CN106988590A - An intelligent parking space with auxiliary parking function and its control method - Google Patents

Abstract

The invention discloses an intelligent parking space with an auxiliary parking function and a control method thereof.A wireless communication unit receives speed information, engine rotating speed information and gear information of a vehicle and transmits the information to a control unit; the detection mechanism detects the left distance and the right distance of the axle on the transverse moving module and transmits distance information to the control unit; the control unit controls the detection mechanism to be opened or closed according to the vehicle speed information, the engine rotating speed information and the gear information, the control unit controls the execution mechanism to work according to the vehicle speed information and the distance information in the process that a driver drives the vehicle to back up and put in storage, the transverse moving module of the execution mechanism is used for carrying out real-time transverse adjustment on the position of the vehicle in motion, the middle point of the front shaft and the middle point of the rear shaft of the vehicle are always located in the middle position of the parking space, the fatigue of the driver is reduced, the probability that the driver finishes parking the vehicle in the parking space through one-time back up is improved, and finally the vehicle is accurately parked in the.

Description

An intelligent parking space with auxiliary parking function and its control method

technical field

The invention belongs to the technical field of intelligent transportation, and specifically relates to an intelligent parking space with an auxiliary parking function and a control method thereof.

Background technique

As one of the assessment items of motor vehicle driver's license, backing into the garage is an essential skill for every driver, and it is also the most widely used parking method in daily life. However, the driving level of drivers is uneven, and many drivers are unable to accurately control the trajectory of the vehicle. The distance between the vehicle and the obstacle and the space limitation cannot be accurately judged. When the driver reverses into the garage, the vehicle will inevitably deviate from the driver's ideal trajectory, so that the driver cannot directly park the vehicle in the parking space through one reverse. Even if some experienced drivers can park the vehicle in the parking space at one time, it may be inconvenient for the passengers to get on and off the car because the vehicle deviates from the middle position of the parking space. Under these circumstances, the driver needs to make the vehicle move forward for a certain distance, then reverse the vehicle again, or even repeat the above operations several times to adjust the parking position of the vehicle, which will not only increase the wear of the tires, shorten the service life of the vehicle, and increase the fuel consumption and emission pollution, and may cause road congestion, and even cause accidents due to driver tension and anxiety. The existing technology realizes the assistance to the driver through the automatic parking function of the vehicle, but the automatic parking function is mainly used for lateral parking, and it is difficult to realize vertical parking such as reversing into the garage. The deviation of the parking position when the vehicle is parked will still cause difficulty in parking the vehicle with the automatic parking function and cause inconvenience to the occupants.

Contents of the invention

The purpose of the present invention is to assist the driver when reversing into the garage, and enable the driver to accurately park the vehicle in the middle of the parking space, and provide a smart parking space with an auxiliary parking function and its control method. During the warehousing process, the lateral movement module is used to adjust the position of the moving vehicle laterally in real time, so that the midpoint of the front and rear axles of the vehicle is always in the middle of the parking space, thereby reducing driver fatigue and improving the driver's ability to pass once. The probability of reversing to complete the parking space of the vehicle, and finally make the vehicle park accurately in the middle of the parking space.

The technical solution of the present invention is to adopt an intelligent parking space with an auxiliary parking function, which mainly includes: an executive mechanism, a detection mechanism, a wireless communication unit and a control unit;

The actuator includes a first traversing module and a second traversing module; the first traversing module and the second traversing module have the same structure and the same size, and are used to laterally adjust the position of the axle on the traversing module Adjust so that the midpoint of the axle is in the middle of the parking space; the traversing module includes a housing, a base, a motor, a first pulley, a coupling, a second pulley, a third pulley, and a fourth belt wheel, a fifth pulley, a transmission belt, and a drum; the motor drives the traverse module to move according to the motor control command; the first pulley is connected to the rotating shaft of the motor through the coupling, and serves as a driving wheel drive the transmission belt to move; the surface of the first pulley has patterns to increase the friction with the transmission belt; the motor is fixedly installed on the base; the first pulley passes through The bearing is rotatably connected to the base; one side of the pedestal is rotatably connected to the housing, and the rotating shaft of the pedestal is parallel to the axis of the first pulley; the other side of the pedestal is connected by bolts and the spring in the compressed state exerts downward pressure on it and limits its upper limit position to realize the tensioning of the transmission belt; the structure of the second pulley, the third pulley, the fourth pulley and the fifth pulley The same size is equal; the second pulley, the third pulley, the fourth pulley and the fifth pulley are all rotatably connected with the housing through bearings; the second pulley, the third pulley, the fourth pulley The axes of the pulley and the fifth pulley are parallel to the axis of the first pulley; the second pulley and the third pulley are used to increase the contact between the transmission belt and the first pulley Area; the fourth pulley and the fifth pulley are used to ensure that the working surface of the traverse module is approximately a horizontal plane; the working surface is the part of the transmission belt outside the housing; the working surface The longitudinal length of the vehicle should be less than the wheelbase of most passenger cars, so as to ensure that the front wheels and rear wheels of the vehicle can be located on the first traverse module and the second traverse module respectively; the longitudinal length of the working surface It can be taken as 2100mm; the axes of the rollers are all parallel to the axes of the first pulley; the rollers are used to reduce the friction between the transmission belt and the housing when the transmission belt moves; the The first traversing module is installed at the front of the parking space; the second traversing module is installed at the rear of the parking space; the installation direction of the first traversing module should ensure that the motor of the first traversing module In front of the first traversing module, the installation direction of the second traversing module should ensure that the motor of the second traversing module is behind the second traversing module, so that the first traversing module and all The motors of the second traversing module are not located in the middle of the two traversing modules, so as to reduce the distance between the working surfaces of the two traversing modules;

The detection mechanism is used to detect the left and right distances of the axle on the traverse module, and transmit the distance information to the control unit; the left distance is the distance between the left wheel of the axle and the left The distance between the side parking space markings; the right distance is the distance between the right wheel of the axle and the right parking space marking; the distance information includes left distance information and right distance information; the The detection mechanism is turned on or off according to the switch command to reduce the standby energy consumption of the smart parking space; the initial state of the detection mechanism is the off state;

The wireless communication unit adopts a ZigBee network, including a first ZigBee communication module and a second ZigBee communication module; the first ZigBee communication module is installed on the vehicle; the first ZigBee communication module stops working when the vehicle key is OFF ; The first ZigBee communication module receives vehicle speed information, engine speed information and gear position information on the vehicle CAN bus, and sends the information to the second ZigBee communication module; the second ZigBee communication module rotates on the On the smart parking space; the second ZigBee communication module receives the vehicle speed information, the engine speed information and the gear position information, and transmits the information to the control unit;

The control unit includes a switch control unit and a motor control unit; the switch control unit includes a switch control input module, a switch control calculation module, a switch command generation module and a switch control output module; the switch control unit according to the vehicle speed information, The engine speed information and the gear position information control the opening or closing of the detection mechanism; the switch control unit receives the vehicle speed information, the engine speed information and the gear position information and the engine speed is not When the zero and gear positions are in reverse gear, that is, when the vehicle is parking, the detection mechanism is turned on, and the detection mechanism provides the distance information for the control unit; the switch control unit fails to receive the distance information. When the vehicle speed information, the engine speed information or the gear position information, that is, when no vehicle is parked or the vehicle is parked, the detection mechanism is turned off to save electric energy; the switch control input module receives the The vehicle speed information, the engine speed information and the gear position information, and transmit the information to the switch control computing module; the switch control computing module judges whether the vehicle speed information, the engine speed information and the gear position information are received The gear position information, if the vehicle speed information, the engine speed information and the gear position information are received, then according to the engine speed information and the gear position information, it is judged whether the engine speed is not zero and the The gear position is reverse gear; the switch control calculation module transmits the judgment result to the switch command generation module; the switch command generation module generates the switch command according to the judgment result, and transmits the command to the switch control output module; the switch control output module is connected with the detection mechanism, and controls the opening or closing of the detection mechanism according to the switch instruction; the motor control unit includes a motor control input module, a motor control operation module, a motor control module and a motor control output module; the motor control unit controls the motor to work according to the vehicle speed information and the distance information, so as to adjust the position of the moving vehicle laterally in real time, so that the left distance and the right The side distances are equal, even if the midpoint of the axle is in the middle of the parking space, and the motor stops working when the vehicle stops moving, so as to avoid the vehicle from interfering with the movement of the traverse module; the motor control input module receives The vehicle speed information and the distance information, and transmit the information to the motor control operation module; the motor control operation module judges whether the vehicle speed is equal to zero according to the vehicle speed information, and if the vehicle speed is not equal to zero, judges the current vehicle speed according to the distance information. Whether the left and right distances of the axles on the traversing module are equal, that is, to determine whether the midpoint of the axles is located in the middle of the parking space, if the left distance and the right distance are not equal, That is, the midpoint of the axle deviates from the middle position of the parking space, and then judges whether the left distance is greater than the right distance, that is, judges the deviation direction of the midpoint of the axle; the motor control operation module transmits the judgment result to the motor control module; the motor control The module generates the motor control instruction according to the determination result, and transmits the instruction to the motor control output module; the motor control output module is connected to the motor, and controls the operation of the motor according to the motor control instruction.

The invention provides a control method for an intelligent parking space with an auxiliary parking function, comprising the following steps:

Step 101, according to the vehicle speed information, engine speed information and gear position information, determine whether the vehicle speed information, engine speed information and gear position information are received;

Step 102, if no vehicle speed information, engine speed information and gear position information are received, that is, no vehicle is parked or the vehicle has been parked, the detection mechanism is turned off to reduce the standby energy consumption of the smart parking space;

Step 103, if the vehicle speed information, engine speed information and gear position information are received, then according to the engine speed information and the gear position information, judge whether the engine speed is not zero and the gear position is reverse gear;

Step 104, if the engine speed is not zero and the gear is reverse, that is, the vehicle is parking, the detection mechanism is turned on;

Step 105, judging whether the vehicle speed is equal to zero according to the vehicle speed information;

Step 106, if the vehicle speed is equal to zero, the motor stops working to avoid interference between the vehicle and the movement of the traverse module;

Step 107, if the vehicle speed is not equal to zero, then according to the distance information, judge whether the left distance and the right distance of the axle currently located on the traversing module are equal;

Step 108, if the distance on the left side is equal to the distance on the right side, that is, the midpoint of the axle is in the middle of the parking space, the motor stops working;

Step 109, if the distance on the left and the distance on the right are not equal, that is, the midpoint of the axle deviates from the middle position of the parking space, then according to the distance information, determine whether the distance on the left is greater than the distance on the right, that is, determine whether the distance in the axle is greater than the distance on the right. The deviation direction of the point;

Step 110, if the distance to the left is greater than the distance to the right, the motor rotates in the first direction; when the motor rotates in the first direction, the working surface of the traversing module moves to the left;

Step 111, if the distance to the left is not greater than the distance to the right, the motor rotates in the second direction; when the motor rotates in the second direction, the working surface of the traverse module moves to the right.

The beneficial effects of the present invention are:

1) During the process of the driver reversing into the garage, the position of the moving vehicle is adjusted laterally according to the midpoint of the axle and the middle position of the parking space, which avoids adjustment errors that may be caused by body parameters and shapes, and ensures the accuracy of the vehicle position. The accuracy with which adjustments are made.

2) Considering that the front wheels of the vehicle are steering wheels, the driver needs to adjust the position of the rear wheels through the front wheels when reversing, and the adjustment range is limited. However, the driver cannot directly park the vehicle into the parking space through one reversing usually because The position deviation of the rear wheels exceeds the adjustment range. In the present invention, when the rear wheels of the vehicle drive onto the first traverse module, the traverse module is used to laterally adjust the position of the rear axle, and the midpoint of the rear axle is located at the center of the parking space. In the middle position, at the same time, the driver no longer needs to consider the movement of the rear wheels, but only needs to adjust the position of the front wheels, thereby reducing the fatigue of the driver and improving the probability of the driver completing the parking position through one reverse.

3) When the front wheels of the vehicle drive onto the first traversing module, the front axle and the rear axle of the vehicle are on the first traversing module and the second traversing module respectively, and the first traversing module and the second traversing module are used to The shifting module respectively adjusts the positions of the front axle and the rear axle horizontally, and makes the midpoints of the front axle and the rear axle both in the middle of the parking space. At the same time, the driver no longer needs to adjust the steering wheel, but only needs to ensure that the front wheels are pointing in the right direction. front, and control the speed of the vehicle, the vehicle can be accurately parked in the middle of the parking space, thereby further reducing the fatigue of the driver, and avoiding the vehicle from deviating from the middle of the parking space due to improper manipulation by the driver, thereby avoiding the collision between the vehicle and the vehicles on both sides. Or the obstacle scratches, and at the same time it is convenient for the occupants to get on and off the car.

4) Control the opening or closing of the detection mechanism according to the vehicle speed information, engine speed information and gear information. When the vehicle is parking, the detection mechanism is in the open state. When there is no vehicle parking or the vehicle has completed parking, the detection mechanism is turned on. It is in the off state, reducing the standby energy consumption of the smart parking space and saving electric energy.

5) Considering that when the vehicle is moving, the driving wheels are connected through the differential, and the non-driving wheels can rotate freely. In the present invention, the motor control unit receives the vehicle speed information, so that the lateral movement module is not equal to zero when the vehicle speed is not equal to zero, that is, when the vehicle is moving , the position of the vehicle is laterally adjusted, and when the vehicle stops moving, the traversing module stops moving, thereby avoiding the interference between the movement of the vehicle and the traversing module.

6) Utilize the intelligent parking space to make the vehicles on both sides of the target parking space be parked in the middle of the parking spaces on both sides, thereby avoiding the impact of the parking position deviation on the target parking space when the vehicles on both sides are parked.

Description of drawings

Fig. 1 is a schematic structural view of the traversing module in the present invention;

Fig. 2 is the structural representation of housing, base, motor, first pulley and shaft coupling in the present invention;

Fig. 3 is the structural representation of the second pulley among the present invention;

Fig. 4 is the top view of parking space among the present invention;

Fig. 5 is the structural representation of control system among the present invention;

Fig. 6 is a schematic diagram of the installation position of the detection mechanism in the first embodiment of the present invention;

Fig. 7 is a schematic structural view of the detection mechanism in the first embodiment of the present invention;

Fig. 8 is a schematic structural view of the first detection mechanism in the second embodiment of the present invention;

Fig. 9 is a left view structural diagram of Fig. 8;

Fig. 10 is a flowchart of the steps of the present invention.

In the figure, 1. Shell; 2. Base; 3. Motor; 4. First pulley; 5. Coupling; 6. Second pulley; 7. Third pulley; 8. Fourth pulley ; 9, the fifth pulley; 10, transmission belt; 11, roller; 1201, installation rod; Resistor; 1306, second wire; 1307, signal conversion unit.

detailed description

As shown in Fig. 1, Fig. 2 and Fig. 3, the traversing module in the present invention includes a housing 1, a base 2, a motor 3, a first pulley 4, a coupling 5, a second pulley 6, and a third belt Wheel 7, fourth pulley 8, fifth pulley 9, transmission belt 10 and drum 11; the motor 3 drives the traverse module to move according to the motor control command; the first pulley 4 passes through the coupling 5 is connected with the rotating shaft of the motor 3, and drives the transmission belt 10 as a driving wheel; there are patterns on the surface of the first pulley 4 to increase the friction with the transmission belt 10; The motor 3 is fixedly mounted on the base 2; the first pulley 4 is rotationally connected with the base 2 through a bearing; one end of the base 2 is rotationally connected with the housing 1, and the base The rotating shaft of the base 2 is parallel to the axis of the first pulley 4; the other end of the base 2 exerts a downward force on it through a bolt and a spring in a compressed state and limits its upper limit position, so as to realize the rotation of the transmission belt 10 tension; the second pulley 6, the third pulley 7, the fourth pulley 8 and the fifth pulley 9 have the same structure and equal size; the second pulley 6, the third pulley 7, the second pulley Four pulleys 8 and the fifth pulley 9 are all rotatably connected with the housing 1 through bearings; the axes of the second pulley 6, the third pulley 7, the fourth pulley 8 and the fifth pulley 9 are all Parallel to the axis of the first pulley 4; the second pulley 6 and the third pulley 7 are used to increase the contact area between the transmission belt 10 and the first pulley 4; Four pulleys 8 and the fifth pulley 9 are used to ensure that the working surface of the traverse module is approximately a horizontal plane; the working surface is the part of the drive belt 10 outside the housing 1; the working surface The longitudinal length of the vehicle should be less than the wheelbase of most passenger cars, so as to ensure that the front wheels and rear wheels of the vehicle can be located on the first traverse module and the second traverse module respectively; the longitudinal length of the working surface It can be taken as 2100mm; the axes of the rollers 11 are all parallel to the axes of the first pulley 4; of friction.

As shown in Figure 4, the top view of the parking space in the present invention, the structure of the first traverse module and the second traverse module are equal in size; the first traverse module is installed at the front of the parking space; The second traversing module is installed at the rear of the parking space; the installation direction of the first traversing module should ensure that the motor 3 of the first traversing module is in front of the first traversing module, and the second traversing module The installation direction of the moving module should ensure that the motor 3 of the second moving module is behind the second moving module, even if the motors 3 of the first moving module and the second moving module are not on the two sides. In order to reduce the distance between the working faces of the two traversing modules.

As shown in Fig. 5, the structure diagram of the control system in the present invention, the detection mechanism is used to detect the left distance and the right distance of the axle on the traverse module, and transmit the distance information to the control unit; The left side distance is the distance between the left wheel of the axle and the left parking space marking; the right side distance is the distance between the right wheel of the axle and the right parking space marking; The distance information includes distance information on the left side and distance information on the right side; the detection mechanism is turned on or off according to the switch command to reduce the standby energy consumption of the smart parking space; the initial state of the detection mechanism is off; the wireless communication The unit adopts the ZigBee network, including the first ZigBee communication module and the second ZigBee communication module; the first ZigBee communication module is installed on the vehicle; the first ZigBee communication module stops working when the vehicle key is in the OFF gear; the second A ZigBee communication module receives the vehicle speed information on the vehicle CAN bus, the engine speed information and the gear position information, and sends the information to the second ZigBee communication module; the second ZigBee communication module is installed on the smart parking space; The second ZigBee communication module receives the vehicle speed information, the engine speed information and the gear information, and transmits the information to the control unit; the control unit includes a switch control unit and a motor control unit; the The switch control unit includes a switch control input module, a switch control operation module, a switch command generation module and a switch control output module; the switch control unit controls the detection according to the vehicle speed information, the engine speed information and the gear position information The opening or closing of the mechanism; when the switch control unit receives the vehicle speed information, the engine speed information and the gear position information and the engine speed is not zero and the gear position is reverse gear, that is, when the vehicle is parking , so that the detection mechanism is in an open state, and the detection mechanism provides the distance information for the control unit; when the switch control unit cannot receive the vehicle speed information, the engine speed information or the gear position information When no vehicle is parked or the vehicle is parked, the detection mechanism is turned off to save electric energy; the motor control unit includes a motor control input module, a motor control operation module, a motor control module and a motor control output module; the motor control unit controls the motor 3 to work according to the vehicle speed information and the distance information, so as to perform real-time lateral adjustment to the position of the vehicle in motion, so that the left distance and the right distance are equal, Even if the midpoint of the axle is located in the middle of the parking space, and the motor 3 is stopped when the vehicle stops moving, the interference between the vehicle and the movement of the traverse module is avoided.

As shown in Figure 6, the schematic diagram of the installation position of the detection mechanism in the first embodiment of the present invention, the detection mechanism is installed at the intersection of the marking line at the rear of the parking space and the marking line between the two parking spaces; The total number of parking spaces is one more.

As shown in Figure 7, the schematic structural diagram of the detection mechanism in the first embodiment of the present invention includes a mounting rod 1201 and a camera 1202; the mounting rod 1201 is fixedly installed at the intersection of the marking line at the rear of the parking space and the marking line between the two parking spaces ; The camera 1202 is installed on the upper end of the installation rod 1201; the camera 1202 simultaneously detects the distance to the right of the axle on the left parking space traversing module and the left distance of the axle on the right parking space traversing module, and the distance The information is sent to the control unit; the left distance is the distance between the left wheel of the axle and the left parking space marking; the right distance is the distance between the right wheel of the axle and the right parking space marking The distance between the lines; the distance information includes left distance information and right distance information; when the vehicle is parked, the cameras 1202 on both sides of the target parking space work simultaneously, and the left camera 1202 is the control unit The left distance information is provided, and the right camera 1202 provides the right distance information for the control unit.

As shown in Fig. 8 and Fig. 9, the structural diagram of the first detection mechanism in the second embodiment of the present invention, the detection mechanism includes the first detection mechanism, the second detection mechanism, the third detection mechanism and the fourth detection mechanism; The first detection mechanism, the second detection mechanism, the third detection mechanism and the fourth detection mechanism have the same structure and the same size; the first detection mechanism and the second detection mechanism are respectively installed on the the left side and the right side of the first traverse module, used to detect the left distance and the right distance of the axle on the first traverse module, and transmit the distance information to the control unit The third detection mechanism and the fourth detection mechanism are respectively installed on the left side and the right side of the second traverse module, and are used to detect the left distance and the distance of the axle shaft on the second traverse module The right side distance, and the distance information is transmitted to the control unit; the detection mechanism includes a guide rod 1301, a return spring 1302, a contact 1303, a first wire 1304, a strip resistor 1305, and a second wire 1306 and signal conversion unit 1307; the guide rod 1301 is connected to the shaft of the drum 11, and is used to limit the moving direction and upper limit position of the drum 11; the guide rod 1301 has a limit nut, a spring seat and an adjustment nut The limit nut is used to limit the upper limit position of the guide rod 1301, that is, the upper limit position of the drum 11; the adjustment nut is used to adjust the position of the spring seat; the return spring 1302 is installed Between the spring seat and the housing 1, and arranged coaxially with the guide rod 1301; the return spring 1302 is in a compressed state; the contact 1303 is installed at the lower end of the guide rod 1301; the The contacts 1303 are all connected to the first wire 1304; the strip resistor 1305 is installed on the housing 1; the installation position of the strip resistor 1305 should ensure that when the roller 11 is at the upper limit position, that is, when the guide rod 1301 is at the upper limit position, the contact 1303 and the strip resistor 1305 are disconnected, and when the wheel crushes the roller 11, the roller 11 moves downward , that is, when the guide rod 1301 moves downward, the contact 1303 and the strip resistor 1305 are connected; the strip resistor 1305 is connected to the second wire 1306; the The signal conversion unit 1307 is connected to the first wire 1304 and the second wire 1306; the signal conversion unit 1307 converts the resistance value between the first wire 1304 and the second wire 1306 into distance information , and transmit the distance information to the control unit.

As shown in Figure 10, the present invention provides a control method for an intelligent parking space with an auxiliary parking function, comprising the following steps:

Step 101, according to the vehicle speed information, engine speed information and gear position information, judge whether the vehicle speed information, engine speed information and gear position information are received; the vehicle speed information, the engine speed information and the gear position information are determined by the first A ZigBee communication module reads on vehicle CAN bus; Described first ZigBee communication module is installed on the vehicle; Described first ZigBee communication module stops working when vehicle key is OFF gear; Described first ZigBee communication module will all The above information is sent to the second ZigBee communication module; the second ZigBee communication module is installed on the smart parking space; the second ZigBee communication module receives the vehicle speed information, the engine speed information and the gear bit information, and transmit the information to said control unit;

Step 102, if the vehicle speed information, engine speed information and gear information are not received, that is, no vehicle is parked or the vehicle has been parked, the detection mechanism is turned off to reduce the standby energy consumption of the smart parking space; the detection mechanism The initial state of is closed;

Step 103, if the vehicle speed information, engine speed information and gear position information are received, then according to the engine speed information and the gear position information, judge whether the engine speed is not zero and the gear position is reverse gear;

Step 104, if the engine speed is not zero and the gear is in reverse, that is, the vehicle is parking, the detection mechanism is turned on; when the detection mechanism is turned on, the detection mechanism will detect the left side distance and the distance on the right, and transmit the distance information to the control unit; the distance on the left is the distance between the left wheel of the axle and the marking line on the left; the distance on the right is the right The distance between the side wheel and the right parking space marking; the distance information includes the left distance information and the right distance information;

Step 105, judging whether the vehicle speed is equal to zero according to the vehicle speed information;

Step 106, if the vehicle speed is equal to zero, the motor 3 stops working to avoid interference between the vehicle and the movement of the traverse module;

Step 107, if the vehicle speed is not equal to zero, then according to the distance information, judge whether the left distance and the right distance of the axle currently located on the traversing module are equal;

Step 108, if the distance on the left side is equal to the distance on the right side, that is, the midpoint of the axle is in the middle of the parking space, the motor 3 stops working;

Step 109, if the distance on the left and the distance on the right are not equal, that is, the midpoint of the axle deviates from the middle position of the parking space, then according to the distance information, determine whether the distance on the left is greater than the distance on the right, that is, determine whether the distance in the axle is greater than the distance on the right. The deviation direction of the point;

Step 110, if the distance to the left is greater than the distance to the right, the motor 3 rotates in the first direction; when the motor 3 rotates in the first direction, the working surface of the traversing module moves to the left;

Step 111, if the distance to the left is not greater than the distance to the right, the motor 3 rotates in the second direction; when the motor 3 rotates in the second direction, the working surface of the traverse module moves to the right.

Claims (5)

1. A kind of intelligent parking space with auxiliary parking function, it is characterized in that, comprises executive mechanism, detection mechanism, wireless communication unit and control unit; The actuator includes a first traversing module and a second traversing module; the first traversing module and the second traversing module have the same structure and the same size, and are used to laterally adjust the position of the axle on the traversing module Adjust so that the midpoint of the axle is in the middle of the parking space; the traversing module includes a housing, a base, a motor, a first pulley, a coupling, a second pulley, a third pulley, and a fourth belt wheel, a fifth pulley, a transmission belt, and a drum; the motor drives the traverse module to move according to the motor control command; the first pulley is connected to the rotating shaft of the motor through the coupling, and serves as a driving wheel drive the transmission belt to move; the surface of the first pulley has patterns to increase the friction with the transmission belt; the motor is fixedly installed on the base; the first pulley passes through The bearing is rotatably connected to the base; one side of the pedestal is rotatably connected to the housing, and the rotating shaft of the pedestal is parallel to the axis of the first pulley; the other side of the pedestal is connected by bolts and the spring in the compressed state exerts downward pressure on it and limits its upper limit position to realize the tensioning of the transmission belt; the structure of the second pulley, the third pulley, the fourth pulley and the fifth pulley The same size is equal; the second pulley, the third pulley, the fourth pulley and the fifth pulley are all rotatably connected with the housing through bearings; the second pulley, the third pulley, the fourth pulley The axes of the pulley and the fifth pulley are parallel to the axis of the first pulley; the second pulley and the third pulley are used to increase the contact between the transmission belt and the first pulley area; the fourth pulley and the fifth pulley are used to ensure that the working surface of the traverse module is approximately a horizontal plane; the working surface is the part of the transmission belt outside the housing; The axes are all parallel to the axis of the first pulley; the roller is used to reduce the friction between the transmission belt and the housing when the transmission belt moves; The detection mechanism is used to detect the left and right distances of the axle on the traverse module, and transmit the distance information to the control unit; the left distance is the distance between the left wheel of the axle and the left The distance between the side parking space markings; the right distance is the distance between the right wheel of the axle and the right parking space marking; the distance information includes left distance information and right distance information; the The detection mechanism is turned on or off according to the switch command to reduce the standby energy consumption of the smart parking space; the initial state of the detection mechanism is the off state; The wireless communication unit adopts a ZigBee network, including a first ZigBee communication module and a second ZigBee communication module; the first ZigBee communication module is installed on the vehicle; the first ZigBee communication module stops working when the vehicle key is OFF ; The first ZigBee communication module receives vehicle speed information, engine speed information and gear position information on the vehicle CAN bus, and sends the information to the second ZigBee communication module; the second ZigBee communication module rotates on the On the smart parking space; the second ZigBee communication module receives the vehicle speed information, the engine speed information and the gear position information, and transmits the information to the control unit; The control unit includes a switch control unit and a motor control unit; the switch control unit controls the opening or closing of the detection mechanism according to the vehicle speed information, engine speed information and gear information; the switch control unit receives the vehicle speed information, the engine speed information and the gear position information and the engine speed is not zero and the gear position is reverse gear, that is, when the vehicle is parking, the detection mechanism is in the open state, and the detection mechanism is the The control unit provides the distance information; the switch control unit makes the The detection mechanism is closed to save electric energy; the motor control unit controls the motor to work according to the vehicle speed information and the distance information, so as to adjust the position of the moving vehicle laterally in real time, so that the left distance and distance The right side distances are equal, even if the midpoint of the axle is located in the middle of the parking space, and the motor stops working when the vehicle stops moving, so as to avoid interference between the vehicle and the movement of the traverse module. 2. The intelligent parking space with auxiliary parking function according to claim 1, characterized in that, the first traverse module is installed at the front of the parking space; the second traverse module is installed at the rear of the parking space ; The installation direction of the first traverse module should ensure that the motor of the first traverse module is in front of the first traverse module, and the installation direction of the second traverse module should ensure that the second traverse module The motor of the traversing module is behind the second traversing module, so that the motors of the first traversing module and the second traversing module are not in the middle of the two traversing modules, so as to reduce the distance between the two traversing modules. Move the distance between the working faces of the modules. 3. A kind of intelligent parking space with assisted parking function according to claim 1, is characterized in that, described switch control unit comprises switch control input module, switch control operation module, switch command generation module and switch control output module; The switch control input module receives the vehicle speed information, the engine speed information and the gear position information, and transmits the information to the switch control operation module; the switch control operation module judges whether the vehicle speed information, The engine speed information and the gear position information, if the vehicle speed information, the engine speed information and the gear position information are received, then it is judged according to the engine speed information and the gear position information whether the engine The rotational speed is not zero and the gear position is reverse gear; the switch control operation module transmits the judgment result to the switch command generation module; the switch command generation module generates the switch command according to the judgment result, and sends The instruction is sent to the switch control output module; the switch control output module is connected with the detection mechanism, and controls the detection mechanism to be turned on or off according to the switch instruction. 4. A kind of intelligent parking space with auxiliary parking function according to claim 1, is characterized in that, described motor control unit comprises motor control input module, motor control operation module, motor control module and motor control output module; The motor control input module receives the vehicle speed information and the distance information, and transmits the information to the motor control operation module; the motor control operation module judges whether the vehicle speed is equal to zero according to the vehicle speed information, and if the vehicle speed is not equal to zero, according to the The distance information judges whether the left distance and the right distance of the axle currently located on the traverse module are equal, that is, judges whether the midpoint of the axle is located in the middle of the parking space, if the left distance and the right The side distances are not equal, that is, the midpoint of the axle deviates from the middle position of the parking space, and then judge whether the left distance is greater than the right distance, that is, judge the deviation direction of the midpoint of the axle; the motor control operation module transmit the determination result to the motor control module; the motor control module generates the motor control command according to the determination result, and transmits the command to the motor control output module; the motor control output module communicates with the motor connected, and control the operation of the motor according to the motor control instruction. 5. A control method of an intelligent parking space with an auxiliary parking function, characterized in that, comprising the steps: Step 101, according to the vehicle speed information, engine speed information and gear position information, determine whether the vehicle speed information, engine speed information and gear position information are received; Step 102, if no vehicle speed information, engine speed information and gear position information are received, that is, no vehicle is parked or the vehicle has been parked, the detection mechanism is turned off to reduce the standby energy consumption of the smart parking space; Step 103, if the vehicle speed information, engine speed information and gear position information are received, then according to the engine speed information and the gear position information, judge whether the engine speed is not zero and the gear position is reverse gear; Step 104, if the engine speed is not zero and the gear is reverse, that is, the vehicle is parking, the detection mechanism is turned on; Step 105, judging whether the vehicle speed is equal to zero according to the vehicle speed information; Step 106, if the vehicle speed is equal to zero, the motor stops working to avoid interference between the vehicle and the movement of the traverse module; Step 107, if the vehicle speed is not equal to zero, then according to the distance information, judge whether the left distance and the right distance of the axle currently located on the traversing module are equal; Step 108, if the distance on the left side is equal to the distance on the right side, that is, the midpoint of the axle is in the middle of the parking space, the motor stops working; Step 109, if the distance on the left and the distance on the right are not equal, that is, the midpoint of the axle deviates from the middle position of the parking space, then according to the distance information, determine whether the distance on the left is greater than the distance on the right, that is, determine whether the distance in the axle is greater than the distance on the right. The deviation direction of the point; Step 110, if the distance to the left is greater than the distance to the right, the motor rotates in the first direction; when the motor rotates in the first direction, the working surface of the traversing module moves to the left; Step 111, if the distance to the left is not greater than the distance to the right, the motor rotates in the second direction; when the motor rotates in the second direction, the working surface of the traverse module moves to the right.