CN108082183A - Automatic parking control system and control method, probe module and vehicle - Google Patents
Automatic parking control system and control method, probe module and vehicle Download PDFInfo
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- CN108082183A CN108082183A CN201611059535.1A CN201611059535A CN108082183A CN 108082183 A CN108082183 A CN 108082183A CN 201611059535 A CN201611059535 A CN 201611059535A CN 108082183 A CN108082183 A CN 108082183A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- Acoustics & Sound (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of automatic parking control systems, the automatic parking control system includes N number of probe module, control module and execution module of parking, wherein, N is the positive integer more than 1, each probe module includes contact unit and chip unit, and contact unit is used to emit ultrasonic signal and receives the echo-signal of corresponding ultrasonic signal；Chip unit includes processing subelement, and processing subelement is used to calculate the distance between parking vehicles and barrier according to ultrasonic signal and echo-signal；Control module for identifying parking space according to the distance between parking vehicles and barrier, determines the initial position of parking vehicles, and calculates the path parked, and generates control signal of parking；It parks execution module, for being parked according to the control signal control parking vehicles that park.The automatic parking control system can reduce interference, reduce the workload for control module of parking.Invention additionally discloses for the probe module of automatic parking, vehicle and automatic parking control method.
Description
Technical field
The invention belongs to technical field of vehicle more particularly to a kind of automatic parking control system and for automatic parking
Probe module, vehicle and automatic parking control method.
Background technology
With the development of the social economy, the continuous improvement of people’s lives level, the demand of automobile is increasing, but by
In road construction and the hysteresis of communal facility, thing followed parking difficulty problem annoyings clans owning cars, in this case, intelligence
Can auxiliary parking system come into being, the ultrasonic probe one of most crucial as parking system, be responsible for around acquisition vehicle body with
And parking space information, accuracy, real-time and the precision of data can eventually affect the safety parked.
In the related art, ultrasonic probe sends driving ripple and gathers echo-signal, and echo-signal is filtered, puts
Greatly, the ECU that parks is then communicated to, judged by ECU acquisition signals and calculates obstacle distance information.But echo-signal is not
It is only interfered during ultrasonic probe is reflected back by barrier, during the ECU that parks is sent to by ultrasonic probe
Also can be disturbed, signal becomes very weak, thus influences ECU and calculate distance and the precision for track of parking；In addition, for ECU most
The algorithm it is important that processing is parked also is handled if calculating distance by ECU, and workload is very big on software and algorithm, can significantly
Reduce system stability.
The content of the invention
It is contemplated that it solves at least some of the technical problems in related technologies.
For this purpose, the present invention needs to propose a kind of automatic parking control system, which can reduce dry
It disturbs, reduces the workload for control module of parking.
The present invention also proposes a kind of for the probe module of automatic parking, vehicle and automatic parking control method.
To solve the above-mentioned problems, the automatic parking control system that one aspect of the present invention proposes, including：N number of probe module,
N is the positive integer more than 1, and each probe module includes：Contact unit for emitting ultrasonic signal, and receives corresponding described super
The echo-signal of acoustical signal；And chip unit, the chip unit include processing subelement, the processing subelement is used for, root
The distance between parking vehicles and barrier are calculated according to the ultrasonic signal and the echo-signal；Control module, for basis
The distance between the parking vehicles and the barrier identify parking space and, according to the parking vehicles and neighbouring institute
State the barrier of parking space distance and the parking vehicles for parking described in the vehicle body angle-determining of the parking space
The initial position of vehicle, and the path parked is calculated, control of parking is generated according to the initial position and the path
Signal processed；It parks execution module, for control signal of parking according to the parking vehicles is controlled to park.
Automatic parking control system according to embodiments of the present invention, after contact unit receives echo-signal, by visiting
The chip unit of head module is calculated into row distance, it is possible to reduce echo-signal is sent to the interference being subject to during control module, improves
Follow-up computational accuracy, and then control module carries out seeking position and trajectory calculation according to range information, without carrying out obstacle distance fortune
It calculates, workload reduces, and improves system stability.
To solve the above-mentioned problems, the probe module for automatic parking that another aspect of the present invention proposes, including：Probe
Unit for emitting ultrasonic signal, and receives the echo-signal of the corresponding ultrasonic signal；And chip unit, the chip list
Member includes processing subelement, and the processing subelement is used for, and vehicle of parking is calculated according to the ultrasonic signal and the echo-signal
The distance between with barrier, and range information is sent to the control module for automatic parking.
Probe module according to embodiments of the present invention, after contact unit receives echo-signal, by probe module
Chip unit is calculated into row distance, it is possible to reduce echo-signal is sent to the interference being subject to during control module, improves follow-up calculate
Precision, and then control module need not carry out obstacle distance computing, reducing the workload of control module reduces, and improves system and stablizes
Property.
Automatic parking control system based on above-mentioned aspect, the vehicle that further aspect of the present invention proposes, including above-mentioned aspect
Automatic parking control system.
Vehicle according to embodiments of the present invention using above-mentioned automatic parking control system, can reduce echo interference, carry
Height is parked the computational accuracy of track, and raising is parked security.
To solve the above-mentioned problems, the automatic parking control method that another aspect of the invention proposes, including：Probe module is sent out
Ultrasonic signal is penetrated, and receives the echo-signal of the corresponding ultrasonic signal；The probe module is according to the ultrasonic signal and institute
It states echo-signal and calculates the distance between parking vehicles and barrier, and range information is sent to the control of vehicle automatic parking
Module.
Automatic parking control method according to embodiments of the present invention is carried out in probe module after echo-signal is received
Distance calculates, it is possible to reduce echo-signal is sent to the interference being subject to during control module, improves follow-up computational accuracy, and then reduces
The workload of control module reduces, and improves system stability.
Description of the drawings
Fig. 1 is the block diagram of automatic parking control system according to embodiments of the present invention；
Fig. 2 is the operating diagram of automatic parking control system according to an embodiment of the invention；
Fig. 3 is the block diagram of automatic parking control system in accordance with another embodiment of the present invention；
Fig. 4 is the connection diagram of multiple probe modules according to still a further embodiment；
Fig. 5 is the block diagram of automatic parking control system according to still another embodiment of the invention；
Fig. 6 is the block diagram of probe module according to embodiments of the present invention；
Fig. 7 is the block diagram of probe module according to another embodiment of the invention；
Fig. 8 is the block diagram of vehicle according to embodiments of the present invention；
Fig. 9 is the flow chart of automatic parking control method according to embodiments of the present invention；And
Figure 10 is the flow chart of calculating range information according to an embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or has the function of same or like element.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
The automatic parking control system proposed according to embodiments of the present invention is described with reference to the accompanying drawings, for automatic parking
Probe module, vehicle and automatic parking control method.
Fig. 1 is the block diagram of automatic parking control system according to embodiments of the present invention, as shown in Figure 1, the automatic parking control
System 100 processed includes N number of probe module 10, control module 20 and execution module 30 of parking.
Wherein, N is the positive integer more than 1, for example, probe module is installed respectively before and after vehicle, for another example in vehicle
The left and right sides of front/rear collision bumper probe module is installed respectively.
Each probe module 10 includes contact unit 11 and chip unit 12.Contact unit 11, for emitting ultrasonic signal,
And the echo-signal of corresponding ultrasonic signal is received, specifically, contact unit 11 can include paired ultrasound emission unit and surpass
Sound reception unit, ultrasound emission unit transmitting ultrasonic signal, ultrasonic signal, which runs into barrier, to be returned, and then corresponding super
Sound reception unit can receive echo-signal.
Chip unit 12 includes processing subelement 121, and processing subelement 121 is used for, according to ultrasonic signal and echo-signal
Calculate the distance between parking vehicles and barrier.Different from correlation technique, contact unit 11 detect echo-signal it
Echo-signal is sent to the ECU that parks afterwards, obstacle distance is calculated by ECU, in the present invention, expanding probe module 10 is by core
Blade unit 12 calculates obstacle distance.The interference of echo-signal transmission process again can be reduced, and can reduce and park
ECU calculates the workload of range information.
Control module 20, that is, the ECU that parks are used to identify parking space according to the distance between parking vehicles and barrier, can
With understanding, according to the obstacle distance of calculating, the distance between two cars catastrophe point can be identified, for example, for side
To parking stall, it can identify the catastrophe point of the distance of the headstock of the rear car of parking stall and the tailstock of front truck, that is, say, be counted when having vehicle
It is distance when having vacant position that the distance of calculation, which is less than no vehicle, may thereby determine that the starting point and end point of parking stall, calculates vehicle
The length of position so as to identify parking space according to the distance of measurement, realizes the function of searching parking stall.
When being parked, control module 20 is according to the distance of parking vehicles and the barrier of neighbouring parking space and parks
Vehicle and calculates the path parked for the initial position of the vehicle body angle-determining parking vehicles of parking space, wherein, it can
To determine initial position using the method in correlation technique and calculate path for example with tangent arc and common tangent
Method, wherein, the barrier of neighbouring parking space is for example including such as parking stall back and forth or left and right of the barrier around parking space
Vehicle.And then control signal of parking is generated according to initial position and path, for example, the controls such as speed, steering, brake
Signal.
Execution module of parking 30, for being parked according to the control signal control parking vehicles that park.Wherein, park execution
Module 30 can include the execution unit needed when parking, for example, intelligent key system, ESP/ABS systems, remote driving system
System, instrument/multimedia system etc. control so as to fulfill the automatic parking of vehicle.
Automatic parking control system 100 according to embodiments of the present invention, after contact unit 11 receives echo-signal,
It is calculated by the chip unit 12 of probe module 10 into row distance, it is possible to reduce echo-signal is sent to what is be subject to during control module 20
Interference, improves follow-up computational accuracy, and then control module 20 carries out seeking position and trajectory calculation according to range information, without being hindered
Hinder object distance operation, workload reduces, and improves system stability.
Specifically, in some embodiments of the invention, ELMOS acp chips may be employed in probe module 10
E524.14 and long range visiting core.E524.14 integrated chips MCU (Microcontroller Unit, micro-control unit), LIN
(Local Interconnect Network；Regional internet network) it receives and dispatches, ADC (Analog-to-Digital
Converter；Analog-digital converter), amplification etc. functions, it is very powerful.The BURN-THROUGH RANGE of long range visiting core can reach 5
Rice, while visiting core transmitting-receiving is integrated.
With reference to shown in Fig. 2, probe module 10 is communicated with control module 20 using LIN, i.e., probe module 10 is used as LIN buses
Slave node, passive is waiting the request distance measuring instruction of control module 20, after receiving request instruction, performs ranging journey
Sequence handles subelement 121 and sends driving ripple to the middle week i.e. driving circuit of probe so that contact unit 11 to be driven to generate ultrasonic letter
Number, after ultrasonic signal emission is gone out, if running into barrier can be reflected back, the ultrasonic wave reflected again can be single by probe
Member 11 receives, and processing subelement 121 can be to emitting and receiving carry out timing, according to transmitting and the time difference received and ultrasound
The spread speed of ripple calculates the distance of testee, for example, the velocity of sound according to c=331.5+0.607t (meter per second) wherein, t is
Temperature.
In view of the interference of ground and road environment, probe module 10 adds the judgement of dynamic threshold, handles subelement
121 are additionally operable to, before the distance between parking vehicles and barrier is calculated, by echo-signal compared with dynamic threshold,
And it is determined as real barrier when echo-signal is more than dynamic threshold, wherein, dynamic threshold is according to from the transmitting ultrasound
Signal is determined to the time difference for receiving echo-signal.It says, when below less than threshold value, not as Echo Processing, simultaneously
More remote according to detection range, the characteristics of the characteristics of echo is weaker, threshold value also has matched echo, detection range is more remote, dynamic threshold
It sets smaller, is determined after filtered, threshold value comparison when being real barrier, processing subelement 121 is according to being calculated
Time difference and ultrasonic propagation velocity are converted into range information, and according to the agreement of LIN buses, control module 20 sends distance measurement request
ID, probe module 10 respond range information to control module 20, so as to reduce the software work amount of control module 20, carry simultaneously
Antijamming capability of the data in transmission process is risen.
It is understood that in automatic parking, search parking stall and control of parking generally require the detection of contact unit 11 will
Nearly 5 meters of distance, for ultrasonic wave, detection range is more remote, and energy attenuation is bigger, thus usually detection more than 3 meters with
On apart from when, echo-signal can be weaker, in addition road environment is more complicated, interference noise can be bigger, in practical application very
Hardly possible is extracted and correctly identifies real echo-signal, thus needs to reduce interference noise.
In some embodiments of the invention, probe module 10 increases driving parameter adaptive adjustment function, can be effective
Shield the influence of interference noise.As shown in figure 3, chip unit 12 further includes amplification subelement 122, amplification subelement 122 is used for
Amplify echo-signal.The driving parameter of contact unit 11 such as driving current, pulse number and the amplification for amplifying subelement 122
Multiple all has an impact echo-signal.Wherein, amplification factor and pulse number influence ultrasonic echo very big, because, ultrasound
The echo-signal that signal often reflects is very weak, and measurement distance is more remote, and driving pulse is fewer, and generation echo-signal is weaker, warp
The echo-signal that contact unit 11 receives is converted to voltage signal, and voltage signal usually only has tens millivolts of even smallers, then
By 12 inside configuration amplification of chip unit, ADC conversions, filtering, signal is often exaggerated decades of times or tens times, could carry out
Subsequent arithmetic.It is relatively more in view of real road environmental disturbances factor, for example, wind, road surface stone etc., so, interference noise meeting
Bigger, in the case, the amplification factor of amplification subelement 122 is bigger, while real obstruction echo amplifies, noise
It can be amplified, so, the application of amplification factor is very crucial.Meanwhile drive the pulse number of contact unit 11 more, remote
During detection, the probability for detecting object is also bigger.So adaptively driving parameter adjustment different distance section detection very
It is necessary to have greatly improved to the precision and interference shielding of detecting object.
In an embodiment of the present invention, subelement 121 is handled according to from transmitting ultrasonic signal to receiving echo-signal
The driving parameter of time adjustment contact unit 11 and the amplification factor of amplification subelement, that is, say, it is suitable to be selected according to detection range
Parameter, to reduce the noise jamming of echo-signal.It should be noted that in early period, engineer determines to visit according to test data
Ranging is stored in popping one's head in from the driving parameter with contact unit 11 and the relation for the amplification factor for amplifying subelement 122
Module 10.For example, the driving parameter of contact unit 11 includes at least one of driving current and pulse number, in investigative range
Interior, detection range is more remote, and the driving current of selection is bigger or pulse number is bigger；For blind area in addition to BURN-THROUGH RANGE
Within interval range in, from the close-by examples to those far off, step up amplification subelement 122 amplification factor, to reach optimal detection precision.
In addition, ultrasonic propagation velocity is related with temperature, and it is different from traditional probe module increase temperature-compensating, in this hair
In bright embodiment, processing subelement 121 obtains the environment temperature residing for parking vehicles, and determines ultrasonic biography according to environment temperature
It broadcasts speed and parks according to ultrasonic propagation velocity and from the ultrasonic signal is emitted to the time calculating for receiving echo-signal
The distance between vehicle and barrier.Specifically, for example, probe module 10 is using LIN buses (Local Interconnect
Network, local interconnect network) receive temperature information, that is, it is sensed in ECU real-time reception CAN bus of parking from air-conditioner temperature
Real-time temperature information before sending distance measurement request every time, can be sent to probe by the data of device by LIN buses by message
Module 10, probe module 10 receive temperature information in the buffer, and processing subelement 121 is when having been calculated ultrasonic wave and sending and receiving
Between after difference, adaptive selects corresponding ultrasonic velocity to calculate obstacle distance according to temperature information, i.e. temperature-compensating is led to
The software for crossing processing subelement 121 realizes that, so as to improve the reliability of temperature-compensating, the hardware of probe module 10 is without increasing temperature
Detection unit is spent, reduces cost.
In addition, in actual automatic parking using inner, it usually needs four probe modules 10 detected over long distances, it is each to pop one's head in
Module, which needs to distribute fixed ID, to be distinguish between, so that control module 20 identifies and reads the range information of which side vehicle body, thus,
Original same probe module, but production with after sale on into four different probes, be not easy to the management of product.
In view of the above-mentioned problems, in some embodiments of the present invention, propose it is a kind of by software come for probe module 10 it is automatic
The method for distributing address.As shown in figure 4, including probe module 1 to probe module N, each probe module further includes the first LIN and connects
Mouth and the 2nd LIN interfaces, for example, LINM and LINS in Fig. 4, wherein, VBAT is power cord, and GND is ground wire.In N number of probe
In module, the first LIN interfaces of first probe module are connected with control module 20, the first LIN interfaces of m-th probe module
It is connected with the 2nd LIN interfaces of the M-1 probe module, the 2nd LIN interfaces of m-th probe module and the M+1 probe mould
First LIN interfaces of block are connected, the first LIN interfaces of n-th probe module and the 2nd LIN interfaces of the N-1 probe module
It is connected, the 2nd LIN interfaces of n-th probe module are hanging, wherein, M is positive integer and satisfaction 1<M<N.
Based on the connection mode of above-mentioned probe module 10, as shown in figure 5, the automatic parking control system 100 further includes electricity
Detection module 40 is flowed, current detection module 40 is used to detect the electric current of each probe module respectively；Control module 20 controls each
Probe module powers on and is N number of probe module distribution identification address according to the electric current of each probe module.
Specifically, using four-wire system interface, the automatic dispensing probe ID that each pops one's head in can be achieved by being connected in series, to know
Not each probe, wherein, four lines are VBAT, GND, LINM, LINS respectively, the LINM of each probe module and serial adjacent therewith
The LINS of probe module be connected.By taking four probe modules are applied as an example, the LINM link control modules of first probe module
20, it is, probe module 10 is connected with control module 20 by LIN, the LINS interfaces connection second of first probe module
The LINM interfaces of a probe module, the LINS interfaces of second probe module connect the LINM interfaces of the 3rd probe module,
The LINS interfaces of 3rd probe module connect the LINM interfaces of the 4th probe module, the 4th probe module, that is, universal serial bus
The LINS interfaces of the probe module of upper most end are hanging, and the VBAT and GND of each probe module can be independently arranged or serial
Connection is connected in parallel to control module 20, is not specifically limited herein.
After each electrifying startup, control module 20 sends the instruction of address distribution by LIN buses in the form of broadcasting,
After four probe modules are sequentially received instruction, address assignment routine is each entered, defines the LIN buses of four probe modules
Electric current is I1, I2, I3, I4 respectively, and each probe module opens internal pull-up resistor and current source, four probe module originals respectively
The serial bus structure come has reformed into mixing serial parallel structure, thus, there are I1>I2>I3>I4, control module 20 is by sentencing
Disconnected size of current has just differentiated four probe modules, then, successively to four probe modules distribution address NAD1, NAD2,
NAD3, NAD4, and write respective EEPROM, that is, it realizes software and distributes address automatically.Due to being to send to divide after powering on every time
With instruction, so, if the damage of some probe module needs replacing, directly more renew probe module, then, restart vehicle power supply
Just can automatic address distribution, it is very convenient.
In short, the automated parking system 100 of the embodiment of the present invention carries out obstacle distance fortune by probe module 10
It is dry when calculating, reduce the workload of control module, and avoiding the echo-signal from being sent to control module 20 by probe module 10
It disturbs；In temperature-compensating, it can obtain vehicle without set temperature sensor, probe module 10 in probe module 10 and install originally
Temperature sensor detection temperature information, for example, pass through LIN buses receive the temperature from air conditioner temperature sensor, reduce
Cost；Cognitive disorders object accuracy and measurement distance precision aspect are being improved, probe module 10 increases driving parameter adaptive
Adjustment, for the detecting object of different distance section, the corresponding driving parameter of software Auto-matching optimizes echo-signal, and shielding is dry
It disturbs, while improves the precision of measurement；In addition, each probe module 10 realized by the software control of control module 20 power on
Automatic distribution identification address afterwards, that is to say, that when production is dispatched from the factory, all probe modules are the same, and need not be subject to area
Point, after real vehicle serial connection, respective identification address can be distributed automatically by software, so that control module 20 identifies and reads
Each probe data, it is very convenient.
The probe module for automatic parking that embodiment proposes according to a further aspect of the invention is described with reference to the accompanying drawings.
Fig. 6 is the block diagram of the probe module for automatic parking according to embodiments of the present invention, as shown in fig. 6, the probe
Module 10 includes contact unit 11 and chip unit 12.
Wherein, contact unit 11 for emitting ultrasonic signal, and receive the echo-signal of corresponding ultrasonic signal.Chip list
Member 12 includes processing subelement 121, and processing subelement 121 is used to calculate parking vehicles and barrier according to ultrasonic signal and echo-signal
Hinder the distance between object, and range information is sent to the control module for automatic parking.
Probe module 10 according to embodiments of the present invention, after contact unit 11 receives echo-signal, by probe mould
The chip unit 12 of block 10 is calculated into row distance, it is possible to reduce echo-signal is sent to the interference being subject to during control module, improves
Follow-up computational accuracy, and then control module need not carry out obstacle distance computing, reducing the workload of control module reduces, and improves
System stability.
Further, it is contemplated that the interference of ground and road environment, probe module 10 add the judgement of dynamic threshold.Tool
Body, processing subelement 121 is additionally operable to, before the distance between parking vehicles and barrier is calculated, by echo-signal with moving
State threshold value is compared, and echo-signal be more than dynamic threshold when determine it is real barrier, wherein, dynamic threshold according to
It is determined from transmitting ultrasonic signal to the time difference for receiving echo-signal.It says, when below less than threshold value, not as echo
The characteristics of processing, while more remote according to detection range, the characteristics of echo is weaker, threshold value also has matched echo, detection range is more remote,
Dynamic threshold sets smaller, is determined after filtered, threshold value comparison when being real barrier, handles 121 basis of subelement
The time difference is calculated and ultrasonic propagation velocity is converted into range information, according to the agreement of LIN buses, control module 20 is sent
Distance measurement request ID, probe module 10 respond range information to control module, so as to, reduce the software work amount of control module,
Improve antijamming capability of the data in transmission process simultaneously.
In an embodiment of the present invention, in order to reduce the noise jamming of echo-signal, probe module 10 increases driving parameter
Adaptive adjustment function.Specifically, as shown in fig. 7, chip unit 12 further includes amplification subelement 122, subelement 122 is amplified,
For amplifying the echo-signal；Processing subelement 121 is additionally operable to, according to from transmitting ultrasonic signal to receiving echo-signal
The driving parameter of time adjustment contact unit and the amplification factor of amplification subelement 122.Wherein, the driving parameter of contact unit 11
Including at least one of driving current and pulse number.It says, suitable parameter is selected according to detection range, to reduce echo
The noise jamming of signal.It should be noted that in early period, engineer determines detection range and contact unit 11 according to test data
Driving parameter and amplification subelement 122 amplification factor relation, and be stored in probe module 10.By adaptively driving
The adjustment of dynamic parameter has greatly improved to the precision and interference shielding of detecting object in the detection of different distance section.
In addition, ultrasonic propagation velocity is related with temperature, and it is different from traditional probe module increase temperature-compensating, in this hair
In bright embodiment, processing subelement 121 obtains the environment temperature residing for parking vehicles, such as obtains vehicle by LIN buses
Original sets the temperature of air-conditioner temperature detector, and determines ultrasonic propagation velocity and according to transonic speed according to environment temperature
It spends and from the ultrasonic signal is emitted to time calculating the distance between the parking vehicles and barrier for receiving echo-signal.I.e.
Temperature-compensating is realized by handling the software of subelement 121, improves the reliability of temperature-compensating, the hardware of probe module 10 need not
Increase temperature detecting unit, reduce cost.
In addition, in some embodiments of the invention, probe module include it is N number of, wherein, each probe module further includes the
One LIN interfaces and the 2nd LIN interfaces, in N number of probe module, the first LIN interfaces and the control of first probe module
Module is connected, and the first LIN interfaces of m-th probe module are connected with the 2nd LIN interfaces of the M-1 probe module, the M
2nd LIN interfaces of a probe module are connected with the first LIN interfaces of the M+1 probe module, and the first of n-th probe module
LIN interfaces are connected with the 2nd LIN interfaces of the N-1 probe module, and the 2nd LIN interfaces of n-th probe module are hanging,
In, N is the positive integer more than 1, and M is positive integer and satisfaction 1<M<N.
Based on the connection mode of above-mentioned probe module 10, the electric current of each probe module differs, for the control of automatic parking
Molding block can judge probe module for which according to current signal, and specifically, control module controls each probe module to power on
Afterwards, it is N number of probe module distribution identification address according to the electric current of each probe module.Due to being to send to divide after powering on every time
With instruction, so, if the damage of some probe module needs replacing, directly more renew probe module, then, restart vehicle power supply
Just can automatic address distribution, it is very convenient.
To sum up, the probe module 10 for automatic parking of the embodiment of the present invention, it is possible to reduce the work of control module
It measures, reduces the noise jamming of echo-signal, trip temperature of going forward side by side compensates and conveniently realize automatic distribution identification address, just
In the replacement of damage probe module.
Based on the automatic parking control system of above-mentioned aspect embodiment, Fig. 8 is the frame of vehicle according to embodiments of the present invention
Figure, as shown in figure 8, the vehicle 1000 includes above-mentioned automatic parking control system 100.
Vehicle 1000 according to embodiments of the present invention using above-mentioned automatic parking control system 100, can reduce echo
Interference improves the computational accuracy for track of parking, and improves security of parking.
Based on the automatic parking control system of above-mentioned aspect embodiment, another side according to the present invention is described with reference to the accompanying drawings
The automatic parking control method that face proposes.
Fig. 9 is the flow chart of automatic parking control method according to embodiments of the present invention, as shown in figure 9, the automatic parking
Control method includes：
S1, probe module transmitting ultrasonic signal, and receive the echo-signal of corresponding ultrasonic signal；
S2, probe module calculate the distance between parking vehicles and barrier according to ultrasonic signal and echo-signal, and will
Range information is sent to the control module of vehicle automatic parking.
Automatic parking control method according to embodiments of the present invention is carried out in probe module after echo-signal is received
Distance calculates, it is possible to reduce echo-signal is sent to the interference being subject to during control module, improves follow-up computational accuracy, and then reduces
The workload of control module reduces, and improves system stability.
Further, it is contemplated that the interference of ground and road environment, probe module add the judgement of dynamic threshold.It is counting
Before calculating the distance between parking vehicles and barrier, which further includes：Probe module is by echo-signal
Compared with dynamic threshold；Probe module is determined as real barrier, Jin Erji when echo-signal is more than dynamic threshold
The distance between parking vehicles and barrier are calculated, wherein, dynamic threshold is according to from the transmitting ultrasonic signal to described in receiving
The time difference of echo-signal determines.So as to reduce the software work amount of control module, while improve data and be transmitted across
Antijamming capability in journey.
In an embodiment of the present invention, in order to reduce the noise jamming of echo-signal, probe module increases driving parameter certainly
Adapt to adjustment function.Specifically, probe module adjusts probe according to from transmitting ultrasonic signal to the time for receiving echo-signal
The driving parameter of unit and the amplification factor for amplifying the amplification subelement of echo-signal.Wherein, the driving ginseng of contact unit
Number includes at least one of driving current and pulse number.It says, suitable parameter is selected according to detection range, to reduce back
The noise jamming of ripple signal.It should be noted that in early period, engineer determines detection range and contact unit according to test data
The relation of 11 driving parameter and the amplification factor of amplification subelement, and it is stored in probe module.By adaptively driving
The adjustment of parameter has greatly improved to the precision and interference shielding of detecting object in the detection of different distance section.
In addition, ultrasonic propagation velocity is related with temperature, and it is different from traditional probe module increase temperature-compensating, in this hair
In bright embodiment, probe module obtains the environment temperature residing for parking vehicles, such as obtains the former setting of vehicle by LIN buses
The temperature of air-conditioner temperature detector；Probe module determines ultrasonic propagation velocity according to environment temperature；Probe module is passed according to ultrasound
It broadcasts speed and calculates the distance between parking vehicles and barrier from transmitting ultrasonic signal to the time for receiving echo-signal.I.e.
Temperature-compensating is realized by handling the software of subelement, improves the reliability of temperature-compensating, the hardware of probe module 10 is without increasing
Add temperature detecting unit, reduce cost.
In addition, in some embodiments of the invention, for probe module including N number of, each probe module further includes the first LIN
Interface and the 2nd LIN interfaces, in N number of probe module, the first LIN interfaces and the control module phase of first probe module
Even, the first LIN interfaces of m-th probe module are connected with the 2nd LIN interfaces of the M-1 probe module, the m-th probe
2nd LIN interfaces of module are connected with the first LIN interfaces of the M+1 probe module, and the first LIN of n-th probe module connects
Mouth is connected with the 2nd LIN interfaces of the N-1 probe module, and the 2nd LIN interfaces of n-th probe module are hanging, wherein, N is
Positive integer more than 1, M are positive integer and satisfaction 1<M<N.
Based on the connection mode of above-mentioned probe module, the electric current of each probe module differs, for the control of automatic parking
Module can judge probe module for which according to current signal, which further includes：Control module gathers
The electric current of each probe module and be N number of probe module distribution identification address according to the electric current of each probe module.Specifically
Ground after each probe module of control module control powers on, is known according to the electric current of each probe module for the distribution of N number of probe module
Other address.Due to being that distribution instruction is sent after powering on every time, so, if the damage of some probe module needs replacing, directly
More renew probe module, then, restart vehicle power supply just can automatic address distribution, it is very convenient.
Figure 10 is the schematic diagram for crossing vehicle of the realization distance measurement of a specific embodiment according to the present invention, such as Figure 10 institutes
Show, including：
S100 receives the instruction for control module of parking.
S110 carries out automatic distribution identification address.
S120 obtains temperature information and calculates distance.
S130, algorithm calculate output air line distance information.
In conclusion the automatic parking control system of the embodiment of the present invention, probe module, vehicle and automatic parking controlling party
Method can reduce echo interference, reduce the workload for control module of parking；Temperature-compensating is realized using software, had both reduced and has adopted
The cost pressure brought with temperature sensor, and improve the reliability of temperature-compensating；Parameter adaptive adjustment is driven, effectively
The influence of interference noise is shielded, greatly enhances the precision that parking stall calculates and judges；The identification address of probe module
Automatic distribution, the convenience of dispatch from the factory configuration and after-sales service is directly brought, without worrying manual software upgrading and popping one's head in it
Between easily obscure.
It should be noted that in the description of this specification, any mistake described otherwise above in flow chart or herein
Journey or method description are construed as, and expression includes one or more the step of being used to implement specific logical function or process
Executable instruction code module, segment or part, and the scope of the preferred embodiment of the present invention include it is other
Realize, wherein order that is shown or discussing can not be pressed, including according to involved function by it is basic simultaneously in the way of or press
Opposite order, carrys out perform function, this should be understood by the embodiment of the present invention person of ordinary skill in the field.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
Row system, device or equipment instruction fetch and the system executed instruction) it uses or combines these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress used with reference to these instruction execution systems, device or equipment
It puts.The more specific example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Connecting portion (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or if necessary with it
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.If for example, with hardware come realize in another embodiment, can be under well known in the art
Any one of row technology or their combination are realized：With for the logic gates to data-signal realization logic function
Discrete logic, have suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that realize all or part of step that above-described embodiment method carries
Suddenly it is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, one or a combination set of the step of including embodiment of the method.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms is not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It is combined in an appropriate manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the different embodiments described in this specification or example and different embodiments or exemplary feature
It closes and combines.
Although the embodiment of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (20)
1. a kind of automatic parking control system, which is characterized in that including：
N number of probe module, N are the positive integer more than 1, and each probe module includes：
Contact unit for emitting ultrasonic signal, and receives the echo-signal of the corresponding ultrasonic signal；With
Chip unit, the chip unit include processing subelement, the processing subelement be used for according to the ultrasonic signal and
The echo-signal calculates the distance between parking vehicles and barrier；
Control module, for according to the distance between the parking vehicles and the barrier identify parking space and according to
The parking vehicles are with the distance of the barrier of the neighbouring parking space and the parking vehicles for the parking space
The initial position of parking vehicles described in vehicle body angle-determining, and the path parked is calculated, according to the initial position and institute
It states path and generates control signal of parking；
It parks execution module, for control signal of parking according to the parking vehicles is controlled to park.
2. automatic parking control system as described in claim 1, which is characterized in that the chip unit further includes：
Amplify subelement, for amplifying the echo-signal；
Subelement is handled, is additionally operable to according to being adjusted from the transmitting ultrasonic signal to the time for receiving the echo-signal
The amplification factor of the driving parameter of contact unit and the amplification subelement.
3. automatic parking control system as claimed in claim 2, which is characterized in that the driving parameter of the contact unit includes
At least one of driving current and pulse number.
4. automatic parking control system as described in claim 1, which is characterized in that the processing subelement is additionally operable to obtain institute
The environment temperature residing for parking vehicles is stated, and ultrasonic propagation velocity is determined and according to the ultrasound according to the environment temperature
Spread speed and from emit the ultrasonic signal to the time for receiving the echo-signal calculate the parking vehicles with it is described
The distance between barrier.
5. automatic parking control system as described in claim 1, which is characterized in that each probe module further includes the first LIN
Interface and the 2nd LIN interfaces, in N number of probe module, the first LIN interfaces and the control module phase of first probe module
Even, the first LIN interfaces of m-th probe module are connected with the 2nd LIN interfaces of the M-1 probe module, the m-th probe
2nd LIN interfaces of module are connected with the first LIN interfaces of the M+1 probe module, and the first LIN of n-th probe module connects
Mouth is connected with the 2nd LIN interfaces of the N-1 probe module, and the 2nd LIN interfaces of n-th probe module are hanging, wherein, M is
Positive integer and satisfaction 1<M<N.
6. automatic parking control system as claimed in claim 5, which is characterized in that further include：
Current detection module, for detecting the electric current of each probe module respectively；
The control module is additionally operable to control each probe module to power on and be described N number of according to the electric current of each probe module
Probe module distribution identification address.
7. automatic parking control system as described in claim 1, which is characterized in that the processing subelement is additionally operable to counting
Before calculating the distance between parking vehicles and barrier, by the echo-signal compared with dynamic threshold, and at described time
Ripple signal is determined as real barrier when being more than the dynamic threshold, wherein, the dynamic threshold is according to described super from emitting
Acoustical signal is determined to the time difference for receiving the echo-signal.
8. a kind of probe module for automatic parking, which is characterized in that including：
Contact unit for emitting ultrasonic signal, and receives the echo-signal of the corresponding ultrasonic signal；With
Chip unit, the chip unit include processing subelement, the processing subelement be used for according to the ultrasonic signal and
The echo-signal calculates the distance between parking vehicles and barrier, and range information is sent to the control for automatic parking
Molding block.
9. the probe module of automatic parking to be used for as claimed in claim 8, which is characterized in that the chip unit further includes：
Amplify subelement, for amplifying the echo-signal；
Subelement is handled, is additionally operable to according to being adjusted from the transmitting ultrasonic signal to the time for receiving the echo-signal
The amplification factor of the driving parameter of contact unit and the amplification subelement.
10. the probe module of automatic parking to be used for as claimed in claim 9, which is characterized in that the driving of the contact unit
Parameter includes at least one of driving current and pulse number.
11. the probe module of automatic parking to be used for as claimed in claim 8, which is characterized in that the processing subelement is also used
In obtaining the environment temperature residing for the parking vehicles, and according to the environment temperature determine ultrasonic propagation velocity and according to
The ultrasonic propagation velocity and vehicle of parking described in emit the ultrasonic signal to the time for receiving the echo-signal and calculate
The distance between with the barrier.
12. the probe module of automatic parking to be used for as claimed in claim 8, which is characterized in that the probe module includes N
It is a, wherein, each probe module further includes the first LIN interfaces and the 2nd LIN interfaces, in N number of probe module, first probe
First LIN interfaces of module are connected with the control module, the first LIN interfaces of m-th probe module and the M-1 probe mould
2nd LIN interfaces of block are connected, the 2nd LIN interfaces of the m-th probe module and the first LIN of the M+1 probe module
Interface is connected, and the first LIN interfaces of n-th probe module are connected with the 2nd LIN interfaces of the N-1 probe module, and n-th is visited
2nd LIN interfaces of head module are hanging, wherein, N is the positive integer more than 1, and M is positive integer and satisfaction 1<M<N.
13. the probe module of automatic parking to be used for as claimed in claim 8, which is characterized in that the processing subelement is also used
Before the distance between calculating parking vehicles and barrier, by the echo-signal compared with dynamic threshold, and
The echo-signal is determined as real barrier when being more than the dynamic threshold, wherein, the dynamic threshold is according to from transmitting
The ultrasonic signal is determined to the time difference for receiving the echo-signal.
14. a kind of vehicle, which is characterized in that including such as claim 1-7 any one of them automatic parking control system.
15. a kind of automatic parking control method, which is characterized in that including：
Probe module emits ultrasonic signal, and receives the echo-signal of the corresponding ultrasonic signal；
The probe module calculates the distance between parking vehicles and barrier according to the ultrasonic signal and the echo-signal,
And range information is sent to the control module of vehicle automatic parking.
16. automatic parking control method as claimed in claim 14, which is characterized in that further include：
The probe module is according to from the ultrasonic signal is emitted to the time adjustment contact unit for receiving the echo-signal
Driving parameter and for amplify echo-signal amplification subelement amplification factor.
17. automatic parking control method as claimed in claim 16, which is characterized in that the driving parameter bag of the contact unit
Include at least one of driving current and pulse number.
18. automatic parking control method as claimed in claim 15, which is characterized in that further include：
The probe module obtains the environment temperature residing for the parking vehicles；
The probe module determines ultrasonic propagation velocity according to the environment temperature；And
The probe module is according to the ultrasonic propagation velocity and from the ultrasonic signal is emitted to receiving the echo-signal
Time calculate the distance between the parking vehicles and the barrier.
19. automatic parking control method as claimed in claim 15, which is characterized in that calculate parking vehicles and barrier it
Between distance before, further include：
The probe module is by the echo-signal compared with dynamic threshold；
The probe module calculates the parking vehicles and the barrier when the echo-signal is more than the dynamic threshold
The distance between, wherein, the dynamic threshold is according to from the ultrasonic signal is emitted to the time for receiving the echo-signal
Difference determines.
20. automatic parking control method as claimed in claim 15, which is characterized in that the probe module is including N number of, each
Probe module further includes the first LIN interfaces and the 2nd LIN interfaces, in N number of probe module, the first of first probe module
LIN interfaces are connected with the control module, the first LIN interfaces of m-th probe module and the second of the M-1 probe module
LIN interfaces are connected, and the 2nd LIN interfaces of the m-th probe module are connected with the first LIN interfaces of the M+1 probe module,
First LIN interfaces of n-th probe module are connected with the 2nd LIN interfaces of the N-1 probe module, n-th probe module
2nd LIN interfaces are hanging, wherein, N is the positive integer more than 1, and M is positive integer and satisfaction 1<M<N, the control method are also wrapped
It includes：
The control module gathers the electric current of each probe module；And
The control module is N number of probe module distribution identification address according to the electric current of each probe module.
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| CN201611059535.1A CN108082183B (en) | 2016-11-22 | 2016-11-22 | Automatic parking control system and control method, probe module and vehicle |
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| CN201611059535.1A CN108082183B (en) | 2016-11-22 | 2016-11-22 | Automatic parking control system and control method, probe module and vehicle |
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