CN108177694A - A kind of vehicle-mounted ultrasonic wave sensor system - Google Patents
A kind of vehicle-mounted ultrasonic wave sensor system Download PDFInfo
- Publication number
- CN108177694A CN108177694A CN201711453757.6A CN201711453757A CN108177694A CN 108177694 A CN108177694 A CN 108177694A CN 201711453757 A CN201711453757 A CN 201711453757A CN 108177694 A CN108177694 A CN 108177694A
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- vehicle
- parking
- information
- parking space
- park
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- 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 invention discloses a kind of vehicle-mounted ultrasonic wave sensor system, including：Data collecting system, the data on collection vehicle different directions；It parks control module, identify the position that the size and waiting of parking space is parked relative to parking space, judge whether the bulk of parking space is more than the threshold value of setting, parking path is planned according to waiting to park relative to the location information of the parking space, is parked status information according to car status information division；Vehicle control system controls vehicle according to the control instruction for control module output of parking；Man-machine interactive system, include control software, for receiving the various data informations of vehicle data information and vehicle-mounted ultrasonic wave sensor system, including drawing area interface and information display interface, drawing area interface real-time display auto model, vehicle moor during path planning and the true travel track of vehicle.Safety of parking can be ensured with display information in real time.
Description
Technical field
The invention belongs to technical fields of parking, and are moored automatically more particularly to a kind of vehicle based on vehicle-mounted ultrasonic wave sensor
Enter control system.
Background technology
With the continuous development of society, the quantity of automobile is increasing, and traffic accident is also gradual as caused by VEHICLES MUST PARK WITHIN THE MARKED BAY
Increase, therefore safety when people are to parking and simple operation propose higher requirement, it is desirable to have kind device can solve
The insecurity in driving is eliminated in the inconvenience that certainly automobile parking is brought.Also therefore occur much with pool in the market
Vehicle enters the car-mounted device based on bit function.
Automated parking system generates control algolithm of parking, instructs driver or directly control by acquiring external parking space information
Vehicular turn processed action, VEHICLES MUST PARK WITHIN THE MARKED BAY for the track for realizing according to planning.In this process, in fact it could happen that because of control module failure
Mistake is caused to turn to the beautiful possibility for causing harm.For this purpose, automated parking system needs to meet IS026262《Reason vehicle functions are pacified
Entirely》Standard avoids the generation of harm.
Existing automated parking system, has the following problems：
1. control algolithm of parking is responsible for by automatic parking control module (APA), but oneself APA control modules for having or do not have at present
Have and consider functional safety requirement or be unable to reach ASIL D grades, cause entire automated parking system that cannot meet ASIL D
Requirement, easily occur Vehicular turn harm, so as to cause the generation of hazardous accidents.
2. exploitation meets the APA control modules of ASIL D requirements, difficult, and cost is high, does not meet vehicle warp
The considerations of Ji property.
Invention content
In order to solve above-mentioned technical problem, the present invention provides a kind of vehicles based on vehicle-mounted ultrasonic wave sensor
Automatically moor into control system, human-computer interaction interface be provided, real-time display vehicle moor during parking stall position, path planning
And the information of each state of the true travel track of vehicle and vehicle, barrier is detected in the range of path if being moored in vehicle
Information then uses voice mode instead according to obstacle distance distance and carries out early warning, and vehicle stopping is controlled to moor into operation.
The technical scheme is that：
A kind of vehicle based on vehicle-mounted ultrasonic wave sensor is moored automatically into control system, including：
Multiple Ultrasonic Sensor Data acquisition systems, for acquiring the data for waiting to park on a different directions；
Park control module, the data of acquisition handled, identify the bulk of parking space and waiting park relative to
The location information of the parking space, judges whether the bulk of parking space is more than the threshold value of setting, if more than setting threshold
Value plans parking path according to waiting to park relative to the location information of the parking space, according to parking path and vehicle-state
Information generates control instruction, and status information of parking is divided according to car status information；
Vehicle control system, according to control instruction control car speed, gear, the wheel steering of control module output of parking
Angle；
Man-machine interactive system includes control software, for receiving vehicle data information and vehicle-mounted ultrasonic wave sensor system
Various data informations, the control software provides human-computer interaction interface, described including drawing area interface and information display interface
Information display interface include functional select switch and regulating switch, by figure, curve, different colours display data information and
It parks status information；The drawing area interface real-time rendering auto model, vehicle moor during path planning and vehicle
True travel track.
Preferably, it further includes, alarm system, according to the distance and motion conditions of obstacle distance, changes the sound of buzzer
It measures and pipes mode and the color of information display interface corresponding position, early warning is provided to driver.
Preferably, when vehicle park in-stockroom operation, the acquisition system detection of control Ultrasonic Sensor Data
Vehicle periphery barrier detects obstacle information if being moored in vehicle in the range of path, changed according to obstacle distance distance
Early warning is carried out, and vehicle is controlled to stop with voice mode.
Preferably, the control system of parking differentiates the pattern for storage of parking, and specifically includes,
If parking space length is less than+0.8 meter of length of wagon and parking space width is less than+0.7 meter of body width, it is determined as
It moors into difficulty；
Otherwise, further judgement, if parking space width is not less than+0.7 meter of body width, it is vertical pool to judge to moor into pattern
Vehicle is put in storage；Otherwise, if parking space width is less than+0.7 meter of body width but parking space length is not less than length of wagon+0.8
Rice then judges to moor and park storage for level into pattern.
Preferably, the status information of parking that will determine that the process of the bulk of parking space divides in space exploration,
During the status information of parking for mooring mode division for storage of vertically parking is carried out for APS2, the pool of horizontal storage of parking is entered into mould
What formula divided parks status information as that in APS2 progress, will moor the state letter of parking for detecting that obstacle information is divided into during
It ceases to interrupt.
Compared with prior art, it is an advantage of the invention that：
1st, provide human-computer interaction interface, real-time display vehicle moor during parking stall position, path planning and vehicle it is true
The information of each state of travel track and vehicle simplifies vehicle and moors operating process into parking stall, it is difficult to reduce driving
Degree, improves intelligent level and the safety of vehicle, improves safety and the driving comfort of driver.
2nd, there is " park storage in the process while detect the obstacle information moored in the range of path " and " mooring into interruption "
Function, when park storage during it is on the berth enter path in the range of detect obstacle information when, by system control vehicle stop
It moors into operation.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and embodiments：
Fig. 1 is the functional block diagram that the vehicle based on vehicle-mounted ultrasonic wave sensor moors automatically into control system in the present invention；
Fig. 2 is the work flow diagram that the vehicle based on vehicle-mounted ultrasonic wave sensor moors automatically into control system in the present invention；
Fig. 3 is the information display interface of man-machine interactive system of the present invention；
Fig. 4 is the drawing area interface of man-machine interactive system of the present invention.
Specific embodiment
Understand to make the object, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright range.In addition, in the following description, the description to known features and technology is omitted, to avoid this is unnecessarily obscured
The concept of invention.
Embodiment：
Below in conjunction with the accompanying drawings, presently preferred embodiments of the present invention is described further.
As shown in Figure 1, the vehicle based on vehicle-mounted ultrasonic wave sensor in the present invention is moored automatically into control system, including super
Sonic sensor data collecting system, control module of parking, vehicle control system, man-machine interactive system and alarm system.
Ultrasonic Sensor Data acquisition system：4 ultrasonic sensors are respectively installed at vehicle front/rear collision bumper, in vehicle
1 ultrasonic sensor of the front and rear each installation in place at left and right sides of, totally 12 ultrasonic sensors, acquire the number in all directions
According to.
It parks control module：Processing analysis is carried out for data collected to ultrasonic sensor, as shown in Figure 2.
Vehicle control system：Vehicle is manipulated according to data processed result, control car speed, gear, steering wheel
Steering angle etc. makes vehicle successfully moor into parking stall.
Man-machine interactive system：Include control software, for receiving vehicle data information and vehicle-mounted ultrasonic wave sensor system
The various data informations of system, which provides human-computer interaction interface, including drawing area interface and information display interface.
As shown in figure 3, information display interface includes functional select switch good person's regulating switch, pass through figure, curve, difference
Color display data information and status information of parking.
As shown in figure 4, drawing area interface real-time rendering and show auto model, vehicle moor during path planning
And the true travel track of vehicle.
Alarm system：According to the distance and motion conditions of obstacle distance, change the volume of buzzer and pipe mode with
And on display screen each region color, to driver provide warning function.It is especially set out, in the cartborne ultrasound wave of the present invention
It is accident prevention when vehicle park in-stockroom operation in sensing system, need to be moored into during simultaneously in vehicle
The detection of vehicle periphery barrier is carried out, obstacle information is detected in the range of path if being moored in vehicle, according to barrier
Distance uses voice mode instead and carries out early warning, and vehicle stopping is controlled to moor into operation.
The data processing and inversion that control module of parking carries out, including：
1. vehicle ambient condition information is detected, including：Whether have barrier, if so, provide the distance of the obstacle quality testing, position,
The information such as general profile, coordinate.
2. vehicle barrier warning function：According to the distance and motion conditions of obstacle distance, change the volume of buzzer
With the color in region each in the mode of piping and display screen, warning function is provided to driver.
The function of storage mode 3. automatic discrimination is parked：If parking space length is less than+0.8 meter of length of wagon and parking is empty
Between width be less than+0.7 meter of body width, then vehicle periphery does not have enough spaces that vehicle can be made moor into operation, judgement
For " mooring into difficulty "；Otherwise it is determined as that vehicle periphery there are enough spaces that vehicle can be made moor into operation：If parking space
Width is not less than+0.7 meter of body width, then it is vertical storage of parking to judge to moor into pattern, at this time man-machine interactive system display screen
Shown on information display interface corresponding park mode state " vertically moor into（APS2）”；Otherwise, if parking space width is less than
+ 0.7 meter of body width but parking space length not less than+0.8 meter of length of wagon, then judge to moor into pattern for level park into
Library, shown on man-machine interactive system display information display interface at this time corresponding park mode state " level moor into
（APS1）”.
4. vehicle control function：It is determining moor pattern after, vehicle is manipulated by vehicle control system, so that vehicle
It successfully moors into from parking stall.
5. vehicle is moored into " interruption " function：When vehicle park in-stockroom operation, it is carried out at the same time vehicle periphery barrier
Hinder the detection of object, obstacle information is detected in the range of path if being moored in vehicle, language is used instead according to obstacle distance distance
Sound mode carries out early warning, and vehicle stopping is controlled to moor into operation.
6. human-computer interaction and display function：According to analyzing and processing as a result, on a display screen can by the corresponding button into
Row selection, at the same by the real-time path planning of each function and true travel track, vehicle periphery obstacle information, warning message with
And other various information needed are intuitively shown in man-machine interaction display screen.
Vehicle " storage of parking is selected in the present invention（APS）" after function, the state moored into process each stage can be shown
In attached information interface shown in Fig. 3：Certain is not calculated moors the status display before mode as in attached drawing 3 " APS_mode "
" during APS1 is carried out " state can be shown on display screen, vertically park when " in space exploration " state, the mode of horizontal storage of parking
" APS2 carry out in " can be shown during the mode of storage on display screen if state, mooring the situation that obstacle information is detected into during
Corresponding " interruption " state, case above show " end " state after being performed both by.
Wherein, it is attached when the status display for the process of mooring is " during APS1 carries out " or " during APS2 is carried out " or " interruption "
Drawing area in Fig. 4 can real-time display vehicle moor during parking stall position, path planning and vehicle really advance rail
Mark.
With reference to Fig. 2, the workflow of present system is provided.
1. including this vehicle-mounted ultrasonic wave sensor system on vehicle, wherein ultrasonic sensor configuration is as follows：In vehicle
Respectively include 4 ultrasonic sensors at front/rear collision bumper, 1 ultrasonic sensor respectively included before and after left and right vehicle wheel both sides,
Totally 12 ultrasonic sensors；
2. vehicle preparation unlatching is parked during function, this system is opened, in display screen（Man-machine interactive system）Upper selection " storage of parking
（APS）" function；
3. according to system data handling result, vehicle periphery obstacle information is obtained, at this time on display information display interface
" APS_mode " display " in space search " state；
4. according to the vehicle periphery barrier situation detected, parking space size is judged, then in conjunction with vehicle heading, root
According to parking space dimension information and the relative tertiary location relationship of vehicle in itself, judge that " level is parked storage（APS1）" still
" storage of vertically parking（APS2）", it determines to moor into pattern, shows corresponding park mode on display information display interface at this time
State（" level moor into（APS1）" or " vertically moor into（APS2）”）；
After 5. the pattern of pool determines, while the specifying informations such as speed, gear, turning angle of steering wheel are sent to vehicle control system,
And vehicle is controlled to carry out corresponding operating, so that vehicle is successfully moored into parking stall；
6. when vehicle moor into operation, obstacle information is detected in the range of path if being moored in vehicle, basis
Obstacle distance distance carries out early warning with voice mode, and vehicle stopping is controlled to moor into operation, the circle of display information display at this time
" APS_mode " display " interruption " state on face；
7. if according to system data handling result, judge vehicle " mooring into difficulty ", then show " mooring into difficulty " on a display screen
Symbol, and stop the operation of vehicle control；
8. after mooring successfully or after being determined as " mooring difficulty ", system automatically exits from " storage of parking（APS）" function, " APS_
Mode " shows " end " state.
It should be understood that the above-mentioned specific embodiment of the present invention is used only for exemplary illustration or explains the present invention's
Principle, without being construed as limiting the invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.In addition, appended claims purport of the present invention
Covering the whole variations fallen into scope and boundary or this range and the equivalent form on boundary and repairing
Change example.
Claims (5)
1. a kind of vehicle based on vehicle-mounted ultrasonic wave sensor is moored automatically into control system, which is characterized in that including：
Multiple Ultrasonic Sensor Data acquisition systems, for acquiring the data for waiting to park on a different directions；
Park control module, the data of acquisition handled, identify the bulk of parking space and waiting park relative to
The location information of the parking space, judges whether the bulk of parking space is more than the threshold value of setting, if more than setting threshold
Value plans parking path according to waiting to park relative to the location information of the parking space, according to parking path and vehicle-state
Information generates control instruction, and status information of parking is divided according to car status information；
Vehicle control system, according to control instruction control car speed, gear, the wheel steering of control module output of parking
Angle；
Man-machine interactive system includes control software, for receiving vehicle data information and vehicle-mounted ultrasonic wave sensor system
Various data informations, the control software provides human-computer interaction interface, described including drawing area interface and information display interface
Information display interface include functional select switch and regulating switch, by figure, curve, different colours display data information and
It parks status information；The drawing area interface real-time rendering auto model, vehicle moor during path planning and vehicle
True travel track.
2. the vehicle according to claim 1 based on vehicle-mounted ultrasonic wave sensor is moored automatically into control system, feature exists
In further including, alarm system, according to the distance and motion conditions of obstacle distance, change the volume of buzzer and the mode that pipes
And the color of information display interface corresponding position, provide early warning to driver.
3. the vehicle according to claim 2 based on vehicle-mounted ultrasonic wave sensor is moored automatically into control system, feature exists
In, when vehicle park in-stockroom operation, control Ultrasonic Sensor Data acquisition system detection vehicle periphery obstacle
Object detects obstacle information if being moored in vehicle in the range of path, according to obstacle distance distance use instead voice mode into
Row early warning, and vehicle is controlled to stop.
4. the vehicle according to claim 1 based on vehicle-mounted ultrasonic wave sensor is moored automatically into control system, feature exists
In, the control system of parking differentiates the pattern for storage of parking, and specifically includes,
If parking space length is less than+0.8 meter of length of wagon and parking space width is less than+0.7 meter of body width, it is determined as
It moors into difficulty；
Otherwise, further judgement, if parking space width is not less than+0.7 meter of body width, it is vertical pool to judge to moor into pattern
Vehicle is put in storage；Otherwise, if parking space width is less than+0.7 meter of body width but parking space length is not less than length of wagon+0.8
Rice then judges to moor and park storage for level into pattern.
5. the vehicle according to claim 4 based on vehicle-mounted ultrasonic wave sensor is moored automatically into control system, feature exists
In, will determine that the process of the bulk of parking space divides park status information in space exploration, vertical will park into
During the status information of parking for mooring mode division in library is carried out for APS2, horizontal storage of parking is moored into parking into mode division
During status information is carried out for APS2, it will moor and detect that the status information of parking that obstacle information divides is to interrupt into during.
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| CN201711453757.6A CN108177694A (en) | 2017-12-28 | 2017-12-28 | A kind of vehicle-mounted ultrasonic wave sensor system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109459756A (en) * | 2018-12-29 | 2019-03-12 | 清华大学苏州汽车研究院（吴江） | A kind of vehicle-mounted ultrasonic wave sensor system |
| CN109591810A (en) * | 2018-11-07 | 2019-04-09 | 江苏敏安电动汽车有限公司 | A kind of full-automatic parking system, control method and vehicle |
| CN110588637A (en) * | 2019-09-24 | 2019-12-20 | 威马智慧出行科技（上海）有限公司 | Automatic parking control method, electronic equipment and automobile |
| CN110949257A (en) * | 2019-12-23 | 2020-04-03 | 深圳市豪恩汽车电子装备股份有限公司 | Auxiliary parking device and method for motor vehicle |
| CN110949256A (en) * | 2019-12-23 | 2020-04-03 | 深圳市豪恩汽车电子装备股份有限公司 | Auxiliary parking device and method for motor vehicle |
| CN110949255A (en) * | 2019-12-23 | 2020-04-03 | 深圳市豪恩汽车电子装备股份有限公司 | Auxiliary parking device and method for motor vehicle |
| CN111591283A (en) * | 2020-04-13 | 2020-08-28 | 长城汽车股份有限公司 | Method, device and system for monitoring vehicle motion trail |
| CN112319608A (en) * | 2019-07-19 | 2021-02-05 | 广州汽车集团股份有限公司 | Method and system for realizing parking by adopting mobile phone Bluetooth key |
| CN112428987A (en) * | 2020-11-25 | 2021-03-02 | 苏州优达斯汽车科技有限公司 | Automatic parking system and method interacting with parking lot |
| CN112666951A (en) * | 2020-12-25 | 2021-04-16 | 广州橙行智动汽车科技有限公司 | Parking interaction method and device and vehicle |
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