CN105620473A - Parking track correcting method - Google Patents
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- CN105620473A CN105620473A CN201410584394.XA CN201410584394A CN105620473A CN 105620473 A CN105620473 A CN 105620473A CN 201410584394 A CN201410584394 A CN 201410584394A CN 105620473 A CN105620473 A CN 105620473A
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Abstract
The invention provides a parking track correcting method. Usually in a parking guide stage, control errors exist due to various factors such as a control system and an execution mechanism in the vehicle travel process, and inevitably, an actual travel route travelled by a vehicle controlled by the system deviates from a parking track set by the system. By the adoption of the parking track correcting method, the actual travel route of the vehicle and the parking track set by the system in advance are compared in real time to obtain the difference, when the difference is large, the parking track of the vehicle is planned again according to the actual position of the vehicle, the condition of surround obstacles and the position of a parking place, and therefore the parking process of the vehicle can be finished without collisions according to the new parking track.
Description
Technical field
The present invention relates to ultrasound wave automated parking system field, enter in a process bearing calibration to predetermined track of parking more specifically to a kind of automated parking system at automobile parking.
Background technology
Along with the development of science and technology, increasing automatization means start to be dissolved into our life of today. In today, along with people are also more and more higher to the requirement of oneself quality of the life, in the epoch of such fashion, have an automobile that can assist oneself parking and got more and more required for people.
Exactly because also such needs so that more technical staff begin one's study can be how just automobile can accurately find oneself as people should go to position. Therefore, one more easily, the pursuit of safe and reliable VEHICLES MUST PARK WITHIN THE MARKED BAY mode become numerous car owner and research staff.
In order to reach safe and reliable requirement, will reaching such requirement it is necessary to make the system-computed track out have to be correct, what guarantee calculated park, and track can assist driver that without any collision, VEHICLES MUST PARK WITHIN THE MARKED BAY with peripheral obstacle.
The present invention provides a kind of strategy be absorbed in and improve parking track reliability and security performance. Thus it is accurate to enable a system to auxiliary driver, the parking of safety.
Prior art Problems existing:
In actual VEHICLES MUST PARK WITHIN THE MARKED BAY process, following factor may affect park effect and safety:
One, automobile parking enters in a process, and parking path and the track of parking calculated in advance that automobile is actual have deviation.
Two, automobile is in VEHICLES MUST PARK WITHIN THE MARKED BAY process, during gear switch, and barrier around or have occurred and that change, and also automobile position now is also not necessarily just parked on track predetermined, it is possible to and had deviated from making a reservation for park track.
Summary of the invention
The present invention makes a reservation for park the difference of track by comparing vehicle actual travel path and system in real time, when difference is bigger, position according to vehicle physical location, peripheral obstacle situation and parking stall plans track of parking again, enables the vehicle to complete, with new track of parking, the process of parking without collision.
For solving above-mentioned technical problem, it is an object of the invention to provide a kind of track of vehicle bearing calibration, make a reservation for park the difference of track by comparing vehicle actual park track and system in real time, when difference is bigger, according to vehicle physical location, the position on peripheral obstacle situation and parking stall plans the track of parking of vehicle again, enables the vehicle to complete, with new track of parking, the process of parking without collision; Ensureing that automobile can be quick, accurately, VEHICLES MUST PARK WITHIN THE MARKED BAY for safety.
The technical scheme is that one is parked track correcting method, comprise the following steps:
S1, vehicle are with speed VDetectionThrough available parking stall, the external sensing device of vehicle detects the parameter of parking stall; Wherein, VDetectionFor the vehicle speed through parking stall;
S2, determine vehicle starting position coordinates Pt0(X0,Y0)With original position vehicle body angle Pt0Ang;
S3, parameter according to parking stall, automobile relative position, calculate vehicle and make a reservation for park the coordinate position P of track At1(X1,Y1)Vehicle body angle P with the predetermined track A that parkst1Ang;
S4, calculate the coordinate position P of the actual track B that parks of vehicle according to the real-time pulse number of wheel pulse enumerator, the real-time angular value of steering wheel and the travel direction information of vehiclet2(X2,Y2)Vehicle body angle P with the actual track B that parkst2Ang;
S5, the difference X comparing actual track B and the predetermined track A that parks that parks of vehicle and Y, X=| Pt2(X2,Y2)-Pt1(X1,Y1)|, Y=| Pt2Ang-Pt1Ang|; If X is < PtZ1,Y<PtZ2, then S6 is entered; If X > PtZ1,Y>PtZ2, then S7 is entered; Wherein, PtZ1For offset distance threshold values, PtZ2For misalignment angle threshold values;
S6, vehicle continue to travel according to the predetermined track A that parks;
S7, vehicle recalculate the track C that parks made new advances; Vehicle arrives final parking spot according to the new track C that parks after correction.
Preferably, in S1, VDetection<VDetection MAX, wherein, VDetection MAXThe maximal rate of parking stall detection function is performed for vehicle.
Preferably, to dish, kinetic controlling equation is rotated such that vehicle is exercised along the predetermined track A that parks of vehicle, and the speed controlling steering wheel rotation not can exceed that tarnsition velocity Vmax, wherein, VmaxFor hard-over speed.
Preferably, described parking stall is parallel space or vertical parking stall or oblique parking stall.
The invention has the beneficial effects as follows: a kind of track of vehicle bearing calibration is provided, make a reservation for park the difference of track by comparing vehicle actual travel path and system in real time, when difference is bigger, according to vehicle physical location, the position on peripheral obstacle situation and parking stall plans the track of parking of vehicle again, enables the vehicle to complete, with new track of parking, the process of parking without collision; Ensureing that automobile can be quick, accurately, VEHICLES MUST PARK WITHIN THE MARKED BAY for safety.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only embodiments of the invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is parking stall detection schematic diagram
Fig. 2 is automatic parking process schematic
Fig. 3 is that in automatic parking process, the actual track B that parks deviates the predetermined track A schematic diagram of parking of system
Fig. 4 is that system recalculates new track C schematic diagram of parking
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only the preferred embodiment of the invention, rather than whole embodiments. Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Referring to figs. 1 through Fig. 4, for vehicle automated parking system method of dynamic programming track in VEHICLES MUST PARK WITHIN THE MARKED BAY process, the method is applied to parallel Parking Stall, vertical parking stall and angle-park position trajectory corrector. Automated parking system referred herein, referring to the device of a kind of external sensing device (ultrasonic distance sensor or image other sensors first-class) being assemblied on vehicle and an electronic control unit, this device can be assisted that driver is convenient, be stopped into (VEHICLES MUST PARK WITHIN THE MARKED BAY) or roll parking stall (position of parking out) away from accurately, safely by vehicle.
Described parking stall includes parallel longitudinal with track or approximately parallel parallel space, or approximately perpendicular vertical parking stall longitudinally perpendicular with track and be longitudinally formed the oblique parking stall of larger angle with track. The angle of parallel space longitudinal axis and track longitudinal direction is defined within [-15 ��, 15 ��], the angle of vertical parking stall longitudinal axis and track longitudinal direction is defined within [65 ��, 115 ��], the angle of oblique parking stall longitudinal axis and track longitudinal direction is defined within [16 ��, 64 ��] and [115 ��, 155 ��]. Consider multiformity and the ultrasonic sensor physical characteristic in track, define especially for arc track (including track center of arc or approximate center of arc respectively at the bend of driver's left hand and two kinds of situations of right-hand side) that this device can be utilized to carry out auxiliary the min. turning radius that VEHICLES MUST PARK WITHIN THE MARKED BAY is 15 meters. This device auxiliary driver parking stall that VEHICLES MUST PARK WITHIN THE MARKED BAY includes parallel space, vertical parking stall, oblique parking stall and position of parking out just for parallel space.
Utilize this device to carry out parking stall detection so to start: after car engine, if the travel speed V of automobileDetectionLess than a certain velocity amplitude V that can defineDetection MAX(preferably, VDetection MAX=30kmph), then without carry out between driver any alternately, this device performs parking stall detection function automatically. Travel speed V when automobileDetectionOutpace value VDetection MAXTime, then detection function in parking stall is temporarily ceased execution, because being limited to the physical characteristic of ultrasonic sensor, when relative velocity between ultrasonic sensor and object to be detected exceedes a certain size, detect the accuracy of obstacle distance by ultrasonic sensor not enough with reliability, based on these data, carry out parking stall judge nonsensical. When the travel speed of automobile is re-lowered to a certain velocity amplitude V that can defineDetection MAX(preferably, VDetection MAX=30kmph) after, this device performs parking stall detection function again automatically. It follows that in general vehicle traveling process, this device automatically performs along with the change of automobile driving speed size or stops parking stall detection function.
Parking stall detection refers to that automobile utilizes this device to scan, calculate and record the distance between both sides barrier and the automobile of process and the position relative to automobile in the process of moving, and carry out feature identification and parking trajectory calculating with this device according to recorded, meet, to determine whether there is, the space existence that parking stall requires. Meet the space that parking stall requires and refer to that at least there is the space simultaneously meeting certain longitudinally (length) size and certain laterally (width/depth) dimensional requirement in the side of automobile and at least have one can from current car position without collision completely into the track to this space. Parking stall detection is to utilize to be arranged on what each ultrasonic sensor in the left and right of both sides before automobile carried out, namely a ultrasonic sensor on the left side is in order to detect parking stall, the automobile left side, one ultrasonic sensor on the right is in order to detect parking stall on the right of automobile, and ultrasound examination parking stall, the left and right sides is synchronously performed. It is arranged on before automobile to be by the ultrasonic sensor on detection parking stall and behind parking stall, needs the extra distance travelled forward to reduce automobile as far as possible, completed the passed detection of the both sides barrier that needs are considered in follow-up supporting process of parking because ultrasonic sensor is forward-mounted when can maximally meet running car to certain position. Ultrasonic sensor can only detect the barrier of a certain automobile position both sides, realize scanning continuously barrier, it is necessary to include at least one in order to detect the displacement transducer of running car distance and one in order to detect the steering angle sensor of running car curvature. In an application having verified that, this device is output as basis with wheel pulse enumerator and carries out the calculating of automobile (sensor) operating range, and is output as basis with steering wheel angle sensor and carries out the calculating of running car curvature.
Vehicle, in automatic parking driving process, utilizes and is arranged on sensing device around vehicle body (ultrasonic sensor and/or image first-class sensor) and detects the distance of surrounding obstacles in real time, and M and N as shown in Figure 1 is the sensing range of ultrasonic sensor; And based on this, correction the final parking spot of vehicle, renewal system this at previously established model of place of parking. Predetermined to this position and the system track A that parks according to COMPREHENSIVE CALCULATING real-time vehicle running positions such as the pulse signal of vehicle four wheels, Vehicle Speed signal, the real-time angular signals of steering wheel, and can be compared by automated parking system; If the predetermined track A error of parking of vehicle real time position deviation system is bigger, system will plan new track of parking again according to vehicle current actual positions, final parking spot and peripheral obstacle situation. System is filled the track of parking of new planning and vehicle must be made along this track can to travel and arrive final parking spot (T as shown in Figure 2) without collision.
In the process of parking, there are two kinds of situations that this device can be caused again to plan new track of parking: one be when automobile is actual park track B deviate the predetermined track A that parks of this device bigger time, this device will calculate the new track C that parks according to the situation of current bus position and motor vehicle environment barrier again, two is this device based on ultrasonic sensor along with the situation detecting peripheral obstacle in motor racing process in real time, constantly the position of barrier is modified, namely orientation, parking stall and size to detecting through parking stall before is modified simultaneously, if orientation, parking stall and size are examined time difference method due to automobile through parking stall and not or are produced bigger change owing to the barrier situation on composition parking stall changes (barrier moves or leaves) and then have impact on the parking place that automobile is final, then this device will recalculate, according to revised parking stall and motor vehicle environment barrier situation, the track of parking made new advances.
Automated parking system at least includes the track of parking according to systems organization and controls the function that steering wheel rotates in real time. For the consideration of functional safety, the velocity of rotation of steering wheel is limited, and the speed that namely system control steering wheel rotates not can exceed that certain defined maximum Vmax. The car load factory that this definition value is different defines based on the difference of vehicle parameter and is likely to difference. Preferably, when vehicle travels, steering wheel rotational angular velocity VmaxFor 500deg/s, steering wheel rotational angular velocity V time staticmaxFor 300deg/s.
Judge that the actual parameter parking the predetermined track A degree of parking of track B deviation mainly includes two: the distance of actual vehicle position and predetermined track correspondence position of parking, and the vehicle body angle of the vehicle body angle of actual vehicle position and predetermined track A corresponding position of parking. Vehicle position at any one time includes two parameters at system coordinate system: coordinate position and vehicle body angle, certain original position P as shown in Figure 3t0(x0,y0), Pt0Ang. Vehicle parking travels a segment distance and retrodeviates and make a reservation for park the physical location of track A from system and vehicle body angle is Pt2(x2,y2),Pt2Ang, and system makes a reservation for park, position corresponding for track A and vehicle body angle are Pt1(x1,y1),Pt1Ang. System compares P in real timet2(x2,y2)And Pt1(x1,y1), ask for P with distance between two points formulat2And Pt1Between distance and offset distance X=| Pt2(X2,Y2)-Pt1(X1,Y1)|. Compare vehicle body angle and the misalignment angle Y=of two positions simultaneously | Pt2Ang-Pt1Ang|, when offset distance and misalignment angle are above given allowed band (offset distance threshold values PtZ1, misalignment angle threshold values PtZ2) time, system recalculates the new track C that parks; Offset distance threshold values PtZ1With misalignment angle threshold values PtZ2Two numerical value of person are set according to information of vehicles by those skilled in the art.
To select the right parking manoeuvres that vehicle traveling direction is benchmark:
A, assume that the right of vehicle traveling direction is through an available parking stall, and check the relevant parameter (position, parking stall, size, length, the degree of depth and shape) of the existence having arrived parking stall and parking stall;
B, determine vehicle starting position coordinates position and original position vehicle body angle;
C, parameter according to parking stall, automobile relative position, calculate vehicle predetermined park trajectory coordinates position and vehicle body angle;
D, calculate actual track position coordinate position and the vehicle body angle of parking of vehicle according to the real-time pulse number of wheel pulse enumerator, the real-time angular value of steering wheel and the travel direction information of vehicle;
E, compare actual track and the predetermined track difference of parking of parking of vehicle;
F, parking in process above-mentioned, if continuing to park on track predetermined in the position of automobile, continuations is travelled the final parking spot of arrival according to predetermined track of parking by vehicle;
G, park in process above-mentioned, if the position of automobile is not parked on track predetermined, so system is considered as automobile and deviate from predetermined track of parking, and according to the distance deviateed whether in error allowed band, it may be judged whether corresponding reasonably track correct will be made;
H, parking in process described in c, when gear changed by automobile time, in order to ensure safety and the precision parked, system can according to the position of automobile no on predetermined track of parking and current parking stall environment and barrier situation judge whether that needs recalculate and revise track.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (4)
1. a track correcting method of parking, it is characterised in that comprise the following steps:
S1, vehicle are with speed V detection through available parking stall, and the external sensing device of vehicle detects the parameter of parking stall; Wherein, V detection is the vehicle speed through parking stall;
S2, determine vehicle starting position coordinates Pt0 (X0, Y0) and original position vehicle body angle Pt0Ang;
S3, parameter according to parking stall, automobile relative position, calculate vehicle and make a reservation for park the vehicle body angle Pt1Ang of coordinate position Pt1 (X1, Y1) and the predetermined track A that parks of track A;
S4, calculate the vehicle body angle Pt2Ang of the coordinate position Pt2 (X2, Y2) and the actual track B that parks of the actual track B that parks of vehicle according to the real-time pulse number of wheel pulse enumerator, the real-time angular value of steering wheel and the travel direction information of vehicle;
S5, the difference X comparing actual track B and the predetermined track A that parks that parks of vehicle and Y, X=| Pt2 (X2, Y2)-Pt1 (X1, Y1) |, Y=| Pt2Ang-Pt1Ang |; If X<PtZ1, Y<PtZ2, then enter S6; If X>PtZ1, Y>PtZ2, then enter S7; Wherein, PtZ1 is offset distance threshold values, and PtZ2 is misalignment angle threshold values;
S6, vehicle continue to travel according to the predetermined track A that parks;
S7, vehicle recalculate the track C that parks made new advances; Vehicle arrives final parking spot according to the new track C that parks after correction.
2. track correcting method of parking according to claim 1, it is characterised in that in S1, < V detects MAX, and wherein, it is the maximal rate that vehicle performs parking stall detection function that V detects MAX in V detection.
3. track correcting method of parking according to claim 1, it is characterized in that, to dish, kinetic controlling equation is rotated such that vehicle is exercised along the predetermined track A that parks of vehicle, and the speed controlling steering wheel rotation not can exceed that tarnsition velocity Vmax, wherein, Vmax is hard-over speed.
4. track correcting method of parking according to claim 1, it is characterised in that described parking stall is parallel space or vertical parking stall or oblique parking stall.
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