CN108181906B - Parking auxiliary control system and method - Google Patents
Parking auxiliary control system and method Download PDFInfo
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- CN108181906B CN108181906B CN201810013331.7A CN201810013331A CN108181906B CN 108181906 B CN108181906 B CN 108181906B CN 201810013331 A CN201810013331 A CN 201810013331A CN 108181906 B CN108181906 B CN 108181906B
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- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000004088 simulation Methods 0.000 claims description 4
- 238000011897 real-time detection Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 5
- 206010063385 Intellectualisation Diseases 0.000 abstract description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a parking auxiliary control system and a parking auxiliary control method, which mainly utilize the parking space condition detected by a radar to automatically calculate the occupied area of a parked vehicle, the size and the direction of a parking area, automatically calculate and search a reasonable parking route by combining the position of the vehicle to be parked and a series of parameters of the vehicle to be parked, and simulate, detect and verify the planned route in real time. The invention is a new technology developed for meeting the requirement of the great development of driving intellectualization, can identify the type of the parking space, and can simulate and display a planned route.
Description
All as the field of technology
The invention relates to the technical field of sensing and automatic control, in particular to a parking auxiliary control system and method.
All the above-mentioned background techniques
With the development of automobile intellectualization, the requirements of new technologies such as automatic driving, automatic parking and the like are increasingly extensive, and new related technologies are also spread. However, as parking spaces are various in form and different in position, and methods for sensing obstacles are different, no complete system algorithm is available in the field of ultrasonic detection and automatic parking at present, and the market demand of ultrasonic automatic parking can be met.
The defects of the prior art are as follows: without the step of simulation operation, the driver cannot intuitively judge the actual feasibility of the planned route; the parking is blind without the function of judging the transverse parking space or the longitudinal parking space, and the selection is still difficult for some novice drivers.
All the contents of the invention
The invention aims to detect the specific conditions of the parking spaces in real time by combining the remote detection function of a radar product and plan and detect a reasonable parking route in real time by combining the position of a vehicle to be parked. The purpose of the invention is realized by the following technical scheme:
a parking auxiliary control system comprises a plurality of sensors, four sensor controllers, a Uart signal-to-CAN converter, an APA controller, a vehicle CAN bus, a vehicle main controller, a vehicle man-machine interaction assembly and an automatic parking execution assembly, wherein the sensors are arranged at the front end, the rear end, the left side and the right side of a vehicle body; the first sensor controller controls a sensor arranged at the front end of the vehicle body, the second sensor controller controls a sensor arranged at the rear end of the vehicle body, the third sensor controller controls a sensor arranged at the left side of the vehicle body, and the fourth sensor controller controls sensors arranged at the front and rear sides of the right side of the vehicle body; the first sensor controller and the second sensor controller are connected with a vehicle CAN bus through a Uart signal-to-CAN converter, the third sensor controller and the fourth sensor controller are connected with the vehicle CAN bus through an APA controller, the vehicle main controller is connected with the vehicle CAN bus, and the vehicle man-machine interaction assembly and the automatic parking execution assembly are connected with the vehicle main controller.
As a specific technical scheme, the vehicle man-machine interaction assembly comprises a triggering unit in a reversing mode, a blind spot monitoring mode and an APA mode, an acousto-optic prompting unit and a parking planning line simulation display unit.
As a specific technical scheme, the automatic parking execution assembly comprises an EPS module, an ESP module, an electronic gear shifter and an EPB module.
A parking assist control method based on the control system comprises the following steps:
(1) the sensor feeds back parking space and parked position information data;
(2) calculating a parked interference area according to the position information and a set safety factor;
(3) calculating a parking available area range according to the parking interference area;
(4) judging whether the parking type is a diagonal parking space, a transverse parking space or a longitudinal parking space according to the parking available area range;
(5) judging whether the parking space is effective or not according to the parking area range and the vehicle parameters of the vehicle, if the parking space is effective, entering the step (6a), and if the parking space is ineffective, entering the step (6 b);
(6a) planning a parking route according to the parking place type and the parameter of the vehicle to be parked;
(6b) giving up the current parking space, continuously searching for a proper parking space, and returning to the step (1);
(7) simulating to stop, checking the reliability and safety of the planned route, entering the step (8a) if the planned route is safe, and entering the step (8b) if the planned route interferes with the planned route
(8a) Confirming that the planned route is successful, and prompting to execute parking operation;
(8b1) automatically adjusting the safety factor and re-planning the route;
(8b2) and (4) judging whether the repeated planning times exceed the set times, if so, entering the step (6b), and otherwise, entering the step (6 a).
As a specific technical scheme, the vehicle parameters comprise the minimum turning radius of the vehicle, the size of the vehicle body, the angle of a steering wheel and the driving safety interference coefficient.
As a further technical scheme, a self-checking step for detecting whether signals of each sensor and the CAN are normal is further arranged before the step (1).
As a specific technical solution, in the self-test step, on the basis of integrating a sensor signal feedback circuit on each controller, a chip of the controller sends a driving signal to the sensor and captures a high/low level signal at an input port of the sensor to diagnose various faults of the sensor.
As a specific technical scheme, the self-checking step comprises the following detection steps: after each controller is electrified, the sensor and the CAN signals are subjected to self-checking, the self-checking is only carried out once, and the system enters a standby mode after OK; when entering into the PDC/BSD/APA working mode, each controller carries out real-time detection on the sensor, and continues self-detection even after a fault occurs.
The invention automatically calculates the occupied area of the parked vehicle, the size and the direction of the parking area by using the parking space condition detected by the radar, automatically calculates and searches a reasonable parking route by combining the position of the vehicle to be parked and a series of parameters of the vehicle to be parked, and simulates, detects and verifies the planned route in real time. The invention is a new technology developed for meeting the requirement of the great development of driving intellectualization, can identify the type of the parking space, and can simulate and display a planned route.
Description of the drawings
Fig. 1 is a schematic configuration diagram of a parking assist control system according to an embodiment.
Fig. 2 is a schematic configuration diagram of a parking assist control method according to an embodiment.
Fig. 3 is an exemplary diagram of different parking route plans in the embodiment.
(specific embodiments) in all cases
The following further describes embodiments of the present invention with reference to the accompanying drawings:
a system based on the Parking assist control method provided by the embodiment is shown in fig. 1, and the system includes four sensors arranged at the front end of a vehicle body, four sensors arranged at the rear end of the vehicle body, two sensors arranged front and back at the left side of the vehicle body, two sensors arranged front and back at the right side of the vehicle body, four sensor controllers, a Uart signal conversion CAN converter, an APA (Advanced Parking Aid) controller, a vehicle CAN bus, a vehicle main controller, a vehicle Human-Machine Interaction (HMI) component, and an automatic Parking execution component. The first sensor controller controls four sensors arranged at the front end of the vehicle body, the second sensor controller controls four sensors arranged at the rear end of the vehicle body, the third sensor controller controls two sensors arranged around the left side of the vehicle body, and the fourth sensor controller controls two sensors arranged around the right side of the vehicle body. The first sensor controller and the second sensor controller are connected with a vehicle CAN bus through a Uart signal-to-CAN converter, the third sensor controller and the fourth sensor controller are connected with the vehicle CAN bus through an APA controller, a vehicle main controller is connected with the vehicle CAN bus, and the vehicle man-machine interaction assembly is connected with the vehicle main controller. The vehicle man-machine interaction assembly comprises a reverse mode, a blind spot monitoring mode and APA mode related trigger unit, an acousto-optic prompt unit and a parking planning line simulation display unit. The automatic parking execution assembly is connected with a vehicle main controller and comprises an EPS (electric Power Steering) module, an ESP (Electronic Stability Program) module, an Electronic gear shifter and an EPB (Electronic Park Brake) module.
Based on the system, the vehicle has a hardware basis for realizing a Parking radar (PDC) mode function, a Blind Spot Detection (BSD) mode function and an APA function.
Referring to fig. 2 and 3, based on the parking assist control system, the parking assist control method according to the present embodiment includes the steps of:
(1) the sensor feeds back parking space and parked position information data;
(2) calculating a parked interference area according to the position information and a set safety factor;
(3) calculating a parking available area range according to the parking interference area;
(4) judging whether the parking type is a diagonal parking space, a transverse parking space or a longitudinal parking space according to the parking available area range;
(5) judging whether the parking space is effective or not according to the parking area range and the vehicle parameters of the vehicle, if the parking space is effective, entering the step (6a), and if the parking space is ineffective, entering the step (6 b);
(6a) planning a parking route according to the parking place type and the parameter of the vehicle to be parked;
(6b) giving up the current parking space, continuously searching for a proper parking space, and returning to the step (1);
(7) simulating to stop, checking the reliability and safety of the planned route, entering the step (8a) if the planned route is safe, and entering the step (8b) if the planned route interferes with the planned route
(8a) Confirming that the planned route is successful, and prompting to execute parking operation;
(8b1) automatically adjusting the safety factor and re-planning the route;
(8b2) and (4) judging whether the repeated planning times exceed the set times, if so, entering the step (6b), and otherwise, entering the step (6 a).
In order to ensure reliable operation, in the method of the embodiment, a self-checking step is further provided before the step (1) and is used for detecting whether signals of each sensor and the CAN are normal or not.
The self-test function is described as follows:
enabling conditions: a or b or c or d
a: IGN (abbreviation for Ignition Switch) is delayed for more than 400ms after being powered on
b: entering PDC reverse radar mode
c: entering a BSD blind spot monitoring mode
d: enter APA mode
And (3) closing conditions: a | b | c | d
a: IGN power-on self-test end
b: exiting PDC reverse radar mode
c: exiting BSD blind spot monitoring mode
d: exiting APA mode
Specifically, a sensor signal feedback circuit is integrated on each controller, and a chip of the controller diagnoses various faults of the sensor by sending a driving signal to the sensor and capturing a high/low level signal at an input port of the sensor.
After the controller is electrified, self-checking is carried out on all sensors and CAN signals, the self-checking is only carried out once, and the system enters a standby mode after OK; when the controller enters a PDC/BSD/APA working mode, the working probe is detected in real time, and self-detection is continued even after a fault occurs. If the self-checking is OK, the system starts to detect the obstacle, and if the obstacle is in the detection range, the system gives a certain alarm prompt; if the self-checking is NG, the system gives a certain alarm prompt, and then the system does not work.
In the process of finding the parking space in the step (1), the work cycle of the side sensor FRS \ FLS \ RRS \ RLS is as follows: 50ms (send once control data); the duty cycle of the front 4 and back 4 sensors is: 250ms (once control data is transmitted).
The above embodiments are merely provided for full disclosure and not for limitation, and any replacement of equivalent technical features based on the creative work of the invention should be regarded as the scope of the disclosure of the present application.
Claims (4)
1. A parking auxiliary control method is based on a parking auxiliary control system and comprises a plurality of sensors, four sensor controllers, a Uart signal-to-CAN converter, an APA controller, a vehicle CAN bus, a vehicle main controller, a vehicle man-machine interaction assembly and an automatic parking execution assembly, wherein the sensors are arranged at the front end, the rear end, the left side and the right side of a vehicle body; the first sensor controller controls a sensor arranged at the front end of the vehicle body, the second sensor controller controls a sensor arranged at the rear end of the vehicle body, the third sensor controller controls a sensor arranged at the left side of the vehicle body, and the fourth sensor controller controls sensors arranged at the front and rear sides of the right side of the vehicle body; the first sensor controller and the second sensor controller are connected with a vehicle CAN bus through a Uart signal-to-CAN converter, the third sensor controller and the fourth sensor controller are connected with the vehicle CAN bus through an APA controller, a vehicle main controller is connected with the vehicle CAN bus, and a vehicle man-machine interaction assembly and an automatic parking execution assembly are connected with the vehicle main controller; the vehicle man-machine interaction assembly comprises a triggering unit, an acousto-optic prompting unit and a parking planning line simulation display unit, wherein the triggering unit is in a reversing mode, a blind spot monitoring mode and an APA mode; the automatic parking execution assembly comprises an EPS module, an ESP module, an electronic gear shifter and an EPB module;
the control method is characterized by comprising the following steps:
(1) the sensor feeds back parking space and parked position information data;
(2) calculating a parked interference area according to the position information and a set safety factor;
(3) calculating a parking available area range according to the parking interference area;
(4) judging whether the parking type is a diagonal parking space, a transverse parking space or a longitudinal parking space according to the parking available area range;
(5) judging whether the parking space is effective or not according to the parking area range and the vehicle parameters of the vehicle, if the parking space is effective, entering the step (6a), and if the parking space is ineffective, entering the step (6 b); the vehicle parameters comprise the minimum turning radius, the vehicle body size, the steering wheel angle and the driving safety interference coefficient of the vehicle
(6a) Planning a parking route according to the parking place type and the parameter of the vehicle to be parked;
(6b) giving up the current parking space, continuously searching for a proper parking space, and returning to the step (1);
(7) simulating to stop, checking the reliability and safety of the planned route, entering the step (8a) if the planned route is safe, and entering the step (8b) if the planned route interferes with the planned route
(8a) Confirming that the planned route is successful, and prompting to execute parking operation;
(8b1) automatically adjusting the safety factor and re-planning the route;
(8b2) and (4) judging whether the repeated planning times exceed the set times, if so, entering the step (6b), and otherwise, entering the step (6 a).
2. The vehicle parking assist control method according to claim 1, characterized in that a self-test step for detecting whether or not the respective sensors and CAN signals are normal is further provided before step (1).
3. The vehicle parking assist control method according to claim 2, wherein the self-test step is to diagnose various failures of the sensors by a chip of the controller sending a driving signal to the sensors and capturing high/low level signals at input ports of the sensors, on the basis of integrating a sensor signal feedback circuit on each controller.
4. The vehicle parking assist control method according to claim 3, wherein the self-checking step includes the following checks: after each controller is electrified, the sensor and the CAN signals are subjected to self-checking, the self-checking is only carried out once, and the system enters a standby mode after OK; when entering into the PDC/BSD/APA working mode, each controller carries out real-time detection on the sensor, and continues self-detection even after a fault occurs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810013331.7A CN108181906B (en) | 2018-01-07 | 2018-01-07 | Parking auxiliary control system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810013331.7A CN108181906B (en) | 2018-01-07 | 2018-01-07 | Parking auxiliary control system and method |
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| CN108181906A CN108181906A (en) | 2018-06-19 |
| CN108181906B true CN108181906B (en) | 2021-07-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110133658A (en) * | 2019-04-28 | 2019-08-16 | 惠州市德赛西威智能交通技术研究院有限公司 | A kind of fault detection method and system applied to trailer-mounted radar |
| CN111257893B (en) * | 2020-01-20 | 2024-05-10 | 珠海上富电技股份有限公司 | Parking space detection method and automatic parking method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864369A (en) * | 2015-12-11 | 2017-06-20 | 华创车电技术中心股份有限公司 | Parking auxiliary ring field image system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102012201902A1 (en) * | 2012-02-09 | 2013-08-14 | Robert Bosch Gmbh | Driver assistance system for adapting the target position in transverse parking spaces by the driver |
| CN103332191A (en) * | 2013-02-07 | 2013-10-02 | 江苏大学 | EPS integrated intelligent parking control system and control method |
| CN104149787B (en) * | 2014-06-12 | 2017-10-24 | 盛瑞传动股份有限公司 | A kind of Trouble Match method and system of automatic catch automobile |
| CN104648243B (en) * | 2015-01-27 | 2017-03-22 | 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 |
| CN105857306B (en) * | 2016-04-14 | 2018-07-10 | 中国科学院合肥物质科学研究院 | A kind of vehicle autonomous parking paths planning method for a variety of scenes of parking |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864369A (en) * | 2015-12-11 | 2017-06-20 | 华创车电技术中心股份有限公司 | Parking auxiliary ring field image system |
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