CN106985908A - The full-automatic parking apparatus and method of a kind of electric wheel truck - Google Patents
The full-automatic parking apparatus and method of a kind of electric wheel truck Download PDFInfo
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- CN106985908A CN106985908A CN201710183928.1A CN201710183928A CN106985908A CN 106985908 A CN106985908 A CN 106985908A CN 201710183928 A CN201710183928 A CN 201710183928A CN 106985908 A CN106985908 A CN 106985908A
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- 239000000725 suspension Substances 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 19
- 239000010959 steel Substances 0.000 claims description 19
- 230000004888 barrier function Effects 0.000 claims description 13
- 238000005516 engineering process Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 241000153246 Anteros Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
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Classifications
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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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- 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
- B62D15/021—Determination of steering angle
-
- 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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/026—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation combined with automatic distance control, i.e. electronic tow bar
-
- 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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
Abstract
The invention discloses a kind of full-automatic parking apparatus of electric wheel truck, including：Wheel connects vehicle body using independent suspension；Wheel hub motor, it is arranged in wheel, for driving each wheel independently to rotate；Lock pin drive mechanism, it is selectively inserted or exited the lock pin of the center line through hole of rear axle steering drag link using lock pin motor, for locking or the turning function of unblock rear axle；Entire car controller, control lock pin motor works, receives each sensor signal and formulates parking strategy control wheel hub motor rotation according to signal.Originally algorithm automaticity of parking is higher, under the premise that security is guaranteed, reduces required space of parking, improves convenience；Also there is certain application prospect on orthodox car.
Description
Technical field
The present invention relates to automobile technical field.It is more particularly related to which a kind of be applied to 4 wheel driven wheel hub motor vapour
The full-automatic parking apparatus and method of car.
Background technology
With increasingly serious environmental pollution and the exhaustion of fossil energy, automobile certainly will go on the road of new energy.At present
Common electric automobile has by motor centralized driving, wheel motor driving and In-wheel motor driving.Wherein, wheel hub electricity
Motor, braking system, or even suspension, controller are integrated in inside wheel by the automobile of machine driving, greatly simplify automobile chassis knot
Structure, is in-car construction greater room, some orthodox car technologies, such as four-wheel drive, pivot stud, in In-wheel motor driving vapour
It all can easily be realized on car, greatly reduce technical difficulty.It can be said that In-wheel motor driving is the developing direction of new-energy automobile
One of with final form.
The technology that automatic parking technology is accompanied by the material requisite of consumer's raising and is born.In orthodox car
On, automatic parking technology utilizes the marks such as ultrasonic distance measuring radar, the first-class means obstruction detection of shooting, stop line；Utilize
Wheel speed sensors, steering wheel angle sensor etc. calculate vehicle-state；Recognizer, path rule with reference to developer's formulation
Calculate method etc., to realize automatic parking function that driver need to only intervene on a small quantity, reduce the requirement to driver's driving skills,
Improve comfortableness.Although this method is applied to volume production car, its shortcoming is fairly obvious：Only front-wheel is steering
Wheel, motor turning radius is big, causes the rigors for parking space；Similarly exist when vehicle is rolled away from from parking stall
So the problem of so that parking spacing is unable to very little, wastes the space resources in parking lot.And present park technology normally only
Steering is only controlled, and the control for speed is completed by driver, belongs to semiautomatic parking technology, however it remains lifting
Space.
The differential power-assisted steering technology according to disclosed in patent (publication number CN101289095A), can be achieved without using power-assisted electricity
In the case of machine, steering driving is carried out for wheel-hub motor driven vehicle, it is possible to greatly reduce and turn with reference to four-wheel steering technology
To radius.This patent intends realizing the full-automatic method of parking of electric wheel truck using technology disclosed in the patent.
The content of the invention
It is an object of the present invention to provide a kind of full-automatic parking apparatus of electric wheel truck, entire car controller utilizes differential power-assisted
Steering pattern, vehicle rear axle is unlocked by latch gear, being capable of independent steering when realizing trailing wheel automatic parking.
Parked method it is a still further object of the present invention to provide a kind of full-automatic level of electric wheel truck, vehicle is along first
Track, the straight path with the first trajectory tangential and the second track are travelled, and realize minor radius four-wheel independence automatic parking.
It is a still further object of the present invention to provide full-automatic vertical the park method, vehicle outside edge of a kind of electric wheel truck
Outer tracks, inner side are travelled along inner side track, realize minor radius four-wheel independence automatic parking.
In order to realize that there is provided a kind of full-automatic pool of electric wheel truck according to object of the present invention and further advantage
Car device, including：
Wheel, it uses independent suspension to connect vehicle body；
Wheel hub motor, it is arranged in the wheel, for driving each wheel independently to rotate；
Wherein, latch gear is laid on the rear axle of two trailing wheels, it includes：
Lock pin, it selectively inserts or exits the middle line three-way hole of rear axle steering drag link, for locking or unblock rear axle
Turning function；
Lock pin motor, it connects lock pin, for driving lock pin to selectively insert or exiting rear axle steering drag link
Middle line three-way hole；
Photoelectric sensor, it is arranged on the rear axle steering drag link, for detecting that rear axle is in locking or unblock shape
State；
Entire car controller, it connects photoelectric sensor and lock pin motor, and the entire car controller receives photoelectric sensing
The rear axle that device is sent is in locking or released state signal, and controls lock pin motor to work；
When vehicle carries out automatic parking, such as entire car controller receives rear axle locking state signal, and it controls lock pin driving
Motor works, rear axle unblock, trailing wheel independent steering.
Preferably, in addition to：
Electric machine controller, it connects wheel hub motor, for driving and controlling wheel hub motor, and gathers wheel hub motor speed letter
Number and output wheel speed；
Corner torque sensor, its closure disk, for detecting steering wheel angle and torque；
Rotary angle transmitter, it is separately mounted on the suspension of each wheel, the corner for detecting each wheel；
Brake pedal sensor, it connects brake pedal, the aperture for detecting pedal；
Multiple range radars, it is laid in the surrounding of car, the obstacle distance for detecting vehicle and vehicle's surroundings；
Camera, it is laid in the surrounding of car, the image for collecting vehicle surrounding；
Image processing module, it connects camera, for receiving the image of camera and generating panoramic picture；
Vehicle-mounted touching display screen, it connects image processing module, for showing panoramic picture and inputting park mode；
CAN, it connects electric machine controller, corner torque sensor, brake pedal sensor and rotary angle transmitter, institute
State the corner letter that CAN is used to and transmitted receive wheel speed signal, corner and dtc signal, pedal opening signal and each wheel
Number；
Wherein, entire car controller connection range radar and vehicle-mounted touching display screen, for receiving obstacle distance and parking
Pattern；
Wherein, the entire car controller is also connected with CAN, and it receives pedal opening signal, is not trampled when pedal is in
State, the entire car controller is parked according to the generation of the angular signal of the wheel speed signal of reception, corner, dtc signal and each wheel
Control instruction, is transmitted to electric machine controller, control wheel hub motor carries out automatic parking by the CAN control instruction that will park.
Preferably, in addition to position-limit mechanism, it includes：
Stopper slot, it is two semi-spherical grooves being symmetrically laid on rear axle steering drag link；
Steel ball, it can slide into stopper slot along track rod, and the steel ball coordinates with the stopper slot limits rear axle turn
To angle；
Spring base, its one end is fixed on rear axle, and the other end is slidably connected the steel ball, for supporting the steel ball along horizontal
Pull bar is slided；
Spring, it is laid in inside spring base, and two ends are separately fixed on steel ball and rear axle, for connecting steel ball and spring
Seat.
The purpose of the present invention also parks method to realize by a kind of full-automatic level of electric wheel truck, including：
Judge whether parking space meets the condition of parking；
Vehicle is adjusted to initial parking place；
Wheel deflects to extreme position, and vehicle outside front-wheel is moved backward along radius for r the first track；
When vehicle to first position point, along straight line car-backing, the straight line and the first trajectory tangential；
When vehicle to second place point, vehicle interior side front-wheel is moved backward along radius for r the second track, until vehicle enters
Parking space；Wherein, second track and the straight line are tangent；And
The center of circle of first track determines according to Ackermann steering law and is arranged on the inner side of the vehicle；Described
The center of circle of two tracks is arranged on the outside of the vehicle；
The first position is that the rear end of vehicle outside and the air line distance of parking space are less than 1m；
The second place enters parking space for the trailing wheel of vehicle outside and is equal to 20cm with parking space air line distance；
When meeting berthing conditions, completion of parking；It is such as no, vehicle is finely adjusted until meeting berthing conditions.
Preferably, the condition of parking is：Clear in parking space；The air line distance of barrier and parking space
More than 20 centimeters；The length of the parking space is not less than 20cm compared with the length of vehicle, and its width is not less than compared with the width of vehicle
20cm；
The initial parking place is：The vehicle is parallel with the length of parking space；Along the length direction of vehicle, the tailstock
It is Xm apart from the distance of parking space；Along the width of vehicle, the minimum distance of the vehicle and parking space is 40cm.
Preferably, the radius r is：
And
Wherein, L is the wheelbase of vehicle；A is the wheelspan of vehicle；B is rear overhang length；αbThe deflection angle of outside front-wheel；α is
The deflection angle of outside front wheels and rear wheels plus and.
Preferably, the ratio between front and rear wheel steering angle of the extreme position is 6：1, and front and rear wheel steering direction is opposite.
The purpose of the present invention also realized by a kind of full-automatic vertical method of parking of electric wheel truck, including：
Judge whether parking space meets the condition of parking；
Vehicle is adjusted to initial parking place；
Wheel deflects to extreme position, determines the center of circle according to Ackermann steering law and is arranged on vehicle interior side；
Vehicle outside rear end corner is r along radius1Outer tracks reversing；Meanwhile, vehicle interior side is r along radius2Inner side
Track is moved backward, until vehicle is parallel with parking space；
When meeting berthing conditions, completion of parking；It is such as no, vehicle is finely adjusted until meeting berthing conditions.
Preferably, the condition of parking is：Clear in parking space；The air line distance of barrier and parking space
More than 20 centimeters；The length of the parking space is not less than 20cm compared with the length of vehicle, and its width is not less than compared with the width of vehicle
20cm；
Initially parking place is：The automobile body is vertical with parking space；Along the length direction of vehicle, on the inside of the tailstock with
The vertical range of parking space is 1.8+Ym；Along the width of vehicle, the vertical range of the vehicle tail and parking space
For 60cm.
Preferably, the r1Meet：
The r2Meet：
Wherein, L is the wheelbase of vehicle；A is the wheelspan of vehicle；B is rear overhang length；N is the width of parking space；Limit position
The ratio between front and rear wheel steering angle put is 6：1, and front and rear wheel steering direction is opposite.
The present invention at least includes following beneficial effect：1st, the Differential Driving torque produced with In-wheel motor driving is as automobile
Steering moment generating source, compared to orthodox car automatic parking technology, with complete vehicle structure is simple, radius of turn is small, to parking stall
Size require low, vehicle lightweight significantly, the advantages of worked without steering assist motor；2nd, vehicle parks entirely in method of parking
Cheng Bubi relies on driver, and vehicle is run at a low speed according to default speed, after the completion of parking, vehicle automatic parking.If driver
Adapter vehicle is needed in way of parking, can be with automatic brake adapter vehicle.Originally algorithm automaticity of parking is higher, is ensureing peace
On the premise of complete, convenience is improved；3rd, method of parking uses In-wheel motor driving automobile, can accurately control each wheel
Driving torque, so (vehicle for being such as equipped with automatically controlled limited-slip differential) is same on the orthodox car that can control each wheel torque
Sample has application prospect.This automatic parking principle can also be applied to roll function away from automatically.
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the annexation figure of the full-automatic parking apparatus of the electric wheel truck of the present invention.
Fig. 2 is the structure chart of the latch gear of the full-automatic parking apparatus of the electric wheel truck of the present invention.
Fig. 3 is the range radar and the layout drawing of camera of the full-automatic parking apparatus of the electric wheel truck of the present invention.
Fig. 4 is the flow chart of the full-automatic method of parking of the electric wheel truck of the present invention.
Fig. 5 be the electric wheel truck of the present invention full-automatic method of parking in the schematic diagram parked of right side level.
Fig. 6 be the electric wheel truck of the present invention full-automatic method of parking in the schematic diagram parked of right side level.
Fig. 7 be the electric wheel truck of the present invention full-automatic method of parking in the schematic diagram parked of right side level.
Fig. 8 be the electric wheel truck of the present invention full-automatic method of parking in the schematic diagram parked of Right vertical.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or many
The presence or addition of individual other elements or its combination.
The invention discloses a kind of full-automatic parking apparatus of electric wheel truck, as Figure 1-3, including front steering device
110th, wheel hub motor 120, electric machine controller 130, sensor group 140, shooting and processing mechanism 150, vehicle-mounted touching display screen
160th, CAN 170, entire car controller 180.
Electric wheel truck includes four wheels, and each wheel connects vehicle body using independent suspension；Vehicle possesses four-wheel steering
Function, i.e., arrange Ackerman steering gear, front axle sets front steering device 110, differential in order to make full use of in vehicle axle
Power-assisted steering, rear axle does not set and is connected in the middle part of steering gear, left and right turn pull bar；
Wheel hub motor 120 is arranged in the wheel, is independently rotated for driving moment；Each wheel hub motor 120 and its
Corresponding electric machine controller 130 is electrically connected, and electric machine controller provides the electric machine controller in drive signal, this programme for motor
130 are used to driving and controlling each wheel hub motor, and have collection motor speed signal concurrently, calculate the function of wheel speed.
Tach signal n is returned to electric machine controller 130 by wheel hub motor 120, and electric machine controller 130 is according to wheel speed reducing ratio
I calculates the wheel speed information of each wheel, vehicle wheel rotational speed nWheelCalculation formula is：
If vehicle wheel roll radius is r, then corresponding wheel horizontal velocity v：
V=2 π rn (2)
Run at a low speed because during parking, vehicle belongs to, vehicle speed is flat using the horizontal velocity of four wheels
Average estimated, i.e. vehicle speed vAlways：
Wherein, vflFor the horizontal velocity of vehicle the near front wheel；vfrFor the horizontal velocity of vehicle off-front wheel；vblIt is left back for vehicle
The horizontal velocity of wheel；vbrThere is the horizontal velocity of trailing wheel for vehicle.The each wheel of vehicle uses compact independent suspension and vehicle body
Connect (such as MacPherson strut), limited with reducing suspension to greatest extent for the angle of wheel steering.
Sensor group 140 includes corner torque sensor 141, rotary angle transmitter 142, brake pedal sensor 143, ranging
Radar 144.The closure disk of corner torque sensor 141, for detecting steering wheel angle and torque；142 points of rotary angle transmitter
An Zhuan not be on the suspension of each wheel, the corner for detecting each wheel；The braking of the connection vehicle of brake pedal sensor 143 is stepped on
Plate, the aperture for detecting pedal, its output sensor signal 1 and 0, when brake pedal is stepped on, output sensor signal 1, when
Brake pedal is not stepped on, its output sensor signal 0.Multiple range radars 144 are laid in the surrounding of car, and Fig. 3 shows a kind of survey
Laying mode away from radar 144, ten ultrasonic distance measuring radars for being installed on vehicle's surroundings are connected with entire car controller 180, use
In detection vehicle and periphery obstacle distance, wherein, it is evenly arranged at front bumper at 3 radars, rear bumper and is evenly arranged 3
Individual radar, direction is arranged symmetrically each 2 radars longitudinally along the vehicle for left and right, and the two radar spacing in side cannot be less than 1 meter, can
The obstacle distance of accurate detection vehicle and vehicle's surroundings.
Shooting and processing mechanism 150 include camera 151 and image processing module 152, and camera 151 is laid in the four of car
Week, the image for collecting vehicle surrounding；Fig. 3 shows a kind of laying mode of camera 151.Image processing module 152, for inciting somebody to action
The image information that camera is transmitted is synthesized, and generation panoramic picture is sent to vehicle-mounted touching display screen 160 and shown.
Vehicle-mounted touching display screen 160 connects image processing module 152, and the state of parking of vehicle can be shown in real time, is easy to
Driver's environment of observation situation and when necessary adapter vehicle；Vehicle-mounted touching display screen 160 also with the electric phase of entire car controller 180
Even, before beginning of parking, the parking stall situation that driver can arrive according to the observation independently selects vertical park mode or level to park
Pattern.
The connection of CAN 170 electric machine controller 130, sensor group 140.What electric machine controller 130 was calculated according to speed reducing ratio
Wheel speed signal is output in CAN；Corner torque sensor 141, utilizes the steering wheel angle α measuredDisk, and vehicle turn
To system angular gear ratio iω, front wheel angle α can be calculatedBefore=αDisk/iω；Rotary angle transmitter 142 detects the corner of trailing wheel.CAN is total
Line 170 connects brake pedal sensor 143, and it receives sensor signal 1 and 0, that is, detects whether driver needs adapter vehicle；
When brake pedal is stepped on, output sensor signal 1, i.e. driver's adapter vehicle stop automatic parking；When brake pedal is not stepped on
Under, its output sensor signal 0, i.e. driver not adapter vehicle start or continue to carry out automatic parking.CAN 160 can
Transmit the angular signal of wheel speed signal, corner and dtc signal, pedal opening signal and each wheel.
The connection of entire car controller 180 shooting and processing mechanism 150 and vehicle-mounted touching display screen 160, for receiving barrier
Distance and park mode.The entire car controller 180 is also connected with CAN 170, and it receives the signal that CAN 170 is transmitted,
Transmitted by the CAN control instruction that will park to electric machine controller 130, control wheel hub motor 120 carries out automatic parking.
In another embodiment, automatic parking device of the invention also includes latch gear 190, as shown in Fig. 2 lock pin machine
Structure 190 includes position-limit mechanism 194, and latch gear 190 is arranged on the track rod of vehicle rear axle, for locking rear-axle steering
Drag link；As shown in Fig. 2 position-limit mechanism 194 includes：Including spring base 194a, spring 194b and steel ball 194c, stopper slot for pair
Claim two semi-spherical grooves being laid on rear axle steering drag link, to limit rear axle hard-over；Steel ball 194c can be along steering
Drag link slides into stopper slot, and the steel ball 194c coordinates with the stopper slot limits rear axle steering angle；Spring base 194a mono-
End is fixed on rear axle, and the other end is slidably connected the steel ball 194c, for supporting the steel ball 194c to be slided along drag link；Bullet
Spring 194b is laid in inside spring base 194a, and two ends are separately fixed on steel ball 194c and rear axle, for connect steel ball 194c and
Spring base 194a.The entire car controller 180 connects latch gear 190, when vehicle is in automatic parking state, entire car controller
180 control latch gears 190 are to rear-axle steering drag link without locking, and trailing wheel being capable of independent steering.
In another embodiment, latch gear 190 also includes lock pin 191, lock pin motor 192, photoelectric sensor
193, lock pin 191 selectively inserts or exited the middle line three-way hole of rear axle steering drag link, the turning function for locking rear axle；Lock
The connection lock pin 191 of motor 192 is sold, for driving lock pin 191 to selectively insert or exit the center line of rear axle steering drag link
Through hole；Photoelectric sensor 193 be arranged on the rear axle steering drag link on, for detect lock pin 191 whether locking rear axle.Rear
The designed latch gear 190 of axle steer pull bar midline position, for the locking rear axle in the case of without using rear axle steering, its
One photoelectric sensor 193 is set, and for detecting the state of lock pin 191, photoelectric sensor 193 has break-make two states, correspondence
Lock pin is non-locked and locking state.Latch gear 190 can prevent that rear axle is shimmy when its straight line from travelling, or due to left and right road surface
Attachment coefficient is different and causes running out the way.
During parking, entire car controller 180 is according to steering wheel angle torque sensor 141, rotary angle transmitter 142, electricity
The wheel speed signal and range radar 144 that machine controller 130 is transmitted transmit with obstacle distance signal and 'STOP' line ahead
Signal, calculates vehicle running state in real time, contrasts foregoing vehicle speed vAlwaysIt is whether identical with target vehicle speed, and to each drive of vehicle
Driving wheel driving torque is adjusted, and to change Vehicular turn angle, corrects driving trace；Image processing module 152 in real time will shooting
First 151 images transmitted are synthesized, and generation vehicle's surroundings panoramic picture is sent to touching display screen 160, is easy to driver to see
Examine.If driver thinks to need artificial adapter vehicle, brake pedal can be stepped at any time during parking and be braked, it is now whole
Vehicle controller 180 is detected by brake pedal position sensor 143 and artificially tramples brake pedal, then automatically exits from automatic parking
Pattern.
It is last that, it is necessary to check effect of parking, entire car controller 180 continues to read the range information that range radar 144 is transmitted,
Check vehicle whether with parking stall line less parallel, and left and right vehicle wheel apart from parking stall linear distance be all higher than 20cm, vehicle before and after away from
It is more than 30cm from nearest obstacle distance.If being unsatisfactory for conditions above, entire car controller 180 continues to repeat above-mentioned calculating turn
Square, generation motor control instruction process, fine setting vehicle location is until meet all conditions above.Then entire car controller 180 is sent out
Send instruction to four-wheel electric machine controller 130, left and right wheelses is produced driving torque in opposite direction, make steering using differential torque
Disk is returned just；The detection steering wheel angle of entire car controller 180 torque sensor 141 and rotary angle transmitter 142, treat that antero posterior axis is returned just
Afterwards, entire car controller 180 sends instruction control rear axle locking wheel hub motor 120, and rear axle is locked.Entire car controller 180 is sent
Prompting points out driver to park completion to touching display screen 160.So far, the process of parking terminates.
Parked control algolithm built in entire car controller 180 in the present invention, entire car controller be used to handling with barrier away from
Motor control instruction is concurrently sent from information, the driving torque for calculating each wheel hub motor, according to wheel speed signal and steering-wheel torque
Angular signal calculates opening and closing of vehicle attitude, control radar and camera etc., and the controller is articulated in vehicle-mounted CAN bus.Fig. 4
A kind of way of realization of control algolithm of being parked according to built in the present invention is shown, is comprised the following steps：
Step 1, selection park mode, park mode include horizontal park mode and vertical park mode；
Step 2, judge whether parking space meets the condition of parking.
The condition of parking is clear in parking space；It is public that the air line distance of barrier and parking space is more than 20
Point；The length of the parking space is not less than 20cm compared with the length of vehicle, and its width is not less than 20cm compared with the width of vehicle.
Step 3, vehicle are adjusted to the initial parking place of selected park mode.
Step 4, vehicle are parked according to the track of parking of selected park mode；
Step 5, when parking place meets berthing conditions, completion of parking；It is such as no, vehicle is finely adjusted until meeting and berthed
Condition.
Fig. 5-7 shows the flow of the horizontal park mode in right side, specific as follows：
Step 1, driver press button of parking, and select the horizontal park mode in right side.
Step 2, vehicle read environmental information by being distributed in the camera and range radar of corner, recognize ground parking line
And vehicle and surrounding obstacle distance, judge in parking stall and surrounding barrier situation.If truck spaces are more than vehicle dimension and four
Week more than 20cm all bigger than vehicle dimension, and the barrier nearest apart from parking stall line all has more than 20 centimeters surpluses, and parking stall
Interior clear stops, then it is assumed that vehicle can moor into.
Step 3：The initial parking place of the horizontal park mode is：The vehicle is parallel with the length of parking space；
Along the length direction of vehicle, the tailstock is Xm apart from the distance of parking space；Along the width of vehicle, the vehicle and sky of parking
Between minimum distance be 40cm；Parking prepares into position.Start after parking, entire car controller first checks for rear axle locking state, read
Back axle lock pin position signalling is taken, if rear axle is in locking state, it is necessary to first unlock rear axle.
Step 4, steering wheel beat to limit on the right-right-hand limit position (the ratio between front and rear wheel steering angle be 6：1, and front and rear wheel steering direction phase
Instead), calculate the differential torque required when steering front wheel to be gone to limit on the right-right-hand limit position and required trailing wheel corner under differential turn
Square.This torque and speed are asked after algebraical sum for the drive wheel torque needed under 3kph, turned as the target of four wheels
Square.Entire car controller generates motor control instruction according to target torque and exported to electric machine controller, by motor controller controls four
Individual wheel hub motor is parked.Specific process of parking is as follows：
Rear vehicle end is less than 1m away from linear distance on the left of parking stall, and steering wheel is returned just；Treat that left rear wheel enters in stop line and and side
When linear distance is more than 20cm, steering wheel is beaten to limit on the left position, and the ratio between front and rear wheel steering angle is 6：1, and front and rear wheel steering side
To opposite；Treat that the left back end points of vehicle is less than 15cm with linear distance on rear side of parking stall, vehicle is braked.
Track of parking is：
As shown in figure 5, vehicle outside front-wheel is moved backward along radius for r the first track, vehicle row is to first position, described the
The center of circle of one track determines according to Ackermann steering law and is arranged on the inner side of the vehicle；The first position is outside vehicle
The rear end of side and the air line distance of parking space are less than 1m；
According to Ackermann steering law, the intersection point of the perpendicular bisector of two outboard wheels is done, its intersection point is in the steering of vehicle
The heart, two vertical line angles are set to α,
α=αf+αb (4)
Wherein, α for outside front wheels and rear wheels deflection angle plus and, unit for degree；αfFor the deflection angle of outside rear wheel
Degree；αbThe deflection angle of outside front-wheel；
According to sine, vehicle outside front-wheel is r along radius, is met：
To avoid automobile rear during parking from scratching barrier, it should check：Due to trailing wheel corner very little (being less than 5 °),
Approximate Vehicular turn center is on rear axle line, and vehicle outside front-wheel is that r should be met along radius：
Wherein, L is the wheelbase of vehicle, unit cm；A is the wheelspan of vehicle, unit cm；B is rear overhang length.Unit cm；αb
The deflection angle of outside front-wheel；α for outside front wheels and rear wheels deflection angle plus and.Wherein X is adjustment amount, is initially 0, if
Formula (3) is unsatisfactory for, then vehicle is drawn back certain distance X under vehicle control unit controls, untill meeting above formula, then is carried out
Park process, meet vehicle body when this formula can meet parking and be more than 15cm apart from the minimum range of parking stall line.
As shown in fig. 6, when vehicle is to first position point K1, along straight line car-backing, the straight line and the first trajectory tangential, directly
To vehicle row to the second place, the second place for the trailing wheel of vehicle outside enter parking space and with parking space straight line away from
From equal to 20cm.
As shown in fig. 7, when vehicle is to second place point K2, vehicle interior side front-wheel is moved backward along radius for r the second track,
Until vehicle enters parking space；Wherein, second track and the straight line are tangent；And the center of circle of second track is set
Put in the outside of the vehicle；
Step 5, detection vehicle whether with parking stall line less parallel, and left and right vehicle wheel is all higher than apart from parking stall linear distance
The nearest obstacle distance of 20cm, vehicle longitudinal separation is more than 30cm；If being unsatisfactory for conditions above, each wheel hub electricity is controlled
Machine, is finely adjusted for vehicle, until meeting after above-mentioned all conditions, and entire car controller sends instructions to electric machine controller, system
Motor-car；After vehicle comes to a complete stop, prompting is sent to touching display screen, driver's adapter vehicle is pointed out.So far, process of parking knot
Beam.
During above-mentioned park, vehicle is with the approximately parallel index of parking stall line, two radars of any same side
The difference that it is detected apart from stop line or the distance of barrier is less than 10cm.
Wherein, the outside in this explanation is defined as：Side of the vehicle away from parking space, inner side is vehicle close to sky of parking
Between side.
Fig. 8 shows the flow of Right vertical park mode, is specially：
Step 1, driver press button of parking, and select Right vertical park mode.
Step 2, vehicle read environmental information by being distributed in the camera and range radar of corner, recognize ground parking line
And vehicle and surrounding obstacle distance, judge in parking stall and surrounding barrier situation.If truck spaces are more than vehicle dimension and four
Week more than 20cm all bigger than vehicle dimension, and the barrier nearest apart from parking stall line all has more than 20 centimeters surpluses, and parking stall
Interior clear stops, then it is assumed that vehicle can moor into.
If step 3, parking stall can be moored into vehicle drives to the initial parking place of vertical park mode, initially parks
Position is met：Automobile body is vertical with parking space；Along the length direction of vehicle, tailstock inner side and the vertical range of parking space
For 1.8+Ym；Along the width of vehicle, the vertical range of the vehicle tail and parking space is 60cm.Parking prepares pool
Car.
Step 4, steering wheel are beaten to limit on the right-right-hand limit position, and vehicle is with 3kph speed reverse travel.When detecting vehicle with stopping
During the less parallel of parking stall, just all wheels are returned.Vehicle enters position along straight line car-backing, treats rear vehicle end apart from parking stall rear end distance about
During 30cm, abrupt deceleration vehicle.
Track of parking is：
Wheel deflects limit on the right-right-hand limit position, and the ratio between front and rear wheel steering angle is 6：1, and front and rear wheel steering direction on the contrary, according to
Ackermann steering law determines the center of circle and is arranged on vehicle interior side；
Vehicle outside rear end corner is r along radius1Outer tracks reversing；Meanwhile, vehicle interior side is r along radius2Inner side
Track is moved backward, until vehicle is parallel with parking space；
The r1Meet：
The r2Meet：
Wherein, n is the width of parking space.
Step 5, finally detection vehicle whether still with parking stall less parallel, and vehicle distances or so parking stall linear distance is all higher than
20cm, the nearest obstacle distance of vehicle longitudinal separation are all higher than 30cm.If being unsatisfactory for above-mentioned condition, control wheel hub motor is to car
It is finely adjusted.Until meeting after above-mentioned all conditions, abrupt deceleration vehicle simultaneously sends prompting to display screen, points out driver's adapter car
.So far, the process of parking terminates.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With.It can be applied to various suitable the field of the invention completely., can be easily for those skilled in the art
Realize other modification.Therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is not limited
In specific details and shown here as the legend with description.
Claims (10)
1. a kind of full-automatic parking apparatus of electric wheel truck, it is characterised in that including：
Wheel, it uses independent suspension to connect vehicle body；
Wheel hub motor, it is arranged in the wheel, for driving each wheel independently to rotate；
Wherein, latch gear is laid on rear axle, it includes：
Lock pin, it selectively inserts or exited the middle line three-way hole of rear axle steering drag link, the steering for locking or unblock rear axle
Function；
Lock pin motor, it connects lock pin, for driving lock pin to selectively insert or exiting the center line of rear axle steering drag link
Through hole；
Photoelectric sensor, it is arranged on the rear axle steering drag link, for detecting that rear axle is in locking or released state；
Entire car controller, it connects photoelectric sensor and lock pin motor, and the entire car controller receives photoelectric sensor hair
The rear axle sent is in locking or released state signal, and controls lock pin motor to work；
When vehicle carries out automatic parking, such as entire car controller receives rear axle locking state signal, and it controls lock pin motor
Work, rear axle unblock, trailing wheel independent steering.
2. the full-automatic parking apparatus of electric wheel truck as claimed in claim 1, it is characterised in that also include：
Electric machine controller, it connects wheel hub motor, for driving and controlling wheel hub motor, and gather wheel hub motor speed signal and
Export wheel speed；
Corner torque sensor, its closure disk, for detecting steering wheel angle and torque；
Rotary angle transmitter, it is separately mounted on the suspension of each wheel, the corner for detecting each wheel；
Brake pedal sensor, it connects brake pedal, the aperture for detecting pedal；
Multiple range radars, it is laid in the surrounding of car, the obstacle distance for detecting vehicle and vehicle's surroundings；
Camera, it is laid in the surrounding of car, the image for collecting vehicle surrounding；
Image processing module, it connects camera, for receiving the image of camera and generating panoramic picture；
Vehicle-mounted touching display screen, it connects image processing module, for showing panoramic picture and inputting park mode；
CAN, it connects electric machine controller, corner torque sensor, brake pedal sensor and rotary angle transmitter, described
CAN is used for and transmitted the angular signal of wheel speed signal, corner and dtc signal, pedal opening signal and each wheel；
Wherein, entire car controller connection range radar and vehicle-mounted touching display screen, for receiving obstacle distance and park mode；
Wherein, the entire car controller is also connected with CAN, and it receives pedal opening signal, and state is not trampled when pedal is in,
The entire car controller generates control of parking according to the angular signal of the wheel speed signal of reception, corner, dtc signal and each wheel
Instruction, is transmitted to electric machine controller, control wheel hub motor carries out automatic parking by the CAN control instruction that will park.
3. the full-automatic parking apparatus of electric wheel truck as claimed in claim 2, it is characterised in that also including position-limit mechanism,
It includes：
Stopper slot, it is two semi-spherical grooves being symmetrically laid on rear axle steering drag link；
Steel ball, it can slide into stopper slot along track rod, and the steel ball coordinates with the stopper slot limits rear axle steering angle
Degree；
Spring base, its one end is fixed on rear axle, and the other end is slidably connected the steel ball, for supporting the steel ball along drag link
Slide；
Spring, it is laid in inside spring base, and two ends are separately fixed on steel ball and rear axle, for connecting steel ball and spring base.
The method 4. a kind of full-automatic level of electric wheel truck is parked, using electronic as any one of claim 1-3
Take turns the full-automatic parking apparatus of automobile, it is characterised in that including：
Judge whether parking space meets the condition of parking；
Vehicle is adjusted to initial parking place；
Wheel deflects to extreme position, and vehicle outside front-wheel is moved backward along radius for r the first track；
When vehicle to first position point, along straight line car-backing, the straight line and the first trajectory tangential；
When vehicle to second place point, vehicle interior side front-wheel is moved backward along radius for r the second track, is parked until vehicle enters
Space；Wherein, second track and the straight line are tangent；And
The center of circle of first track determines according to Ackermann steering law and is arranged on the inner side of the vehicle；Second rail
The center of circle of mark is arranged on the outside of the vehicle；
The first position is that the rear end of vehicle outside and the air line distance of parking space are less than 1m；
The second place enters parking space for the trailing wheel of vehicle outside and is equal to 20cm with parking space air line distance；
When meeting berthing conditions, completion of parking；It is such as no, vehicle is finely adjusted until meeting berthing conditions.
The method 5. the full-automatic level of electric wheel truck as claimed in claim 4 is parked, it is characterised in that the condition of parking
For：Clear in parking space；The air line distance of barrier and parking space is more than 20 centimeters；The length of the parking space
Length compared with vehicle is not less than 20cm, and its width is not less than 20cm compared with the width of vehicle；
The initial parking place is：The vehicle is parallel with the length of parking space；Along the length direction of vehicle, tailstock distance
The distance of parking space is Xm；Along the width of vehicle, the minimum distance of the vehicle and parking space is 40cm.
The method 6. the full-automatic level of the electric wheel truck as described in claim 4 or 5 is parked, it is characterised in that the radius r
For：
And
Wherein, L is the wheelbase of vehicle；A is the wheelspan of vehicle；B is rear overhang length；αbThe deflection angle of outside front-wheel；α is outside
The deflection angle of front wheels and rear wheels plus and.
The method 7. the full-automatic level of electric wheel truck as claimed in claim 6 is parked, it is characterised in that the extreme position
The ratio between front and rear wheel steering angle be 6：1, and front and rear wheel steering direction is opposite.
8. a kind of full-automatic vertical method of parking of electric wheel truck, using electronic as any one of claim 1-3
Take turns the full-automatic parking apparatus of automobile, it is characterised in that including：
Judge whether parking space meets the condition of parking；
Vehicle is adjusted to initial parking place；
Wheel deflects to extreme position, determines the center of circle according to Ackermann steering law and is arranged on vehicle interior side；
Vehicle outside rear end corner is r along radius1Outer tracks reversing；Meanwhile, vehicle interior side is r along radius2Inner side track
Reversing, until vehicle is parallel with parking space；
When meeting berthing conditions, completion of parking；It is such as no, vehicle is finely adjusted until meeting berthing conditions.
9. the full-automatic vertical method of parking of electric wheel truck as claimed in claim 8, it is characterised in that the condition of parking
For：Clear in parking space；The air line distance of barrier and parking space is more than 20 centimeters；The length of the parking space
Length compared with vehicle is not less than 20cm, and its width is not less than 20cm compared with the width of vehicle；
Initially parking place is：The automobile body is vertical with parking space；Along the length direction of vehicle, tailstock inner side is with parking
The vertical range in space is 1.8+Y m；Along the width of vehicle, the vertical range of the vehicle tail and parking space is
60cm。
10. the full-automatic vertical method of parking of electric wheel truck as claimed in claim 9, it is characterised in that the r1Meet：
The r2Meet：
Wherein, L is the wheelbase of vehicle；A is the wheelspan of vehicle；B is rear overhang length；N is the width of parking space；Extreme position
The ratio between front and rear wheel steering angle is 6：1, and front and rear wheel steering direction is opposite.
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|---|---|---|---|
| CN201710183928.1A CN106985908B (en) | 2017-03-24 | 2017-03-24 | A kind of full-automatic parking apparatus and method of electric wheel truck |
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| CN110466602A (en) * | 2019-08-29 | 2019-11-19 | 南京林业大学 | The timesharing four-wheel steering system and its control method of hub motor driven electric vehicle |
| WO2020013053A1 (en) * | 2018-07-12 | 2020-01-16 | 日立オートモティブシステムズ株式会社 | Steering control device, steering control method, and steering control system |
| CN113525357A (en) * | 2021-08-25 | 2021-10-22 | 吉林大学 | Automatic parking decision model optimization system and method |
| CN114274948A (en) * | 2021-12-15 | 2022-04-05 | 武汉光庭信息技术股份有限公司 | Automatic parking method and device based on 360-degree panorama |
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| CN110466602B (en) * | 2019-08-29 | 2023-10-10 | 南京林业大学 | Time-sharing four-wheel steering system of electric automobile driven by hub motor and control method thereof |
| CN113525357A (en) * | 2021-08-25 | 2021-10-22 | 吉林大学 | Automatic parking decision model optimization system and method |
| CN113525357B (en) * | 2021-08-25 | 2022-12-09 | 吉林大学 | Automatic parking decision model optimization system and method |
| CN114274948A (en) * | 2021-12-15 | 2022-04-05 | 武汉光庭信息技术股份有限公司 | Automatic parking method and device based on 360-degree panorama |
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