CN108162956A - Update the system and its method are drawn again in the automatic stopping track of environment dynamic detection - Google Patents
Update the system and its method are drawn again in the automatic stopping track of environment dynamic detection Download PDFInfo
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- CN108162956A CN108162956A CN201611114472.5A CN201611114472A CN108162956A CN 108162956 A CN108162956 A CN 108162956A CN 201611114472 A CN201611114472 A CN 201611114472A CN 108162956 A CN108162956 A CN 108162956A
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- parking
- vehicle
- distance
- parking trajectory
- spacing
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60W2554/00—Input parameters relating to objects
Abstract
The present invention provides a kind of automatic stopping track of environment dynamic detection and draws update the system and its method again.Update the system is drawn again and includes vehicle body signal sensing device, ranging sensor and electronic control unit in the automatic stopping track of environment dynamic detection.Vehicle body signal sensing device senses and exports the vehicle parameter data for driving vehicle.Ranging sensor sensing drives vehicle periphery and generates respectively and export multiple distances.Electronic control unit receives distance and generates parking space with vehicle parameter data union, and generates initial parking trajectory according to track algorithm operation distance, parking space and vehicle parameter data.When environment changes, parking trajectory is drawn in the generation of electronic control unit real-time operation again.Whereby, through planning goes out optimal heavy stroke of parking trajectory for correcting again with real-time operation again automatically, reliability and safety when can avoid collision generation and improve parking.
Description
Technical field
The present invention relates to a kind of parking trajectories to draw update the system and its method again, is detectd especially with regard to a kind of environment dynamic
Update the system and its method are drawn again in the automatic stopping track of survey.
Background technology
With the development of science and technology, more and more automation means start to be dissolved into our lifves of today.In today, with
It is also higher and higher requirement of the people to oneself quality of the life, in the epoch of such fashion, more and more people wish to possess one
Portion can assist the automobile of oneself parking.Such demand so that how more technical staff's researchs can just enable automobile picture
People is the same can accurately to find correct parking position.Therefore, proposition is developed there are many automatic parking system on the market at present
And it applies on practical vehicle parking.
There is a kind of known automatic parking system, stipulated using the position of front and rear vehicle and the horizontal boundary of automobile side
Go out parking space, while calculate the track stopped into this parking space, driving vehicle is enable successfully to stop along track into parking
In space.This technology considers the geometrical relationship on front and rear vehicle boundary, can with auxiliary parking system relatively accurately will drive vehicle stop to
It is parallel with front and rear vehicle.If however, encountered in docking process ambient enviroment change or the unexpected movement of front and rear vehicle and influence original
When stopping into track, this system will fail and collide or unexpected.
Separately there is a kind of known automatic parking system, carry out acquired disturbance through the camera for driving vehicle back installing or stop
The relevant information or data of vehicle boundary.This system utilizes the parking space frame that image evaluation determines, is then superimposed upon
In rear view of vehicle ambient image in vehicle display.Drive steering and speed of the vehicle by electronic control unit control vehicle.
Although such technology can realize automatic stopping, if being encountered in docking process, ambient enviroment changes or front and rear vehicle moves suddenly
It is dynamic and when influencing original and stopping into track, this system will fail and collide or unexpected.
It follows that shortage one kind has instant environment dynamic detection and can be instant according to environmental change currently on the market
Update the system and its method are drawn in the automatic stopping track for correcting parking trajectory again, therefore related dealer is seeking its solution.
Invention content
Therefore, it is an object of the invention to propose a kind of automatic stopping track of environment dynamic detection draw again update the system and
Its method can allow driving vehicle automatically to be planned again when encountering ambient enviroment change in docking process and real-time operation goes out
Optimal parking trajectory for correcting again.In addition, when the situation moved after front truck is encountered in docking process, system can penetrate
Deeper straight-line displacement, which allows, drives vehicle later time just, and the side swipe or collision that can avoid driving vehicle and front truck occur, Jin Erti
The reliability of high docking process and safety.In addition, when the situation that rear car Forward is encountered in docking process, system can penetrate straight
The change of line tracking angle allows driving vehicle parking position to move forward, and driving vehicle in docking process can be avoided to be touched with rear car
It hits, and then driving vehicle is made to stop to correct position.Therefore, the present invention can solve traditional stopping technical and one is carried out only before parking
It may collision problem caused by secondary environment confirmation.
A kind of automatic stopping track of environment dynamic detection of embodiment offer of one side is drawn again according to the present invention repaiies
Positive system drives vehicle, the automatic stopping of this environment dynamic detection to detect an at least surrounding vehicles and correct one immediately
Update the system is drawn again and includes a vehicle body signal sensing device, multiple ranging sensors and an electronic control unit in track.Wherein vehicle
Body signal sensing device, which is set on, to be driven on vehicle, and vehicle body signal sensing device senses and exports the vehicle parameter number for driving vehicle
According to.Ranging sensor, which is set on, to be driven around vehicle, and ranging sensor sensing drives vehicle periphery and generates multiple distances respectively,
And ranging sensor exports distance respectively.Furthermore electronic control unit is set on driving vehicle and signal connection vehicle body signal sense
Device and ranging sensor are surveyed, electronic control unit receives distance and generates a parking space, and electricity with vehicle parameter data union
Sub-control unit generates an initial parking rail according to a track algorithm operation distance, parking space and vehicle parameter data
Mark.When wherein a distance changes, electronic control unit real-time operation distance, parking space and vehicle parameter data and
It generates one and draws parking trajectory again.
Whereby, the automatic stopping track of environment dynamic detection of the invention is drawn update the system and is allowed through specific sensor again
The variation situation of ambient enviroment can momentarily be detected in docking process by driving vehicle.In docking process, if front truck occurs
When mobile, rear car movement or ambient enviroment change and can not stop according to former parking trajectory, this system can again be planned simultaneously automatically
Real-time operation goes out optimal parking trajectory, is corrected again for driving vehicle, so can significantly increase docking process can
By degree and safety.
The other embodiment of aforementioned embodiments is as follows：Aforementioned electronic control unit can store a default safe spacing, and
Parking space includes one first dummy line and one second dummy line, wherein the first dummy line and surrounding vehicles are separated by between one first
Away from, and the second dummy line is separated by one second spacing with surrounding vehicles.First spacing is all higher than being equal to default safety with the second spacing
Spacing, the first dummy line are located at the front of the second dummy line.In addition, when aforementioned surrounding vehicles be located at the front of the first dummy line and
Surrounding vehicles are towards during a positive X-direction displacement or when aforementioned surrounding vehicles are located at the rear of the second dummy line and surrounding vehicles
Towards during a negative X-direction displacement, the first spacing or the increase of the second spacing, at least one of which distance increase of ranging sensor and
It enables electronic control unit operation distance, parking space and vehicle parameter data and generates and draw parking trajectory again, draw parking trajectory again
It is completely overlapped with initial parking trajectory.In addition, when aforementioned surrounding vehicles are located at the front of the first dummy line and surrounding vehicles are towards one
During negative X-direction displacement, the first spacing reduces, and at least one of which distance of ranging sensor reduces and enables electronic control unit
Operation distance, parking space and vehicle parameter data and generate and draw parking trajectory again.This heavy stroke of parking trajectory is mended with a straight line
Distance and a parking depth displacement distance are repaid, draw parking trajectory again so as to order partly overlaps with initial parking trajectory.Furthermore currently
State surrounding vehicles be located at the second dummy line rear and surrounding vehicles towards during a positive X-direction displacement, the second spacing reduces, ranging
At least one of which distance of sensor reduce and enable electronic control unit operation distance, parking space and vehicle parameter data and
Parking trajectory is drawn in generation again, and initial parking trajectory has an initial straight path, is drawn parking trajectory again and is drawn straight line path again with one
Diameter, initial straight path interlock with drawing straight line path again, and draw parking trajectory again so as to order partly overlaps with initial parking trajectory.
An embodiment of another aspect provides a kind of automatic stopping track of environment dynamic detection and draws again according to the present invention
Modification method, to detect and correct immediately a parking trajectory for driving vehicle, the automatic stopping track of environment dynamic detection
Modification method is drawn again detects step immediately comprising a parking space scanning step, parking trajectory generation step and an environment.
Wherein parking space scanning step is that the multiple ranging sensor scanning sensings of driving are driven around vehicle, ranging sensor difference
Sensing generates multiple distances, and ranging sensor exports distance to an electronic control unit, this electronic control unit foundation respectively
Distance operation generates a parking space.Furthermore parking trajectory generation step is to provide a vehicle body signal sensing device and senses and export
A vehicle parameter data of vehicle are driven, and control electronic control unit according to distance, parking space and vehicle parameter data fortune
It calculates and generates an initial parking trajectory.In addition, environment detect immediately step be detect and confirm that one of distance changes and
It enables electronic control unit real-time operation distance, parking space and vehicle parameter data and generates one and draw parking trajectory again.
Whereby, the instant detecting that modification method utilizes environment is drawn in the automatic stopping track of environment dynamic detection of the invention again
Electronic control unit is made to generate specific parking trajectory, the side swipe or collision that occur to drive vehicle and front and rear vehicle can be avoided, and then
Improve reliability and the safety of docking process.
The other embodiment of aforementioned embodiments is as follows：Aforementioned parking trajectory, which generates step, may include：The default peace of storage one
Full spacing is in electronic control unit, and parking space includes one first dummy line and one second dummy line, the first dummy line with
Surrounding vehicles are separated by one first spacing, and the second dummy line is separated by one second spacing with surrounding vehicles.Between first spacing and second
Safe spacing is preset, and the first dummy line is located at the front of the second dummy line away from being all higher than being equal to.In addition, aforesaid environmental is detectd immediately
Surveying step may include：When surrounding vehicles be located at the front of the first dummy line and surrounding vehicles towards during a positive X-direction displacement or
When surrounding vehicles are located at the rear of the second dummy line and surrounding vehicles are towards during a negative X-direction displacement, between the first spacing or second
Away from increase.At least one of which distance of ranging sensor increases and enables electronic control unit operation distance, parking space and vehicle
Supplemental characteristic and generate and draw parking trajectory again, this heavy stroke of parking trajectory and initial parking trajectory are completely overlapped.Furthermore aforementioned ring
Step is detected in border immediately may include：When surrounding vehicles are located at the front of the first dummy line and surrounding vehicles are towards a negative X-direction position
During shifting, the first spacing reduces.At least one of which distance of ranging sensor reduces and enables electronic control unit operation distance, stops
Vehicle space and vehicle parameter data and generate and draw parking trajectory again, this heavy stroke of parking trajectory have a straight line uncompensation distance stop with one
Vehicle depth displacement distance draws parking trajectory so as to order and partly overlaps with initial parking trajectory again.In addition, aforesaid environmental is detected immediately
Step may include：When surrounding vehicles are located at the rear of the second dummy line and surrounding vehicles are towards during a positive X-direction displacement, between second
Away from diminution.At least one of which distance of ranging sensor reduces and enables electronic control unit operation distance, parking space and vehicle
Supplemental characteristic and generate and draw parking trajectory again.Initial parking trajectory has an initial straight path, and drawing parking trajectory again has
One draws straight line path again, and initial straight path interlocks with drawing straight line path again, and parking trajectory and initial parking rail are drawn again so as to enabling
Mark partly overlaps.
Description of the drawings
Fig. 1 is that the signal of update the system is drawn in the automatic stopping track for the environment dynamic detection for being painted one embodiment of the invention again
Figure；
Fig. 2A is that update the system is drawn on driving vehicle in the automatic stopping track for the environment dynamic detection for being painted Fig. 1 again
Position view；
Fig. 2 B are the displacement movement schematic diagrames for the driving vehicle for being painted Fig. 2A；
Fig. 3 is to be painted the driving vehicle of Fig. 2A to encounter the schematic diagram that moves after front truck Forward or rear car in docking process；
Fig. 4 is to be painted the driving vehicle of Fig. 2A to encounter the schematic diagram moved after front truck in docking process；
Fig. 5 be painted Fig. 2A driving vehicle encountered in docking process rear car Forward schematic diagram；
Fig. 6 is that the flow of modification method is drawn in the automatic stopping track for the environment dynamic detection for being painted one embodiment of the invention again
Schematic diagram；
Fig. 7 is that the stream of modification method is drawn in the automatic stopping track for the environment dynamic detection for being painted another embodiment of the present invention again
Journey schematic diagram.
Specific embodiment
The following drawings illustrate multiple embodiments of the present invention.As clearly stated, the details in many practices
It will be explained in the following description.It should be appreciated, however, that the details in these practices is not applied to limit the present invention.Also
It is to say, in section Example of the present invention, the details in these practices is non-essential.In addition, for the sake of simplifying attached drawing, some
Known usual structure will be painted in a manner of simply illustrating in the accompanying drawings with element；And the element repeated will likely use phase
Same number represents.
Also referring to Fig. 1~Fig. 3, Fig. 1 is the automatic stopping rail for the environment dynamic detection for being painted one embodiment of the invention
Mark draws the schematic diagram of update the system 100 again.Fig. 2A is that amendment system is drawn in the automatic stopping track for the environment dynamic detection for being painted Fig. 1 again
System 100 is set on the position view driven on vehicle 102.Fig. 2 B are the displacement movement signals for the driving vehicle 102 for being painted Fig. 2A
Figure.Fig. 3 be painted Fig. 2A driving vehicle 102 encountered in docking process front truck 104a Forward or rear car 104b after move show
It is intended to.It is set on driving vehicle 102, is used in combination as shown in the figure, update the system 100 is drawn in the automatic stopping track of environment dynamic detection again
Vehicle 102 is driven to detect surrounding vehicles 104 and correct one immediately.Surrounding vehicles 104 can be independent front truck 104a, independent rear car
104b or front truck 104a and rear car 104b coexists.And update the system is drawn in the automatic stopping track of this environment dynamic detection again
100 include a video camera 400 of ranging sensor 300, two of vehicle body signal sensing device 200,12 and an electronics control
Unit 500 processed.
Vehicle body signal sensing device 200, which is set on, to be driven on vehicle 102, and vehicle body signal sensing device 200 senses and exports driving
One vehicle parameter data of vehicle 102.This vehicle parameter data is included in length of wagon L, body width W, rear tread w, rear axle
Heart point (xr(0),yr(0))、(xr(t),yr(t)), front axle center point (xf(t),yf(t)), front axle center spot speed v, the tailstock are long
Spend c, wheelbase l, first angle θ and second angleWherein first angle θ is vehicle center axis and horizontal direction (X-direction)
Angle, and second angleFor front axle center point (xf(t),yf(t)) steering angle.Vehicle center axis is rear shaft center's point
(xr(t),yr(t)) with front axle center point (xf(t),yf(t)) virtual line.Above-mentioned vehicle parameter data are to calculate to drive
It sails initial parking trajectory T1 required when vehicle 102 stops and draws parking trajectory T2 again.
Multiple ranging sensors 300, which are set on, to be driven around vehicle 102, and the sensing of ranging sensor 300 drives vehicle 102 weeks
It encloses and generates multiple distance m, n, D, b respectively0、b1, HL1, HL2, and ranging sensor 300 exports itself and surrounding vehicles 104 respectively
Or the distance between object m, n, D, b0、b1、HL1、HL2.Ranging sensor 300 can be ultrasonic sensing method, infrared sensing
Device, laser sensor, radar, light reach (Light Detection and Ranging；LiDAR) or other can measure distance
Sensor.In addition, ranging sensor 300 exports distance m, n, D, b0、b1, HL1, HL2, wherein distance m represent drive vehicle 102
With spacing of the surrounding vehicles 104 along Y direction；Distance n, which is represented, drives the trailing wheel central shaft of vehicle 102 and front truck 104a tailstock edge
The spacing of X-direction；Distance D represents the width of parking space H1；Distance b0Represent the first dummy line L1With the front truck 104a tailstock
Spacing is also the second dummy line L2With the spacing of rear car 104b headstocks；Distance b1Represent the driving vehicle positioned at parking space H1
102 with the gap in parking space H1 sidelines, and distance D is equal to two distance b1The summation being added with body width W；Distance HL1,
HL2 represents the length of parking space H1, H2 along X-direction respectively.Whereby, it can learn and drive immediately through ranging sensor 300
Sail the spacing related to surrounding vehicles 104 of vehicle 102 and location information, can system shutdown operation be used.
Two video cameras 400 are respectively arranged on the headstock and the tailstock for driving vehicle 102, positioned at 400 direction of video camera of headstock
Front, i.e. towards positive X-direction.Video camera 400 positioned at the tailstock is then towards rear, i.e. towards negative X-direction.Video camera
400 to observe the situation before and after driving vehicle 102, and can be used as additional assisted image identification mode.Due to video camera 400
It is known technology, CONSTRUCTED SPECIFICATION repeats no more.
(the Electronic Control Unit of electronic control unit 500；ECU) set on drive vehicle 102 on and signal connect
Pick up body signal sensing device 200, ranging sensor 300 and video camera 400, electronic control unit 500 receive distance m, n, D,
b0、b1, HL1, HL2 and vehicle parameter data, and according to track algorithm operation distance m, n, D, a b0、b1, HL1, HL2 and vehicle
Supplemental characteristic and generate an initial parking trajectory T1.In detail, electronic control unit 500 stores a default safe spacing,
And electronic control unit 500 is according to distance m, n, D, b0、b1, HL1, HL2 and vehicle parameter data operation generate a parking space
H1.Parking space H1 includes the first dummy line L1With the second dummy line L2, wherein the first dummy line L1It is separated by one with front truck 104a
One spacing, this first spacing are distance b0, and the second dummy line L2It is separated by one second spacing with rear car 104b, the second spacing is also
Distance b0.First spacing is all higher than being equal to default safe spacing, the first dummy line L with the second spacing1Positioned at the second dummy line L2's
Front, and distance HL1 is more than length of wagon L.Furthermore initial parking trajectory T1 can utilize formula (1) and (2) with track algorithm
It represents：
Wherein xr(t) and yr(t) X and Building Y for representing rear shaft center's locus of points respectively are marked, and t represents the time.In addition, initially stop
Wheel paths T1 includes the first trailing wheel center radius RS, first reversing angle [alpha], initial straight path LdAnd the second trailing wheel center half
Diameter Rmin_out.Whereby, the present invention, can be with using the initial parking trajectory T1 that 500 operation of electronic control unit obtains for foundation of stopping
Vehicle 102 will be driven accurately to stop in parking space H1 without colliding front truck 104a or rear car 104b.
A problem that environment confirms is carried out in order to solve traditional stopping technical only before parking, the present invention proposes
Update the system 100 is drawn in the automatic stopping track of environment dynamic detection again, the aid parking technology that environment changes when being parking, energy
Enough variation situations that ambient enviroment is momentarily detected in docking process.In docking process, if occur front truck 104a it is mobile, after
When vehicle 104b movements or ambient enviroment change and can not stop according to former parking trajectory, this system can be planned simultaneously immediately again automatically
Optimal parking trajectory is calculated, for correcting again.Therefore, the automatic stopping track weight of environment dynamic detection of the invention
Draw update the system 100 can be greatly reduced docking process generation collision and accident, and then improve docking process safety with can
By degree.Four kinds of ambient enviroments of narration change respectively situation and its corresponding automatic stopping track are drawn into modified side again below
Formula.The situation that this four kinds of ambient enviroments change be respectively move after front truck 104a Forwards, rear car 104b, moved after front truck 104a and after
Vehicle 104b moves forward.
Referring to Fig. 3, Fig. 3 be painted Fig. 2A driving vehicle 102 encountered in docking process front truck 104a Forward or
The schematic diagram moved after rear car 104b.The situation that such ambient enviroment changes can't influence to stop in principle, and reason is the
One dummy line L1With the second dummy line L2Do not break through or cover by surrounding vehicles 104.When front truck 104a of surrounding vehicles 104
In the first dummy line L1Front and towards during a positive X-direction displacement or when rear car 104b is located at the second dummy line L2Rear
And towards during a negative X-direction displacement, the first spacing or the second spacing increase, the distance b of ranging sensor 3000, HL2 increase and
Enable electronic control unit 500 operation distance m, n, D, b0、b1, HL1, HL2, parking space H1, H2 and vehicle parameter data and produce
Parking trajectory T2 is drawn in life again, this heavy stroke of parking trajectory T2 and initial parking trajectory T1 are completely overlapped.That is, drive vehicle
102 be still to stop, and drive into parking space H1 according to the initial parking trajectory T1 of electronic control unit 500, is finally driven
Vehicle 102 can be parked in the first dummy line L1With the second dummy line L2Between.In addition it is noted that either in original state
Down only have front truck 104a or rear car 104b in the presence of or script around without vehicle and in stop when have suddenly front truck 104a or
Rear car 104b close to when, as long as the first dummy line L1With the second dummy line L2It is not all broken through or is covered by surrounding vehicles 104, then
The parking trajectory for driving vehicle 102 is initial parking trajectory T1.
Referring to Fig. 4, Fig. 4 is to be painted the driving vehicle 102 of Fig. 2A to encounter showing of moving after front truck 104a in docking process
It is intended to.The situation that this ambient enviroment changes can influence to stop, and the front truck 104a tailstock holds with driving the right edge of vehicle 102
Easily collide.Due to the first dummy line L1It is broken through or is covered by the front truck 104a of surrounding vehicles 104, that is, when distance n (drives
Sail the trailing wheel central shaft of vehicle 102 and the spacing of the front truck 104a tailstock) and distance HL2 (length of the parking space H2 along X-direction
Degree) when changing, electronic control unit 500 can real-time operation distance m, n, D, b0、b1, HL1, HL2 and vehicle parameter data and
It generates one and draws parking trajectory T2 again.In detail, when the front truck 104a of surrounding vehicles 104 is located at the first dummy line L1Front and
Towards during a negative X-direction displacement, the first spacing (the first dummy line L1With front truck 104a b separated by a distance0) reduce, ranging sensing
Distance n, HL2 of device 300 reduces and enables electronic control unit 500 operation distance m, n, D, b0、b1, HL1, HL2 and vehicle parameter number
According to and generate draw parking trajectory T2 again.This heavy stroke of parking trajectory T2 includes straight line uncompensation distance LcpWith depth displacement distance of stopping
Dm, cathetus uncompensation distance LcpIt is connected initial straight path Ld, and the depth displacement distance D that stopsmEqual to the second trailing wheel center
Radius Rmin_outOffset down draws parking trajectory T2 and initial parking trajectory T1 so as to order and partly overlaps again.It follows that
When drawing the difference of parking trajectory T2 and initial parking trajectory T1 again and being to drive vehicle 102 according to parking trajectory T2 parkings are drawn again,
Must the more one section of straight line car-backing of more initial parking trajectory T1, this straight line car-backing distance is straight line uncompensation distance Lcp.Whereby, through compared with
Deep straight-line displacement, which can allow, drives vehicle 102 later times just, can avoid occurring in docking process the right front for driving vehicle 102 with
The left back side swipe or collision of front truck 104a, and then improve reliability and the safety of docking process.
Referring to Fig. 5, Fig. 5 be painted Fig. 2A driving vehicle 102 encountered in docking process rear car 104b Forward show
It is intended to.The situation that such ambient enviroment changes can equally influence to stop, and the tailstock of the rear car 104b headstocks with driving vehicle 102
Easily collide.Since the second dummy line L2 is by the rear car 104b breakthroughs or covering of surrounding vehicles 104, that is, as distance HL2
When changing, electronic control unit 500 can real-time operation distance m, n, D, b0、b1, HL1, HL2 and vehicle parameter data and produce
Raw one draws parking trajectory T2 again.In detail, when the rear car 104b of surrounding vehicles 104 is located at the rear of the second dummy line L2 and court
During one positive X-direction displacement, the second spacing reduces, and the distance HL2 of ranging sensor 300 reduces and enables electronic control unit 500
Operation distance m, n, D, b0、b1, HL1, HL2 and vehicle parameter data and generate and draw parking trajectory T2 again.Initial parking trajectory T1 packets
Containing the first trailing wheel center radius RS, first reversing angle [alpha], initial straight path LdAnd the second trailing wheel center radius Rmin_out.And
Parking trajectory T2 is drawn again to include the second reversing angle [alpha] 2, draw straight line path L againd2And tailstock Forward distance Dx.Initial straight road
Diameter LdWith drawing straight line path L againd2Staggeredly, the second reversing angle [alpha] 2 is more than the first reversing angle [alpha], and draws straight line path L againd2With X
Angle between axis direction is more than initial straight path LdAngle between X-direction, so as to enable draw again parking trajectory T2 with
Initial parking trajectory T1 partly overlaps.Tailstock Forward distance DxEqual to the second trailing wheel center radius Rmin_outToward the inclined of positive X-direction
Shifting amount.Whereby, it can be allowed through the change of straight path angle and drive vehicle 102 and be parked in more forward position, that is, allow the tailstock
Final parking position is avoided that vehicle of the tailstock with rear car 104b that vehicle 102 is driven in docking process toward one specific range of Forward
Head collides, and then improves the safety of docking process.
Also referring to Fig. 2A to Fig. 6, Fig. 6 is the automatic stopping rail for the environment dynamic detection for being painted one embodiment of the invention
Mark draws the flow diagram of modification method 600 again.The automatic stopping track of this environment dynamic detection draw again modification method 600 to
It detects and corrects the parking trajectory for driving vehicle 102 immediately, and step is generated comprising parking space scanning step S12, parking trajectory
Rapid S14 and environment detect step S16 immediately.
Parking space scanning step S12 is that the multiple scanning of ranging sensor 300 sensings of driving are driven around vehicle 102,
Ranging sensor 300 senses respectively generates multiple distance m, n, D, b0、b1, HL1, HL2, and ranging sensor 300 export respectively away from
From m, n, D, b0、b1, HL1, HL2 to electronic control unit 500.Furthermore electronic control unit 500 is according to distance m, n, D, b0、
b1, HL1, HL2 operation generate parking space H1, H2, for it is subsequent confirm judge.
Parking trajectory generates step S14 and is to provide a vehicle body signal sensing device 200 senses and export driving vehicle 102 one
Vehicle parameter data, and electronic control unit 500 is controlled according to distance m, n, D, b0、b1, HL1, parking space H1 and vehicle ginseng
Number data operation generates an initial parking trajectory T1.
It is to detect and confirm distance m, n, D, b that environment detects step S16 immediately0、b1, whether change in HL1, HL2
And enable electronic control unit 500 real-time operation distance m, n, D, b0、b1, HL1, HL2, parking space H2 and vehicle parameter data
And it generates one and draws parking trajectory T2 again.In other words, distance HL1 is made to be changed to distance when ambient enviroment is changed by front and rear vehicle
HL2, i.e., when parking space H1 is changed to parking space H2, electronic control unit 500 understands real-time operation and generates and draw parking rail again
Mark T2 for correcting again.Whereby, the automatic stopping track of environment dynamic detection of the invention is drawn modification method 600 and can be allowed again
Drive the variation situation that vehicle 102 momentarily detects ambient enviroment in docking process.In docking process, if front truck occurs
When 104a is mobile, rear car 104b is mobile or ambient enviroment changes and can not stop according to former parking trajectory, this method can weigh automatically
Simultaneously real-time operation goes out optimal parking trajectory for new planning, is corrected again for driving vehicle 102, and then increase docking process
Safety and reliability.
Also referring to Fig. 2A and Fig. 7, Fig. 7 is the automatic stopping for the environment dynamic detection for being painted another embodiment of the present invention
The flow diagram of modification method 600a is drawn again in track.Modification method 600a packets are drawn again in the automatic stopping track of environment dynamic detection
The S22 of scanning step containing parking space, parking trajectory generate step S24, environment detects step S26 immediately and final position confirms
Step S28.
Parking space scanning step S22 is that the multiple scanning of ranging sensor 300 sensings of driving are driven around vehicle 102,
Ranging sensor 300 senses respectively generates multiple distance m, n, D, b0、b1, HL1, HL2, and ranging sensor 300 export respectively away from
From m, n, D, b0、b1, HL1, HL2 to electronic control unit 500.Electronic control unit 500 stores a default safe spacing, and electricity
Sub-control unit 500 can be according to distance m, n, D, b0、b1, HL1 operations generate parking space H1, it is empty that parking space H1 includes first
Intend line L1With the second dummy line L2, wherein the first dummy line L1It is separated by one first spacing with front truck 104a, this first spacing is distance
B0, and the second dummy line L2It is separated by one second spacing with rear car 104b, the second spacing is also distance b0.First dummy line L1It is located at
Second dummy line L2Front.In addition, electronic control unit 500 can carry out the judgement that could be stopped, such as：Distance HL1 and vehicle
The size of body length L compares and distance b0It is compared with the size of default safe spacing, if distance HL1 is more than or equal to length of wagon
L and two distance b0Sum total or distance b0During more than or equal to default safe spacing, then it is judged as "Yes", you can with parking.
On this condition, the first spacing is all higher than being equal to default safe spacing with the second spacing；On the contrary, if distance HL1 is less than vehicle body
Length L and two distance b0Sum total or distance b0During less than default safe spacing, then it is judged as "No", i.e., can not stops,
It is because parking space H1 is too narrow small, if pressure stops membership and collides.
Parking trajectory generates step S24 and is to provide the vehicle that vehicle body signal sensing device 200 senses and exports driving vehicle 102
Supplemental characteristic, and control distance m, n, D, the b of electronic control unit 500 according to ranging sensor 3000、b1, HL1, HL2, parking
Space H1, H2 and vehicle parameter data operation generate initial parking trajectory T1 or draw parking trajectory T2 again.Furthermore it is controlled electronically
Unit 500 can carry out trajectory track, and driving vehicle 102 is driven initially to stop along what 500 operations of electronic control unit obtained
Wheel paths T1 draws parking trajectory T2 travelings again.
It is to detect and confirm distance m, n, D, b that environment detects step S26 immediately0、b1, whether change in HL1, HL2
And enable electronic control unit 500 real-time operation distance m, n, D, b0、b1, HL1, HL2, parking space H2 and vehicle parameter data
And it generates one and draws parking trajectory T2 again.In detail, electronic control unit 500 can carry out the dynamic detection of environment at any time,
And the first dummy line L of initial parking space H1 can be compared immediately1With the second dummy line L2Before and after whether meeting with because of ambient enviroment
Vehicle is changed and is varied from.If ambient enviroment changes and parking space H1 is made to be changed to parking space H2, it is controlled electronically
Unit 500 draws perform track again.This track is divided into three parts again, is respectively that " front truck 104a moves forward or rear car 104b
Shifting afterwards ", " being moved after front truck 104a " and " rear car 104b Forwards ".The situation moved after front truck 104a Forwards or rear car 104b occurs
When, the first dummy line L1With the second dummy line L2It does not break through or covers by surrounding vehicles 104, at this time 500 institute of electronic control unit
What operation obtained draw parking trajectory T2 again and initial parking trajectory T1 is completely overlapped.In addition, the shape moved after front truck 104a occurs
During condition, the first dummy line L1It breaks through or covers by front truck 104a, what 500 operations of electronic control unit at this time obtained draws parking again
Track T2 includes straight line uncompensation distance LcpWith the depth displacement distance D that stopsm, cathetus uncompensation distance LcpIt is connected initial straight road
Diameter Ld, and the depth displacement distance D that stopsmEqual to the second trailing wheel center radius Rmin_outOffset down is stopped so as to enabling drawing again
Wheel paths T2 partly overlaps with initial parking trajectory T1.In addition, when the situation that rear car 104b Forwards occur, the second dummy line L2
It breaks through or covers by rear car 104b, it is straight with drawing again that 500 operations of electronic control unit at this time obtained draws parking trajectory T2 again
Thread path Ld2.Straight line path L is drawn againd2With the initial straight path L of initial parking trajectory T1dStaggeredly, straight line path and is drawn again
Ld2Angle between X-direction is more than initial straight path LdAngle between X-direction draws parking trajectory again so as to enabling
T2 partly overlaps with initial parking trajectory T1.
If ambient enviroment does not change, system can perform final position verification step S28, this final position verification step
S28 is that electronic control unit 500 is controlled to carry out trajectory planning and driving vehicle 102 is made to stop along newest (the last time draws) again
Wheel paths traveling parking, and confirm whether driving vehicle 102 stops the final position to planning, until flow of stopping terminates.
The final position of this planning is the most end end position of newest parking trajectory.Whereby, environment dynamic detection of the invention is automatic
Parking trajectory draws the difference of parking space H2 that modification method 600a can be generated according to initial parking space H1 and docking process again
It is different to determine to draw parking trajectory T2 again to plan, driving vehicle 102 is enable correctly and safely to stop to specified for correcting again
Position on.
By the above embodiment it is found that the present invention has following advantages：First, in docking process, moved if front truck occurs
When dynamic, rear car movement or ambient enviroment change and can not stop according to former parking trajectory, system can be planned simultaneously immediately again automatically
Optimal parking trajectory is calculated, for correcting again.Second, when the situation moved after front truck is encountered in docking process, it is
System can allow through deeper straight-line displacement drives vehicle later time just, and the side swipe or collision that can avoid driving vehicle and front truck are sent out
It is raw, and then improve reliability and the safety of docking process.Third, when the situation that rear car Forward is encountered in docking process, it is
System can allow through the change of straight path angle to be driven vehicle parking position and moves forward, can avoid driving in docking process vehicle and
Rear car collides.
Although the present invention is disclosed above with embodiment, however, it is not to limit the invention, any to be familiar with this skill
Person, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations, therefore protection scope of the present invention is worked as
Subject to the scope of which is defined in the appended claims.
Claims (10)
1. update the system is drawn in a kind of automatic stopping track of environment dynamic detection again, to detect at least surrounding vehicles and instant
It corrects one and drives vehicle, which is characterized in that draw update the system again and include in the automatic stopping track of the environment dynamic detection：
One vehicle body signal sensing device, on the driving vehicle, which senses and exports the driving vehicle
One vehicle parameter data；
Multiple ranging sensors, around the driving vehicle, the multiple ranging sensor senses the driving vehicle periphery
And multiple distances are generated, and the multiple ranging sensor exports the multiple distance respectively；And
One electronic control unit, on the driving vehicle and signal connects the vehicle body signal sensing device and the multiple ranging sense
Device is surveyed, which receives the multiple distance and generate a parking space, and should with the vehicle parameter data union
Electronic control unit is generated according to the multiple distance of a track algorithm operation, the parking space and the vehicle parameter data
One initial parking trajectory；
Wherein, when in the multiple distance it is at least one change when, the electronic control unit real-time operation it is the multiple away from
It generates one from, the parking space and the vehicle parameter data and draws parking trajectory again.
2. update the system is drawn in the automatic stopping track of environment dynamic detection according to claim 1 again, which is characterized in that should
Electronic control unit stores a default safe spacing, and the parking space includes one first dummy line and one second dummy line, should
First dummy line is separated by one first spacing with the surrounding vehicles, which is separated by one second spacing with the surrounding vehicles,
First spacing is all higher than being equal to the default safe spacing with second spacing, which is located at second dummy line
Front.
3. update the system is drawn in the automatic stopping track of environment dynamic detection according to claim 2 again, which is characterized in that
When the surrounding vehicles be located at the front of first dummy line and the surrounding vehicles towards during a positive X-direction displacement or should
Surrounding vehicles are located at the rear of second dummy line and the surrounding vehicles are towards during a negative X-direction displacement, first spacing or should
Second spacing increases, at least one increase in the multiple distance of the multiple ranging sensor and enable the electronic control unit
The multiple distance of operation, the parking space and the vehicle parameter data and generate the heavy stroke of parking trajectory, the heavy stroke of parking rail
Mark and the initial parking trajectory are completely overlapped.
4. update the system is drawn in the automatic stopping track of environment dynamic detection according to claim 2 again, which is characterized in that
When the surrounding vehicles are located at the front of first dummy line and the surrounding vehicles are towards during a negative X-direction displacement, this first
Spacing reduces, at least one diminution in the multiple distance of the multiple ranging sensor and enable the electronic control unit operation
The multiple distance, the parking space and the vehicle parameter data and generate the heavy stroke of parking trajectory, heavy stroke of parking trajectory tool
There are a straight line uncompensation distance and a parking depth displacement distance, so as to enabling the heavy stroke of parking trajectory and the initial parking trajectory part
Overlapping.
5. update the system is drawn in the automatic stopping track of environment dynamic detection according to claim 2 again, which is characterized in that
When the surrounding vehicles are located at the rear of second dummy line and the surrounding vehicles are towards during a positive X-direction displacement, this second
Spacing reduces, at least one diminution in the multiple distance of the multiple ranging sensor and enable the electronic control unit operation
The multiple distance, the parking space and the vehicle parameter data and generate the heavy stroke of parking trajectory, initial parking trajectory tool
There is an initial straight path, which has one to draw straight line path again, the initial straight path and the heavy stroke of straight line
Path interlocks, so as to the heavy stroke of parking trajectory and the initial parking trajectory is enabled to partly overlap.
6. modification method is drawn in a kind of automatic stopping track of environment dynamic detection again, vehicle is driven to detect and correct one immediately
Parking trajectory, which is characterized in that draw modification method again and comprise the steps of in the automatic stopping track of the environment dynamic detection：
One parking space scanning step is that the multiple ranging sensor scannings of driving are sensed around the driving vehicle, the multiple
Ranging sensor senses respectively generates multiple distances, and the multiple ranging sensor exports the multiple distance to an electricity respectively
Sub-control unit, the electronic control unit generate a parking space according to the multiple distance operation；
One parking trajectory generates step, is to provide a vehicle body signal sensing device and senses and export a vehicle parameter of the driving vehicle
Data, and the electronic control unit is controlled to be generated according to the multiple distance, the parking space and the vehicle parameter data operation
One initial parking trajectory；And
One environment detects step immediately, is to detect and confirm at least one change in the multiple distance and enable the electronics control
The multiple distance of unit real-time operation processed, the parking space and the vehicle parameter data and generate one and draw parking trajectory again.
7. modification method is drawn in the automatic stopping track of environment dynamic detection according to claim 6 again, which is characterized in that should
Parking trajectory generates step and includes：
A default safe spacing is stored in the electronic control unit, and the parking space includes one first dummy line and one second
Dummy line, first dummy line are separated by one first spacing with a surrounding vehicles, which is separated by one with the surrounding vehicles
Second spacing, first spacing and second spacing are all higher than being equal to the default safe spacing, first dummy line be located at this
The front of two dummy lines.
8. modification method is drawn in the automatic stopping track of environment dynamic detection according to claim 7 again, which is characterized in that should
Environment is detected step and is included immediately：
When the surrounding vehicles be located at the front of first dummy line and the surrounding vehicles towards during a positive X-direction displacement or should
Surrounding vehicles are located at the rear of second dummy line and the surrounding vehicles are towards during a negative X-direction displacement, first spacing or should
Second spacing increases, at least one increase in the multiple distance of the multiple ranging sensor and enable the electronic control unit
The multiple distance of operation, the parking space and the vehicle parameter data and generate the heavy stroke of parking trajectory, the heavy stroke of parking rail
Mark and the initial parking trajectory are completely overlapped.
9. modification method is drawn in the automatic stopping track of environment dynamic detection according to claim 7 again, which is characterized in that should
Environment is detected step and is included immediately：
When the surrounding vehicles are located at the front of first dummy line and the surrounding vehicles are towards during a negative X-direction displacement, this first
Spacing reduces, at least one diminution in the multiple distance of the multiple ranging sensor and enable the electronic control unit operation
The multiple distance, the parking space and the vehicle parameter data and generate the heavy stroke of parking trajectory, heavy stroke of parking trajectory tool
There are a straight line uncompensation distance and a parking depth displacement distance, so as to enabling the heavy stroke of parking trajectory and the initial parking trajectory part
Overlapping.
10. modification method is drawn in the automatic stopping track of environment dynamic detection according to claim 7 again, which is characterized in that
The environment is detected step and is included immediately：
When the surrounding vehicles are located at the rear of second dummy line and the surrounding vehicles are towards during a positive X-direction displacement, this second
Spacing reduces, at least one diminution in the multiple distance of the multiple ranging sensor and enable the electronic control unit operation
The multiple distance, the parking space and the vehicle parameter data and generate the heavy stroke of parking trajectory, initial parking trajectory tool
There is an initial straight path, which has one to draw straight line path again, the initial straight path and the heavy stroke of straight line
Path interlocks, so as to the heavy stroke of parking trajectory and the initial parking trajectory is enabled to partly overlap.
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| CN201611114472.5A CN108162956A (en) | 2016-12-07 | 2016-12-07 | Update the system and its method are drawn again in the automatic stopping track of environment dynamic detection |
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