CN108407803A - A kind of automatic parking control algolithm based on driving experience - Google Patents

A kind of automatic parking control algolithm based on driving experience Download PDF

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Publication number
CN108407803A
CN108407803A CN201810109501.1A CN201810109501A CN108407803A CN 108407803 A CN108407803 A CN 108407803A CN 201810109501 A CN201810109501 A CN 201810109501A CN 108407803 A CN108407803 A CN 108407803A
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speed
parking
automobile
steering wheel
steering
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CN201810109501.1A
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CN108407803B (en
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康龙云
胡文
谭运生
卢楚生
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South China University of Technology SCUT
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South China University of Technology SCUT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The automatic parking control algolithm based on driving experience that the invention discloses a kind of, this method use for reference the experience of parking of experienced driver, the process of parking are divided into 6 steps：1st step is by running car to longitudinal initial position of parking, i.e. S0Section；The control of 2nd step, which is parked, speed and quickly kills steering wheel, i.e. S1Section；3rd step is promoted to maximum after steering wheel is killed, by speed and parks speed, i.e. S2Section；Automobile speed is reduced to minimum stabilized speed, and the quick negative direction of steering wheel is killed, i.e. S by the 4th step when automobile steering angle reaches certain angle θ3Section；5th step is promoted to maximum after steering wheel negative direction is killed, by speed and parks speed, i.e. S4Section；6th step returns rapidly steering wheel just, i.e. S5Section.A kind of pure geometric operation of automatic parking control algolithm based on driving experience of the present invention, calculation amount are small, require hardware device low, and process is simple and practicable, highly practical, convenient for commercialization.

Description

A kind of automatic parking control algolithm based on driving experience
Technical field
The present invention relates to automobile intelligent control technology fields, and in particular to a kind of automatic parking control based on driving experience Algorithm.
Background technology
In recent years, with rapid development of economy and people's living standards continue to improve, automobile has become people's life Important component in work and the main vehicles.However, with the increase of car ownership, parking space is increasingly It is small, the operation of driver is required it is also higher and higher, for the driver to lack experience, it is difficult to easily by automobile moor into In crowded parking stall.
Currently, in automatic parking technical field, there are mainly two types of automatic parking control methods：(1) path planning and path Tracking：Wheeled region of parking is obtained by sensor first, and combines the geometric parameter of vehicle, cooks up an ideal in advance Track of parking, then design various controllers and track the track of parking；(2) it is based on Heuristics algorithm：Analysis driver exists The Heuristics used when parking carries out simulation modelling to realize certainly using advanced control algorithms such as fuzzy control, neural networks It is dynamic to park.But these algorithms calculate requirement of real-time height complicated, computationally intensive, to system, this is implemented as algorithm is increased This, is unfavorable for practical application.For example, path planning and path tracking algorithm, in path tracking procedure, to improve tracking accuracy Need system Real-time Feedback, calculation amount, requirement of real-time high；Algorithm based on Heuristics needs real using advanced control algorithm It is existing, it realizes complexity, be unfavorable for practical application.
Therefore, to solve the above problems, needing to propose that a kind of calculation amount is small, real-time is good, at low cost, practical application is utilized Automatic parking control algolithm.
Invention content
The purpose of the present invention is to solve drawbacks described above in the prior art, provide a kind of based on the automatic of driving experience It parks control algolithm, the algorithm calculation amount is small, real-time is good, and cost of implementation is low, is convenient for practical application.
The purpose of the present invention can be reached by adopting the following technical scheme that：
A kind of automatic parking control algolithm based on driving experience, the automatic parking control algolithm include following step Suddenly：
S1, judge whether parking stall and parking space are too small according to parking lot parameters, parking space and automobile parameter, if mistake It is small, automatic parking is no longer carried out, otherwise, is transferred to next step, the judgement of wherein parking space distance obtains according to the following formula：
In formula, LPAnd WPRespectively parking stall is long and wide, LPminAnd WPminRespectively minimum parking stall is long and wide, and H has a lot of social connections for road Degree, HminFor minimum parking space width, RvminFor minimum turning radius, RminFor the minimum turning half at automobile hind axle midpoint Diameter, LvAnd WvThe respectively length and width of automobile, L are the wheelbase of automobile, LfAnd LrRespectively the front overhang length of automobile and rear overhang are long, Df、 Dr、Di、Do、Drb、DEBThe safe distance for security settings of parking for guarantee, D2It is park lateral initial position namely vehicle close to vehicle Position side is at a distance from parking stall；
S2, it calculates vehicle steering wheel and needs reversely automobile steering angle θ when killing, and longitudinal initial position D that parks1, Wherein, automobile steering angle θ is calculated according to the following formula：
K3=y1+Rmincos(ψT)+S1ψS-WP-Wv/2-D2, ψT=vK1/ (ω L), K1=-log (cos (δfmax)),
δfmax=arctan (L/Rvmin), ψS=vK2/(Lδfmax),S1= vt1；
In formula, S1For the distance of running car in vehicle steering wheel steering procedure, v is speed, δfmaxFor equivalent front-wheel maximum Steering angle, WPIt is wide for parking stall, wherein park longitudinal initial position D1It is calculated by following formula：
x1=Dr+Lr, y1=Rmin-Wv/2-Do+WP；
S3, by running car to longitudinal initial position D that parks1；
S4, it parks longitudinal initial position D in arrival1Behind position, with the minimum stabilizing speed v of automobileminIt parks, simultaneously With steering wheel maximum stable rotational speed omegasteeringCarry out fast steering；
S5, after steering wheel is killed, speed is carried to maximum and is parked speed vmax, continue to park；
S6, when the deflection of automobile reaches θ, steering wheel is with maximum stable rotational speed omegasteeringNegative direction steering is carried out, together When speed is down to vmin；
S7, after steering wheel is killed again, speed is carried to maximum and is parked speed vmax；
S8, after the direction angular convolution of automobile just after, i.e., body of a motor car is parallel with parking stall, speed is rapidly decreased to 0, and stop；
S9, automobile are with vminSpeed before returned rapidly just to traveling, and by steering wheel, Hui Zhenghou is again by vehicle down to parking stall It sets, step of so far parking is completed.
Further, the lateral initial position D that parks2Value range be 0.4-1.0m.
The present invention has the following advantages and effects with respect to the prior art：
Automatic parking control algolithm proposed by the present invention is obtained using geometry direct derivation, and parameter is simple, physical meaning is clear It is clear；Calculating in automatic parking control algolithm be park start before calculate and complete, process of parking without feedback, calculation amount is small, Real-time is good, and cost of implementation is low, is convenient for practical application.
Description of the drawings
Fig. 1 is auto-paralleling VEHICLES MUST PARK WITHIN THE MARKED BAY schematic diagram；
In figure：S0Section is that vehicle is travelled to the process for longitudinal initial position of parking；S1Section speed and steering wheel is fast in order to control The process that speed is killed；S2Section is parked speed v after killing steering wheel, to promote speed to maximummaxProcess；S3Section is automobile side When reaching θ to angle, steering wheel is with maximum stable rotational speed omegasteeringCarry out the process of negative direction steering；S4Section is steering wheel negative side To after killing, speed is carried to maximum parking speed v againmaxProcess；S5Section is that steering wheel returns rapidly positive process；
Fig. 2 is the safety clearance schematic diagram during parking；
Fig. 3 is the design sketch that present invention control automobile parking enters a process；
Fig. 4 is that the present invention enters a change procedure for process medium velocity and front wheel steering angle in control automobile parking；
In figure：V is speed, δfFor equivalent front wheel steering angle, with turning angle of steering wheel θsteeringRelationship have, θsteering= i×δf, i is steering wheel transmission ratio.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment
It please refers to Fig.1 with shown in Fig. 2, the present embodiment specifically discloses a kind of automatic parking control calculation based on driving experience Method, specific implementation step are as follows：
Step S1, judge whether parking stall and parking space are too small according to parking lot parameters, parking space and automobile parameter, such as Fruit is too small, no longer carries out automatic parking, otherwise, is transferred to next step, judgment formula can obtain according to the following formula：
In formula, LPAnd WPRespectively parking stall is long and wide, LPminAnd WPminRespectively minimum parking stall is long and wide, and H has a lot of social connections for road Degree, HminFor minimum parking space width, RvminFor minimum turning radius, RminFor the minimum turning half at automobile hind axle midpoint Diameter, LvAnd WvThe respectively length and width of automobile, L are the wheelbase of automobile, LfAnd LrRespectively the front overhang length of automobile and rear overhang are long, Df、 Dr、Di、Do、Drb、DEBThe safe distance for security settings of parking for guarantee, D2For park lateral initial position namely vehicle it is close At a distance from parking stall, value is preferably 0.4-1.0m for parking stall side.
Step S2, automobile steering angle θ when vehicle steering wheel needs reversely to kill, and longitudinal initial position of parking are calculated D1, automobile steering angle θ calculates according to the following formula：
K3=y1+Rmincos(ψT)+S1ψS-WP-Wv/2-D2, ψT=vK1/ (ω L), K1=-log (cos (δfmax)),
δfmax=arctan (L/Rvmin), ψS=vK2/(Lδfmax),
In formula, S1 is the distance of running car in vehicle steering wheel steering procedure；V is speed；δfmaxMost for equivalent front-wheel Big steering angle；WPIt is wide for parking stall；
Park longitudinal initial position D1, can be calculated by following formula：
x1=Dr+Lr, y1=Rmin-Wv/2-Do+WP
Step S3, by running car to longitudinal initial position D that parks1；
Step S4, it parks longitudinal initial position D in arrival1Afterwards, with the minimum stabilizing speed v of automobileminIt parks, simultaneously With steering wheel maximum stable rotational speed omegasteeringCarry out fast steering；
Step S5, after steering wheel is killed, speed is carried to maximum and is parked speed vmax, continue to park；
Step S6, when the deflection of automobile reaches θ, steering wheel is with maximum stable rotational speed omegasteeringNegative direction is carried out to turn To, while speed is down to vmin；
Step S7, after steering wheel is killed again, speed is carried to maximum and is parked speed vmax；
Step S8, after the direction angular convolution of automobile just after, i.e., body of a motor car is parallel with parking stall, speed is rapidly decreased to 0, and stop Vehicle；
Step S9, automobile is with vminSpeed before returned rapidly just to traveling, and by steering wheel, Hui Zhenghou is again by vehicle down to stopping Truck position, step of so far parking are completed.
Entire 6 sections of progress of process point of parking, wherein paragraph 1 S0Section travels for vehicle to longitudinal initial position of parking Process；2nd section S1Section, in order to control speed and the process for quickly killing steering wheel；3rd section is S2Section, to kill steering wheel Afterwards, speed to maximum is promoted to park speed vmaxProcess；4th section is S3Section, when reaching θ for automobile steering angle, steering wheel is with most Big stabilized (steady-state) speed ωsteeringCarry out the process of negative direction steering；5th section is S4Section after being killed for steering wheel negative direction, again will Speed is carried to maximum and being parked speed vmaxProcess；6th section is S5Section returns rapidly positive process for steering wheel.
In order to verify the effect of the present invention, automatic parking algorithm using the present invention carries out l-G simulation test of parking.Emulation is adopted Automobile parameter is：Lv=4.155m, Wv=1.645m, L=2.405m, Lf=0.8m, Lr=0.95m, Rvmin=4.75m； Safe distance Df、Dr、Di、Do、Drb、DEBIt is set as 0.2m, by DrIt is set as 0.4m；Park longitudinal initial position D2It is set as 0.5m；It is minimum Stabilizing speed vminFor 2km/h；Highest is parked speed vmaxFor 5km/h；Truck spaces LP×WPFor 7m × 2m；Road width H is 4m.Proving and comparisom result is as shown in Figure 3 and Figure 4.Inventive algorithm can make vehicle accurately, without collision as seen from Figure 3 Parking in land in design is moored, and more satisfactory effect of parking can be obtained.As seen from Figure 4, it parked Speed in journey changes and is expected unanimously, meanwhile, the time of parking is shorter.It is indicated above the method for the present invention, both meets essence of parking Degree requires the time requirement of parking that can meet again, and method of parking is simple and practicable, has achieved the purpose that present invention contemplates that reaching.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications, Equivalent substitute mode is should be, is included within the scope of the present invention.

Claims (2)

1. a kind of automatic parking control algolithm based on driving experience, which is characterized in that the automatic parking control algolithm packet Include the following steps：
S1, judge whether parking stall and parking space are too small according to parking lot parameters, parking space and automobile parameter, if too small Automatic parking is no longer carried out, otherwise, is transferred to next step, the judgement of wherein parking space distance obtains according to the following formula：
In formula, LPAnd WPRespectively parking stall is long and wide, LPminAnd WPminRespectively minimum parking stall is long and wide, and H is road width, Hmin For minimum parking space width, RvminFor minimum turning radius, RminFor the min. turning radius at automobile hind axle midpoint, LvWith WvThe respectively length and width of automobile, L are the wheelbase of automobile, LfAnd LrRespectively the front overhang length of automobile and rear overhang are long, Df、Dr、Di、 Do、Drb、DEBThe safe distance for security settings of parking for guarantee, D2It is park lateral initial position namely vehicle close to parking stall one Side is at a distance from parking stall；
S2, it calculates vehicle steering wheel and needs reversely automobile steering angle θ when killing, and longitudinal initial position D that parks1, wherein Automobile steering angle θ is calculated according to the following formula：
K3=y1+Rmin cos(ψT)+S1ψS-WP-Wv/2-D2, ψT=vK1/ (ω L), K1=-log (cos (δf max)),
δf max=arctan (L/Rv min), ψS=vK2/(Lδf max),S1=vt1；
In formula, S1For the distance of running car in vehicle steering wheel steering procedure, v is speed, δfmaxIt is turned to for equivalent front-wheel maximum Angle, WPIt is wide for parking stall, wherein park longitudinal initial position D1It is calculated by following formula：
S3, by running car to longitudinal initial position D that parks1；
S4, it parks longitudinal initial position D in arrival1Behind position, with the minimum stabilizing speed v of automobileminIt parks, while with direction Disk maximum stable rotational speed omegasteeringCarry out fast steering；
S5, after steering wheel is killed, speed is carried to maximum and is parked speed vmax, continue to park；
S6, when the deflection of automobile reaches θ, steering wheel is with maximum stable rotational speed omegasteeringNegative direction steering is carried out, simultaneously will Speed is down to vmin；
S7, after steering wheel is killed again, speed is carried to maximum and is parked speed vmax；
S8, after the direction angular convolution of automobile just after, i.e., body of a motor car is parallel with parking stall, speed is rapidly decreased to 0, and stop；
S9, automobile are with vminSpeed before returned rapidly just to traveling, and by steering wheel, Hui Zhenghou again by vehicle down to parking position, until This step completion of parking.
2. a kind of automatic parking control algolithm based on driving experience according to claim 1, which is characterized in that described Park lateral initial position D2Value range be 0.4-1.0m.
CN201810109501.1A 2018-02-05 2018-02-05 A kind of automatic parking control algolithm based on driving experience Expired - Fee Related CN108407803B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109866761A (en) * 2019-03-05 2019-06-11 重庆长安汽车股份有限公司 Automatic parking paths planning method, system and computer readable storage medium
CN111762153A (en) * 2020-06-02 2020-10-13 武汉理工大学 Automatic automobile parking method based on 5G communication mode
CN114475782A (en) * 2022-02-28 2022-05-13 东风汽车集团股份有限公司 Automatic parking control optimization method and system

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CN102658819A (en) * 2012-05-16 2012-09-12 涂亚庆 Automobile automatic parking method based on humanoid intelligent control
CN102874252A (en) * 2012-08-30 2013-01-16 江苏大学 Method and system for assisting in parking track planning and correcting
CN103158701A (en) * 2011-12-09 2013-06-19 现代自动车株式会社 System and method of deriving parking trajectory for vehicle
CN105197010A (en) * 2014-06-04 2015-12-30 长春孔辉汽车科技股份有限公司 Auxiliary parking system and auxiliary parking control method

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US20120089294A1 (en) * 2010-10-06 2012-04-12 Meike Fehse Device and method for supporting a driver of a motor vehicle during a driving maneuver
CN103158701A (en) * 2011-12-09 2013-06-19 现代自动车株式会社 System and method of deriving parking trajectory for vehicle
CN102658819A (en) * 2012-05-16 2012-09-12 涂亚庆 Automobile automatic parking method based on humanoid intelligent control
CN102874252A (en) * 2012-08-30 2013-01-16 江苏大学 Method and system for assisting in parking track planning and correcting
CN105197010A (en) * 2014-06-04 2015-12-30 长春孔辉汽车科技股份有限公司 Auxiliary parking system and auxiliary parking control method

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Publication number Priority date Publication date Assignee Title
CN109866761A (en) * 2019-03-05 2019-06-11 重庆长安汽车股份有限公司 Automatic parking paths planning method, system and computer readable storage medium
CN109866761B (en) * 2019-03-05 2020-07-10 重庆长安汽车股份有限公司 Automatic parking path planning method, system and computer readable storage medium
CN111762153A (en) * 2020-06-02 2020-10-13 武汉理工大学 Automatic automobile parking method based on 5G communication mode
CN114475782A (en) * 2022-02-28 2022-05-13 东风汽车集团股份有限公司 Automatic parking control optimization method and system

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