent Corner rotating speed,Path X-axis coordinate first derivative,For road strength Y-axis coordinate first derivativeLed for path X-axis coordinate second order Number,For path Y-axis coordinate second dervative.
Finally, the path curve of completion is solidificated in parking path memory with data mode.
The motion control of parking of the step of accompanying drawing 3-5,8 show this method three.As shown in Figure 3, parking system is moved Control rate selects reference quantity：xflag=lc-Kflag·(Lr+ L), KflagSpan is：0.4~0.7, actual parking stall is smaller, KflagValue should be smaller.When vehicle X-coordinate is more than xflagWhen, parking system takes path following control always, when X-coordinate is equal to xflagWhen, parking system judges to start position control or continues to use path trace control according to the deviation in vehicle-to-target path System, when tracing deviation is respectively less than setting value, then continue to use path following control, otherwise, start-up trace position control.Target road Footpath deviation includes lateral distance deviation and heading angle deviation, when the lateral range deviation in vehicle-to-target path | y-yr|≤ΔyoAnd Heading angle deviation | θ-θr|≤Δθo, control strategy of parking continues to use path following control, if vehicle-to-target path laterally away from From deviation | y-yr|>ΔyoOr heading angle deviation | θ-θr|>Δθo, control strategy of parking crosses position control using vehicle, adjusts car Pose；Wherein：Y is vehicle rear axle midpoint Y-axis coordinate, yrTo cross vehicle rear axle midpoint and the straight line perpendicular with X-coordinate axle With the Y-axis coordinate of path point of intersection, Δ yoLateral distance variance thresholds, θ are vehicle line of symmetry and coordinate system X-axis angle, θrFor mistake Vehicle rear axle midpoint and the straight line perpendicular with X-coordinate axle and the path tangent line at the joining of path and X-coordinate axle angle, Δ θo For heading angle deviation threshold values.
Vehicle tracking deviation setting is as follows：
Lateral distance variance thresholds：Δyo=(lc-lcmin)/K2, K2Span is：10~100, lcSmaller value should be got over Greatly；
Heading angle deviation threshold values：Δθo=(lc-lcmin)/K3, K3Span：50~100, lcSmaller value should be bigger；
L in formulacFor actual parking stall length, lcminFor minimum parking stall length needed for vehicle.
Vehicle is from starting point backing traveling of parking, when the rear axle midpoint 106 of vehicle 101 is more than x in X-axis coordinateflagWhen, park Controller carries out path following control, and tracing deviation is as shown in figure 3, vehicle motion control rate is：
X is the X-coordinate at the rear axle midpoint 106 of vehicle 101 in formula, and y is the Y-axis coordinate at the rear axle midpoint 106 of vehicle 101, and θ θ are Vehicle line of symmetry and the angle of coordinate system X-axis, i.e. vehicle course angle, yrPoint P on destination path is corresponded to for vehicle X-coordinaterY-axis Coordinate, θrFor PrTangent line and coordinate system X-axis angle, i.e. vehicle target course angle, ρ at pointrIt is parking path 301 in PrThe song of point Rate, L are that the rear axle 105 of vehicle 101 arrives the distance of front axle 104, k1For path trace position deviation coefficient, k2For path trace course angle Deviation factor, k when vehicle advance travels1、k2Take negative value, k when vehicle rollback travels1Take negative value, k2Take on the occasion of,For front axle 05 Effective rotation, controller of parking obtain the steering angle of steering wheel 102 according to the execution steering gear ratio of structure 103 is turned to, held by steering Row mechanism 103, which realizes, to be turned to,To be turned right on the occasion of steering wheel, negative value steering wheel turns left；
Fig. 4 is that vehicle pinpoints tracing deviation schematic diagram, and P points are to be tracked after parking system starts fixed point tracing control Point.Tracking pinpoints course changing control rate：
In formula, x is vehicle rear axle midpoint X-coordinate, and y is vehicle rear axle midpoint Y-axis coordinate, and θ is vertical axis and X-axis angle That is vehicle course angle, xp、ypTo track the position of pinpoint, θpFor course angle at pinpoint.L is the wheelbase of vehicle 101, k3 To pinpoint tracing positional deviation factor, k4Heading angle deviation coefficient is tracked for fixed point, when vehicle advance travels, k3Take on the occasion of k4Take On the occasion of, when vehicle rollback travels, k3Take honest, k4Take negative value,For the effective rotation of front axle 104,To be turned right on the occasion of steering wheel, Negative value steering wheel turns left.
As shown in Figure 5.X-axis coordinate is equal to x on note destination pathflagPoint be P2, P2Choose on point tangent line and be a little designated as P1, P2Pose is expressed as (x at point2,y2,θ2), P1Point pose is (x2+K1·cosθ1,y2+K1·sinθ1,θ2),K1Span： 0.5~2.
Remember that destination path terminal is P3, P4For P3Front a bit, and P4Point is not less than L+L away from object Cf+Δsafe, Δsafe For safe distance of being parked in parking stall, safety value is determined according to radar for backing car minimum range and measurement accuracy before and after parking system.Car 101 rear axle midpoint 106X axial coordinates are equal to xflagWhen, if vehicle location deviation | y-yr|≤ΔyoAnd | θ-θr|≤ΔθoContinue Using path following control, otherwise parking system passes through screen prompt driver and advanced traveling, parking system control vehicle tracking Pinpoint P1, when vehicle X-axis coordinate is more than P1Point X-axis coordinate or vehicle Y-axis coordinate are more than P1During point Y-axis coordinate, parking system prompting Driver retreats traveling, parking system control vehicle tracking P2Point, and it is equal to x in vehicle X-axis coordinateflagWhen according to tracing deviation Judge still to pinpoint tracing control using path following control.
As shown in Figure 9, vehicle reaches P along destination path3Point or rear object A distances are less than ΔsafeWhen, if vehicle is not Can be parallel, parking system prompting driver, which advances, to travel, and controls vehicle tracking P4Point, when vehicle X-coordinate is more than P4Point X-coordinate Or vehicle front is less than Δ with object C distancessafeWhen, if vehicle is parallel with road C not yet, parking system prompting driver retreats Traveling, control vehicle tracking P3Point.Parking system is by tracking P3And P4The course angle of point adjustment vehicle 101, makes vehicle 101 and road Road B is parallel.
Auxiliary parking system of the present invention is as shown in fig. 6, including path memory, parking system sensing unit, motion of parking Controller, turn to executing agency, parking system man-machine interactive system, the path memory, for storing according to vehicle structure Parameter, B-spline curves mode is taken to determine the parking path data of minimum parking position；The parking system sensing unit, is used for Sense particular location of the vehicle relative to parking stall, and sensed data is transferred to the motion controller of parking；The fortune of parking Movement controller, for the data and parking system that are provided according to path memory perceive unit provide needed for park it is specific Position, judge vehicle heading and calculated direction disk corner value.The steering executing agency, for receiving the motion control of parking The signal of device processed, driving wheel steering system realize steering wheel angle value；The parking system man-machine interactive system, for by car Position testing result, gear shift operation are shown, peripheral obstacle has situation and shown to driver, and driver's operational order is passed to Parking system.The parking system man-machine interactive system is communicated by CAN communication mode with parking system, receives parking system hair The prompt message sent simultaneously is shown with image format, obtains driver's operational order by touch-screen, and instruction is passed through into CAN Communication mode is sent to controller.
Described in this specification simply the present invention specific embodiment, above example only to illustrate the present invention skill Art scheme rather than limitation of the present invention.All those skilled in the art under this invention's idea by logic analysis, reasoning or The available technical scheme of limited experiment, all should be within the scope of the present invention.

Claims (9)

  1. The control method 1. one kind auxiliary is parked, it is characterised in that：Comprise the following steps
    Step 1, parking path planning；The minimum according to needed for vehicle structure parameter determines vehicle is parked bit space, establishes global sit Mark system, using the parking path of minimum parking position needed for B-spline curves design vehicle；The parking path of the minimum parking position is road Diametal curve, the path curve is solidified in parking path memory with data mode；
    Step 2, parking stall inductive hint；Parking system is opened, parking system sensing unit starts detection right side parking stall, and passes through The lateral distance of display screen vehicle and right side parking stall, when detecting that right side parking stall meets minimum parking stall demand, parking system root Judge whether parking stall is effective with parking stall lateral distance according to vehicle, for effective parking stall, in vehicle tail end and parking stall starting point distance During more than 7m, man-machine interaction screen display has detected that parking stall and prompts to stop；
    Step 3, motion control of parking；Parking system reads in parking path, subsequently into motion control；In motion control of parking In initially enter path following control state, when vehicle X-coordinate is more than xflagWhen, parking system takes path trace control always System, when X-coordinate is equal to xflagWhen, parking system judges to start position control or continuation according to the deviation in vehicle-to-target path Using path following control, when tracing deviation is respectively less than setting value, then continue to use path following control, otherwise, start-up trace Position control；Wherein, xflag=lc-Kflag·(Lr+ L), KflagSpan is：0.4~0.7, actual parking stall is smaller, KflagTake Value should be smaller, and Lr is vehicle rear axle to afterbody distance, and L is vehicle rear axle to front axle distance；The X-coordinate is vehicle rear axle midpoint X-coordinate；
    Step 4, storing cycle adjustment；After vehicle enters parking stall, if vehicle is not parallel with parking stall, parking system used fixed point Control rate adjustment vehicle is parallel with parking stall.
  2. The control method 2. a kind of auxiliary according to claim 1 is parked, it is characterised in that：The step 1 includes following step Suddenly：
    (1) the minimum parking stall length according to needed for vehicle structure parameter determines vehicle
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    And minimum parking stall width；
    <mrow> <msub> <mi>l</mi> <mrow> <mi>k</mi> <mi>m</mi> <mi>i</mi> <mi>n</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>L</mi> <mi>k</mi> </msub> <mo>/</mo> <mn>2</mn> <mo>+</mo> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>R</mi> <mrow> <mi>m</mi> <mi>i</mi> <mi>n</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>L</mi> <mi>k</mi> </msub> <mo>/</mo> <mn>2</mn> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msubsup> <mi>L</mi> <mi>r</mi> <mn>2</mn> </msubsup> </mrow> </msqrt> <mo>-</mo> <msub> <mi>R</mi> <mrow> <mi>m</mi> <mi>i</mi> <mi>n</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>l</mi> <mrow> <mi>k</mi> <mi>s</mi> <mi>a</mi> <mi>f</mi> <mi>e</mi> </mrow> </msub> </mrow>
    Wherein：lcminFor required minimum parking stall length, lkminFor required minimum parking stall width, LrFor vehicle rear axle to vehicle tail end Distance, RminFor vehicle rear axle midpoint min. turning radius, LkFor vehicle width, L is vehicle wheelbase, LfFor automobile front-axle to vehicle Front end distance, lcsafeFor parking stall length safe clearance, lksafeFor parking stall width safe clearance；
    (2) global coordinate system is established by the origin of coordinates of starting point on the outside of parking stall, selects the batten at 45 rank B-spline control points bent Line designs parking path, sets constraints, chooses control point number, B-spline curves curvature is calculated most by optimized algorithm Smallization path curve.
  3. The control method 3. a kind of auxiliary according to claim 2 is parked, it is characterised in that：The constraints includes：
    1) vehicle does not collide along path curve traveling is minimized with the side of parking stall three；
    2) completely into parking stall and parallel with parking stall when vehicle reaches path termination；
    3) curve maximum curvature is not more than 1/Rmin；
    4) vehicle is with vmaxSpeed along path curve travel when, front axle effective rotationRotational speed omega is not more than ωmax, vmaxTo park Journey allows max. speed, value 0.5~1.5m/s, ωmaxFor vehicle steering shaft highest steering angular velocity.
  4. The control method 4. a kind of auxiliary according to claim 1 is parked, it is characterised in that：Lateral distance in the step 2 It is maintained at 0.3~2m.
  5. The control method 5. a kind of auxiliary according to claim 3 is parked, it is characterised in that：Target road in the step 3 Footpath deviation includes lateral distance deviation and heading angle deviation, when the lateral range deviation in vehicle-to-target path | y-yr|≤ΔyoAnd Heading angle deviation | θ-θr|≤Δθo, control strategy of parking continues to use path following control, if vehicle-to-target path laterally away from From deviation | y-yr| ＞ Δs yoOr heading angle deviation | θ-θr| ＞ Δs θo, control strategy of parking crosses position control using vehicle, adjusts Vehicle pose；Wherein：Y is vehicle rear axle midpoint Y-axis coordinate, yrFor cross vehicle rear axle midpoint and with perpendicular straight of X-coordinate axle Line and the Y-axis coordinate of path point of intersection, Δ yoLateral distance variance thresholds, θ are vehicle line of symmetry and coordinate system X-axis angle, θrFor Cross vehicle rear axle midpoint and the straight line perpendicular with X-coordinate axle and the path tangent line at the joining of path and X-coordinate axle angle, Δ θoFor heading angle deviation threshold values.
  6. The control method 6. a kind of auxiliary according to claim 5 is parked, it is characterised in that：The lateral distance deviation：Δyo =(lc-lcmin)/K2, K2Span is：10~100, lcSmaller value should be bigger；Heading angle deviation：Δθo=(lc-lcmin)/ K3, K3Span：50~100, lcSmaller value should be bigger；L in formulacFor actual parking stall length, lcminFor minimum needed for vehicle Parking stall length.
  7. The control method 7. a kind of auxiliary according to claim 6 is parked, it is characterised in that：The path following control, its Wagon control rate is：
    In formula x be vehicle (101) rear axle midpoint (106) X-coordinate, y be vehicle (101) rear axle midpoint (106) Y-axis coordinate, θ For vehicle line of symmetry and the angle of coordinate system X-axis, i.e. vehicle course angle, yrPoint P on destination path is corresponded to for vehicle x coordinaterY Axial coordinate, θrFor PrTangent line and coordinate system X-axis angle, i.e. vehicle target course angle, ρ at pointrIt is parking path (301) in PrPoint Curvature, L is vehicle (101) rear axle to front axle distance, k1For path trace lateral distance deviation factor, k2Navigated for path trace To angular displacement coefficient, k when vehicle advance travels1、k2Take negative value, k when vehicle rollback travels1Take negative value, k2Take on the occasion of,To be preceding Axle effective rotation, controller of parking obtains turning angle of steering wheel according to execution structure steering gear ratio is turned to, by steering execution machine Structure, which is realized, to be turned to,To be turned right on the occasion of steering wheel, negative value steering wheel turns left.
  8. The control method 8. a kind of auxiliary according to claim 7 is parked, it is characterised in that：The tracking position control, its Vehicle tracking pinpoints course changing control rate：
    In formula, x is vehicle rear axle midpoint X-coordinate, and y is vehicle rear axle midpoint Y-axis coordinate, and θ is vertical axis and X-axis angle is car Course angle, xp、ypTo track the position of pinpoint, θpFor course angle at pinpoint；L is vehicle wheelbase, k3Fixed point tracking Position deviation coefficient, k4Heading angle deviation coefficient is tracked for fixed point, when vehicle advance travels, k3Take on the occasion of k4Take on the occasion of vehicle When retreating traveling, k3Take honest, k4Take negative value,For front axle (104) effective rotation, by front axle effective rotation according to Vehicular turn System angle gear ratio calculation obtains steering wheel angle,To be turned right on the occasion of steering wheel, negative value steering wheel turns left.
  9. The auxiliary parking system of control method 9. a kind of operation auxiliary as claimed in claim 1 is parked, including path memory, Parking system sensing unit, motion controller of parking, turn to executing agency, parking system man-machine interactive system, its feature in：
    The path memory, for storing according to vehicle structure parameter, B-spline curves mode is taken to determine minimum parking position Parking path data；
    The parking system sensing unit, it is transferred to for sensing particular location of the vehicle relative to parking stall, and by sensed data The motion controller of parking；
    The motion controller of parking, data and parking system for being provided according to path memory perceive what unit provided The required particular location parked, select Motion Control Strategies and calculated direction disk corner value；
    The steering executing agency, for receiving the signal of the motion controller of parking, driving wheel steering system, which is realized, parks The steering wheel angle value that motion controller calculates；
    The parking system man-machine interactive system, for by parking stall measure result, gear shift operation is shown, peripheral obstacle has situation Shown to driver, and driver's operational order is passed into parking system；The parking system man-machine interactive system passes through CAN Communication mode communicates with parking system, receives the prompt message that parking system is sent and is shown with image format, by touching Touch screen and obtain driver's operational order, and instruction is sent to controller by CAN communication mode.
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