CN108181906A - One kind is parked supplementary controlled system and method - Google Patents

One kind is parked supplementary controlled system and method Download PDF

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Publication number
CN108181906A
CN108181906A CN201810013331.7A CN201810013331A CN108181906A CN 108181906 A CN108181906 A CN 108181906A CN 201810013331 A CN201810013331 A CN 201810013331A CN 108181906 A CN108181906 A CN 108181906A
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CN
China
Prior art keywords
parking
sensor
vehicle
controller
control
Prior art date
Application number
CN201810013331.7A
Other languages
Chinese (zh)
Inventor
董贵滨
王鑫
陈礼光
周馨
周永权
黄珍红
Original Assignee
珠海上富电技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 珠海上富电技股份有限公司 filed Critical 珠海上富电技股份有限公司
Priority to CN201810013331.7A priority Critical patent/CN108181906A/en
Publication of CN108181906A publication Critical patent/CN108181906A/en

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles

Abstract

The present invention discloses one kind and parks supplementary controlled system and method, the parking stall situation mainly arrived using radar detection, automatically the occupation of land region parked is calculated, can parking areas size, orientation, in conjunction with position to be parked and wait itself series of parameters of parking, automatic calculate finds rational parking route, and in real time to the route of planning and real-time analog detection verification.The present invention is to meet the needs that driving intelligentization develops on a large scale and the new technology researched and developed, can identify parking stall type, can simulate and show planning circuit.

Description

One kind is parked supplementary controlled system and method

" technical field "

The present invention relates to sensing and automatic control technology fields, and in particular to one kind is parked supplementary controlled system and method.

" background technology "

As the demand of the new technologies such as vehicle intellectualized development, automatic Pilot, automatic parking is increasingly extensive, new The relevant technologies are also covered the sky and the earth.But various informative due to parking space, position is not of uniform size, senses the method for barrier It is different, it can meet ultrasonic wave certainly in the algorithm of ultrasonic listening and the still no complete set system in automatic parking field at present The dynamic market demand parked.

The defects of prior art, is:There is no simulation operation step, driver cannot intuitively judge programme path really Real feasibility;Do not judge the function of lateral parking stall or longitudinal parking stall, park and compare blindly, some new hand drivers are come It says, it is difficult to still remain selection.

" invention content "

It is an object of the invention to combine the remote probe function of Radar Products, the specific situation of parking stall, knot are detected in real time It closes and waits the position of itself of parking, plan in real time and detect rational parking route.The purpose of the present invention is by following technical scheme reality It is existing:

One kind is parked supplementary controlled system, several sensors including the setting of body structure, rear end, left side and right side, four A sensor controller, Uart signals turn CAN converters, APA controllers, vehicle CAN bus, vehicle main control device, vehicle people Machine interactive component and automatic parking executive module;The sensor of first sensor controller management and control body structure setting, second passes The sensor of sensor controller management and control body rear end setting, the sensor that 3rd sensor controller management and control vehicle body left side is set, The front and rear sensor set on the right side of 4th sensor controller management and control vehicle body;First sensor controller and second sensor control Device turns CAN converters connection vehicle CAN bus, 3rd sensor controller and the 4th sensor controller warp through Uart signals APA controllers connect vehicle CAN bus, and vehicle main control device connect with vehicle CAN bus, vehicle man machine's interactive component and automatically Executive module of parking is connect with vehicle main control device.

As specific technical solution, vehicle man machine's interactive component includes reversing mode, blind monitoring pattern and APA Trigger element, acousto-optic hint unit and the planning circuit simulation shows unit of parking of pattern.

As specific technical solution, the automatic parking executive module includes EPS modules, ESP modules, electronic gear shifter And EPB modules.

A kind of auxiliary control method of parking based on above-mentioned control system, includes the following steps:

(1) sensor feedback parking stall and parking place information data;

(2) according to location information and the safety coefficient of setting, interference region of having parked is calculated;

(3) being calculated according to interference region of having parked can parking areas range;

(4) according to can parking areas range judge that berth type is diagonal parking stall, lateral parking stall or longitudinal direction parking stall;

(5) according to can parking areas range and vehicle parameter judge whether parking stall effective, effectively then enters step (6a) is then entered step (6b) in vain;

(6a) is according to parking stall type and parametric programming parking route to be parked;

(6b) abandons current parking stall, continually looks for return to step (1) behind suitable parking stall;

(7) dry run is waited to stop, and checks the reliability and security of programme path, enters if programme path safety Step (8a) enters step (8b) if programme path is interfered

(8a) confirms programme path success, prompts to perform parking manoeuvres;

(8b1) adjust automatically safety coefficient, again programme path;

(8b2) judges to repeat to plan whether number is more than setting number, is to enter step (6b), otherwise enters step (6a)。

As specific technical solution, the vehicle parameter includes the minimum turning radius of this vehicle itself, vehicle body ruler It is very little, steering wheel angle, traffic safety interference coefficient.

As further technical solution, be additionally provided with before step (1) is for detecting each sensor and CAN signal No normal self-test step.

As specific technical solution, the self-test step is the integrated sensor signal feedback circuit on each controller On the basis of, the chip of controller to sensor by sending drive signal, and capture the high/low level signal of sensor input port Carry out the various failures of diagnostic sensor.

As specific technical solution, the self-test step includes following several detections:Each controller is after the power is turned on to sensing Device and CAN signal carry out self-test, which only carries out once, and system enters standby mode after OK;Each controller is into PDC/ During BSD/APA operating modes, sensor is detected in real time, even if also continuing with self-test after failure.

The parking stall situation that the present invention is arrived using radar detection, calculate the occupation of land region parked automatically, can parking areas Itself series of parameters of parking in conjunction with position to be parked and is waited in size, orientation, and automatic calculating, which is found, reasonably parks Route, and in real time to the route of planning and real-time analog detection verification.The present invention is in order to which driving intelligent is met to develop on a large scale The new technology for needing and researching and developing can identify parking stall type, can simulate and show planning circuit.

" description of the drawings "

Fig. 1 is the composition schematic diagram for supplementary controlled system of parking that embodiment provides.

Fig. 2 is the composition schematic diagram for auxiliary control method of parking that embodiment provides.

Fig. 3 is the exemplary plot of different layout of roads of parking in embodiment.

" specific embodiment "

The specific embodiment of the present invention is described further below in conjunction with the accompanying drawings:

Before system that auxiliary control method provided in this embodiment of parking is based on is as shown in Figure 1, the system includes vehicle body Hold four sensors of setting, four sensors of body rear end setting, front and rear two sensors set in vehicle body left side, vehicle body right Front and rear two sensors set in side, four sensor controllers, Uart signals turn CAN converters, APA (Advanced Parking Aid, parking auxiliary) controller, vehicle CAN bus, vehicle main control device, vehicle man machine interaction (Human- Machine Interaction, abbreviation HMI) component and automatic parking executive module.Wherein, first sensor controller management and control Four sensors of body structure setting, four sensors of second sensor controller management and control body rear end setting, third pass Front and rear two sensors set on the left of sensor controller management and control vehicle body, the 4th sensor controller management and control vehicle body are set before and after right side Two sensors put.First sensor controller turns CAN converters through Uart signals with second sensor controller and connects vehicle CAN bus, 3rd sensor controller and the 4th sensor controller connect vehicle CAN bus, vehicle master through APA controllers Controller is connect with vehicle CAN bus, and vehicle man machine's interactive component is connect with vehicle main control device.Vehicle man machine's interactive component packet Include the associated trigger unit, acousto-optic hint unit and planning line simulation of parking of reversing mode, blind monitoring pattern and APA patterns Display unit.Automatic parking executive module is connect with vehicle main control device, including EPS (electric boosting steering system, Electronic Power Steering) module, ESP (Electronic Stability Program, electronic stability control System) module, electronic gear shifter and EPB (Electrical Park Brake, electronic brake system) module.

Based on system above, vehicle has realization radar for backing car (PDC, Parking Distance Control) pattern The hardware foundation of function, blind monitoring (BSD, Blind Spot Detection) mode capabilities and APA functions.

With reference to shown in Fig. 2 and Fig. 3, based on above-mentioned supplementary controlled system of parking, auxiliary control provided in this embodiment of parking Method includes the following steps:

(1) sensor feedback parking stall and parking place information data;

(2) according to location information and the safety coefficient of setting, interference region of having parked is calculated;

(3) being calculated according to interference region of having parked can parking areas range;

(4) according to can parking areas range judge that berth type is diagonal parking stall, lateral parking stall or longitudinal direction parking stall;

(5) according to can parking areas range and vehicle parameter judge whether parking stall effective, effectively then enters step (6a) is then entered step (6b) in vain;

(6a) is according to parking stall type and parametric programming parking route to be parked;

(6b) abandons current parking stall, continually looks for return to step (1) behind suitable parking stall;

(7) dry run is waited to stop, and checks the reliability and security of programme path, enters if programme path safety Step (8a) enters step (8b) if programme path is interfered

(8a) confirms programme path success, prompts to perform parking manoeuvres;

(8b1) adjust automatically safety coefficient, again programme path;

(8b2) judges to repeat to plan whether number is more than setting number, is to enter step (6b), otherwise enters step (6a)。

Wherein, it is reliable in order to ensure, in the present embodiment method, self-test step is also provided with before step (1), is used It is whether normal in each sensor of detection and CAN signal.

Self-checking function is described as follows:

Enabled condition:A or b or c or d

a:Delay duration is more than 400ms to IGN (Ignition Switch's writes a Chinese character in simplified form) after the power is turned on

b:Into PDC radar for backing car patterns

c:Into BSD blind monitoring patterns

d:Into APA patterns

Closedown condition:a|b|c|d

a:IGN power-on self-tests terminate

b:Exit PDC radar for backing car patterns

c:Exit BSD blind monitoring patterns

d:Exit APA patterns

Specifically, the integrated sensor signal feedback circuit on each controller, the chip of controller to sensor by sending out Drive signal is sent, and the high/low level signal for capturing sensor input port carrys out the various failures of diagnostic sensor.

Controller carries out self-test to all sensors and CAN signal after the power is turned on, which only carries out once, after OK system into Enter standby mode;Controller detects work probe, when entering PDC/BSD/APA operating modes even if failure in real time After also continue with self-test.If self-test OK, system start obstruction detection, if barrier, in investigative range, system is given centainly Alarm;If self-test NG, system gives certain alarm, and then system does not work.

Step (1) is looked for during parking stall, side edge sensor FRS FLS RRS the RLS work periods be:50ms (sends one Secondary control data);The work period of 4 sensors is after preceding 4:250ms (sends a secondary control data).

Above example be only it is fully open is not intended to limit the present invention, all creation purports based on the present invention, without creating Property labour equivalence techniques feature replacement, should be considered as the application exposure range.

Claims (8)

  1. The supplementary controlled system 1. one kind is parked, which is characterized in that including the several of body structure, rear end, left side and right side setting Sensor, four sensor controllers, Uart signals turn CAN converters, APA controllers, vehicle CAN bus, vehicle main control system Device, vehicle man machine's interactive component and automatic parking executive module;The sensing of first sensor controller management and control body structure setting Device, the sensor of second sensor controller management and control body rear end setting, 3rd sensor controller management and control vehicle body left side are set Sensor, the front and rear sensor set on the right side of the 4th sensor controller management and control vehicle body;First sensor controller and second Sensor controller turns CAN converters connection vehicle CAN bus, 3rd sensor controller and the 4th sensor through Uart signals Controller connects vehicle CAN bus through APA controllers, and vehicle main control device is connect with vehicle CAN bus, vehicle man machine's interaction group Part and automatic parking executive module are connect with vehicle main control device.
  2. 2. supplementary controlled system according to claim 1 of parking, which is characterized in that vehicle man machine's interactive component includes Reversing mode, the trigger element of blind monitoring pattern and APA patterns, acousto-optic hint unit and planning circuit simulation shows list of parking Member.
  3. 3. supplementary controlled system according to claim 2 of parking, which is characterized in that the automatic parking executive module includes EPS modules, ESP modules, electronic gear shifter and EPB modules.
  4. 4. a kind of auxiliary control method of parking based on control system described in claim 3, which is characterized in that including following step Suddenly:
    (1) sensor feedback parking stall and parking place information data;
    (2) according to location information and the safety coefficient of setting, interference region of having parked is calculated;
    (3) being calculated according to interference region of having parked can parking areas range;
    (4) according to can parking areas range judge that berth type is diagonal parking stall, lateral parking stall or longitudinal direction parking stall;
    (5) according to can parking areas range and vehicle parameter judge whether parking stall effective, effectively then enter step (6a), It is invalid then enter step (6b);
    (6a) is according to parking stall type and parametric programming parking route to be parked;
    (6b) abandons current parking stall, continually looks for return to step (1) behind suitable parking stall;
    (7) dry run is waited to stop, and checks the reliability and security of programme path, is entered step if programme path safety (8a) is entered step (8b) if programme path is interfered
    (8a) confirms programme path success, prompts to perform parking manoeuvres;
    (8b1) adjust automatically safety coefficient, again programme path;
    (8b2) judges to repeat to plan whether number is more than setting number, is to enter step (6b), otherwise enters step (6a).
  5. 5. auxiliary control method according to claim 4 of parking, which is characterized in that the vehicle parameter includes this vehicle The minimum turning radius of itself, body dimensions, steering wheel angle, traffic safety interference coefficient.
  6. 6. auxiliary control method according to claim 5 of parking, which is characterized in that be additionally provided with use before step (1) In each sensor of detection and the whether normal self-test step of CAN signal.
  7. 7. auxiliary control method according to claim 6 of parking, which is characterized in that the self-test step is in each controller On the basis of upper integrated sensor signal feedback circuit, the chip of controller to sensor by sending drive signal, and capture The high/low level signal of sensor input port carrys out the various failures of diagnostic sensor.
  8. 8. auxiliary control method according to claim 7 of parking, which is characterized in that the self-test step includes following several Detection:Each controller carries out self-test to sensor and CAN signal after the power is turned on, which only carries out once, and system enters and treats after OK Machine pattern;Each controller detects sensor, when entering PDC/BSD/APA operating modes after failure in real time Continue self-test.
CN201810013331.7A 2018-01-07 2018-01-07 One kind is parked supplementary controlled system and method CN108181906A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810013331.7A CN108181906A (en) 2018-01-07 2018-01-07 One kind is parked supplementary controlled system and method

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Application Number Priority Date Filing Date Title
CN201810013331.7A CN108181906A (en) 2018-01-07 2018-01-07 One kind is parked supplementary controlled system and method

Publications (1)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2626279A1 (en) * 2012-02-09 2013-08-14 Robert Bosch Gmbh Driver assistance system for adjusting the target position in transverse parking spots by the driver
CN103332191A (en) * 2013-02-07 2013-10-02 江苏大学 EPS integrated intelligent parking control system and control method
CN104149787A (en) * 2014-06-12 2014-11-19 盛瑞传动股份有限公司 Fault matching method and system of automatic transmission automobile
CN104648243A (en) * 2015-01-27 2015-05-27 奇瑞汽车股份有限公司 Parking method and device
CN105774815A (en) * 2016-03-07 2016-07-20 江苏大学 High-adaptability human-computer interaction type intelligent parking method
CN105857306A (en) * 2016-04-14 2016-08-17 中国科学院合肥物质科学研究院 Vehicle autonomous parking path programming method used for multiple parking scenes
JP2016150593A (en) * 2015-02-16 2016-08-22 三菱電機株式会社 Vehicle control device and vehicle control device
CN106875726A (en) * 2015-12-10 2017-06-20 天津华易智诚科技发展有限公司 A kind of intelligent parking auxiliary device

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2626279A1 (en) * 2012-02-09 2013-08-14 Robert Bosch Gmbh Driver assistance system for adjusting the target position in transverse parking spots by the driver
CN103332191A (en) * 2013-02-07 2013-10-02 江苏大学 EPS integrated intelligent parking control system and control method
CN104149787A (en) * 2014-06-12 2014-11-19 盛瑞传动股份有限公司 Fault matching method and system of automatic transmission automobile
CN104648243A (en) * 2015-01-27 2015-05-27 奇瑞汽车股份有限公司 Parking method and device
JP2016150593A (en) * 2015-02-16 2016-08-22 三菱電機株式会社 Vehicle control device and vehicle control device
CN106875726A (en) * 2015-12-10 2017-06-20 天津华易智诚科技发展有限公司 A kind of intelligent parking auxiliary device
CN105774815A (en) * 2016-03-07 2016-07-20 江苏大学 High-adaptability human-computer interaction type intelligent parking method
CN105857306A (en) * 2016-04-14 2016-08-17 中国科学院合肥物质科学研究院 Vehicle autonomous parking path programming method used for multiple parking scenes

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