CN108725436B - One kind being capable of fool proof automatic parking device and method - Google Patents
One kind being capable of fool proof automatic parking device and method Download PDFInfo
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- CN108725436B CN108725436B CN201810457759.0A CN201810457759A CN108725436B CN 108725436 B CN108725436 B CN 108725436B CN 201810457759 A CN201810457759 A CN 201810457759A CN 108725436 B CN108725436 B CN 108725436B
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- 238000005516 engineering process Methods 0.000 description 7
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Classifications
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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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
-
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/182—Conjoint control of vehicle sub-units of different type or different function including control of braking systems including control of parking brakes
-
- 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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/215—Selection or confirmation of options
-
- 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
-
- 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
- B60W2710/10—Change speed gearings
- B60W2710/1005—Transmission ratio engaged
-
- 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
- B60W2710/18—Braking system
-
- 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
- B60W2710/18—Braking system
- B60W2710/186—Status of parking brakes
-
- 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
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- Engineering & Computer Science (AREA)
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Abstract
The present invention relates to intelligent driving fields, and proposing one kind being capable of fool proof automatic parking device and method.When automatic parking carries out, vehicle body status is monitored by sensor and controller, when vehicle multiplies personnel and performs certain operation in the process in automatic parking, judge whether this operation can have an impact automatic parking, and judges its influence rank.When influence rank it is high when, abrupt deceleration vehicle simultaneously controls vehicle and enters safe condition, when influence rank it is low when, abrupt deceleration vehicle continues automatic parking after the operation disappearance in the given time.One kind of the present invention can fool proof automatic parking device and method, can be in automatic parking, the operation that user executes carries out influencing grade judgement, interrupts automatic parking function in time, improves the safety of vehicle.Furthermore operation is carried out influencing grade judgement, also improves user experience.
Description
Technical field
The present invention relates to intelligent driving fields more particularly to one kind being capable of fool proof automatic parking device and method.
Background technique
Vehicle is as a kind of walking-replacing tool, in more and more flourishing and increasing urban size present of highway communication, by
To the concern of duration.The various technologies applied on vehicle also grow with each passing hour, and driving aided control technology is exactly one of them.
Pilot control vehicle can be assisted or replace under special scenes by driving aided control technology, improve the comfort of vehicle.
Automatic parking control technology is on current vehicle using more universal one of driving aided control technology, it by time
Then ultrasonic probe measurement vehicle of the cloth around vehicle body passes through semiautomatic parking control at a distance from peripheral obstacle and angle
Unit processed calculates driving trace needed for parking stall is moored/moored out to vehicle.Automatic parking control technology can reversing when into
Row auxiliary drives, and guides driver by detecting ultrasonic wave or camera, and when so as to avoid reversing, rear of vehicle is in view
Traffic accident caused by line blind area.
It is not need driver to carry out excessive operation when carrying out automatic parking.But for some purposes, it drives
Passenger may open car door, close park function, pedal of stepping on the throttle, step on brake pedal etc. on the person of sailing and vehicle, if on the berth
There is this operation during vehicle, influences whether automatic parking function, therefore automatic parking function needs to be equipped with corresponding device
It takes precautions against during automatic parking, vehicle multiplies the operation that personnel may interfere with automatic parking function.And some of them operates, than
As said pedal of stepping on the throttle, not only influence whether automatic parking function, there is also security risk so that the security performance of vehicle by
To influence.
Summary of the invention
The technical problem to be solved by the present invention is in automatic parking user may execute and certain influence automatic parking function
The problem of operation of energy.In order to solve described problem, the invention proposes one kind can fool proof automatic parking device and
Method.
The present invention is specifically to be realized with following technical solution:
First aspect present invention propose one kind can fool proof automatic parking device, described device includes: environment
Information acquisition module, route planning module, maloperation monitoring module and automatic parking control module；
The environment information acquisition module is for acquiring surrounding enviroment information；
The route planning module is for generating traffic route；
Maloperation monitoring module includes operation signal receiving unit and operation grade judging unit, and the operation signal receives
Unit is for obtaining during automatic parking, and the current operation signal that the user that sensor or controller are sent executes is described
Operation grade judging unit is used to carry out the current operation that user executes during automatic parking to influence grade judgement；
The automatic parking control module includes turning control cell, brake unit, electronics parking brake control unit and shift
Control unit, the turning control cell is for controlling Vehicular turn, and the brake unit is for controlling vehicle braking, the electricity
Sub- parking brake control unit is used to control the opening and closing of electronics parking brake, and the shift control unit is for controlling vehicle shift.
Further, the operation signal receiving unit can obtain gas pedal and push signal, judge that user steps on oil
Door pedal, the operation grade judging unit judge that the operation that user carries out influences grade to automatic parking and feeds back.Automatic
During parking, when user tramples gas pedal, accelerator pedal sensor sends gas pedal and pushes signal to maloperation
Monitoring module, it is higher ranked that maloperation monitoring module judges that current operation influences, brake unit with maximum deceleration abrupt deceleration vehicle,
After stationary vehicle, pull-up electronics parking brake and send instruction make shift control unit by gear be linked into P gear.
Further, the operation signal receiving unit can obtain main driving vehicle door status signal and seat belt status letter
Number, judge user open main driving car door or unclamp main driving side safety belt, the operation grade judging unit judge user into
Capable operation influences grade to automatic parking and feeds back.During automatic parking, main driving door sensor obtains master and drives
Side car door opening signal is sailed, seat belt status sensor obtains main driving side safety belt and unclamps signal, is above sent to maloperation monitoring
Module, it is higher ranked that maloperation monitoring module judges that current operation influences, and brake unit is with maximum deceleration abrupt deceleration vehicle, vehicle
After static, pull-up electronics parking brake and send instruction make shift control unit by gear be linked into P gear.
Further, when operating steering wheel during automatic parking as driver, turning control cell, which is fed back to, accidentally to be grasped
Make monitoring module, it is higher ranked that maloperation monitoring module judges that current operation influences, and brake unit brakes vehicle with maximum deceleration
, after stationary vehicle, pull-up electronics parking brake and send instruction make shift control unit by gear be linked into P gear.
Further, when electric brake is operated during automatic parking as driver, electric brake control unit feedback
Maloperation monitoring module is given, it is higher ranked that maloperation monitoring module judges that current operation influences, and brake unit is with maximum deceleration
Abrupt deceleration vehicle, after stationary vehicle, pull-up electronics parking brake and sending instruction makes shift control unit that gear is linked into P gear.
Further, when operating gear lever during automatic parking as driver, shift control unit, which is fed back to, accidentally to be grasped
Make monitoring module, it is higher ranked that maloperation monitoring module judges that current operation influences, and brake unit brakes vehicle with maximum deceleration
, after stationary vehicle, pull-up electronics parking brake and send instruction make shift control unit by gear be linked into P gear.
Further, the operation signal receiving unit can obtain brake pedal and push signal, judge that user steps on system
Dynamic pedal, the operation grade judging unit judge that the operation that user carries out influences grade to automatic parking and feeds back.It is parking
In the process, if driver to brake pedal apply external force and be applied to brake pedal external force it is bigger, cause take turns end braking
Power is greater than preset threshold, and stationary vehicle, when can not continue to park, brake pedal sensor, which is sent, monitors induction signal to maloperation
Module, maloperation monitoring module judge that current operation influence grade is lower, can pass through image or voice prompting driver unclamps
Pedal continues to park.In predetermined time after brake pedal unclamps, automatic parking control module control vehicle continues to park
Operation, until vehicle is successfully moored into parking stall.
Further, the operation signal receiving unit can obtain non-master driver side vehicle door status signal, judge user
Non-master driver side car door is opened, the operation grade judging unit judges that the operation that user carries out influences grade simultaneously to automatic parking
Feedback.During automatic parking, non-master driver side door sensor obtains non-master driver side car door opening signal, and on give
To maloperation monitoring module, maloperation monitoring module judges that current operation influence grade is lower, and brake unit is with maximum deceleration
After spending abrupt deceleration vehicle, it remain stationary vehicle by building pressure.In predetermined time when it is non-master drive closing of the door after, automatic parking control
Module control vehicle continues parking manoeuvres, until vehicle is successfully moored into parking stall.
Further, the operation signal receiving unit can obtain automatic parking switching signal, judge that automatic parking is opened
It closes and whether closes, the operation grade judging unit judges that the operation that user carries out influences grade to automatic parking and feeds back.Pool
During vehicle, maloperation monitoring module, which detects to park, switchs shutdown signal, illustrates that in parking process driver unclamps and parks
Switch, maloperation monitoring module judge that current operation is lower on automatic parking influence grade, and brake unit is with maximum deceleration
After abrupt deceleration vehicle, it remain stationary vehicle by building pressure.In predetermined time when driver press again park switch when, it is automatic to moor
Vehicle control module control vehicle continues parking manoeuvres, until vehicle is moored into parking stall.
Second aspect of the present invention proposes one kind being capable of fool proof method, which comprises
Surrounding enviroment information is acquired, traffic route is generated, carries out automatic parking.
Obtain the current operation signal that sensor or controller are sent.
Judge whether current operation influences the progress of automatic parking.
When current operation influences the progress of automatic parking, the influence grade of current operation is judged, interrupt automatic parking, and
Abrupt deceleration vehicle.
Judge whether to can continue to carry out automatic parking operation according to grade is influenced.
Further, when the influence grade of current operation is high, control vehicle is braked with maximum deceleration.
After stationary vehicle, pull-up electronics parking brake controls vehicle for gear and is linked into parking shifting-position.
Further, when the influence grade of current operation is low, control vehicle is braked with maximum deceleration, by building
Pressure remain stationary vehicle.
Influence of the current operation to automatic parking in the given time is eliminated, and control vehicle carries out automatic parking, until vehicle
It moors into parking stall.
Further, influence of the current operation to automatic parking is not eliminated in the given time, and automatic parking function exits.
Specifically, when carrying out automatic parking operation, the maloperation monitoring module can obtain each sensor in real time
And the signal of the transmission of controller, judge that vehicle multiplies whether personnel operate steering wheel, if pedal of stepping on the throttle, if unclamp master
Driving safety band, if open main driving side car door, if carried out gear shift operation, if pull-up electronics parking brake, if unclamp
It parks switch, if open non-master driver side car door, if brake pedal etc..
When in automatic parking, vehicle multiplies after personnel have carried out aforesaid operations, judge vehicle multiply personnel's progress operation influence it is automatic
The degree parked, while stopping automatic parking.
By adopting the above technical scheme, one kind of the present invention can fool proof automatic parking device and method, tool
It has the advantages that:
1) one kind of the present invention can fool proof automatic parking device and method, can be in automatic parking
When, the operation that user executes carries out influencing grade judgement, when the operation that user executes has an impact to automatic parking function, interrupts
Automatic parking function, abrupt deceleration vehicle improve the safety of vehicle；
2) one kind of the present invention can fool proof automatic parking device and method, can be in automatic parking
When, the operation that user executes carries out influence grade judgement and interrupts certainly when the operation that user executes influences higher to automatic parking
Dynamic function of parking does not restore automatic parking function after abrupt deceleration vehicle, pull-up brakes and hangs parking shifting-position, when the operation that user executes
It when influencing lower to automatic parking, interrupts automatic parking function, eliminates operation after abrupt deceleration vehicle in the given time, then it can be after
Continuous to execute automatic parking, the influence judgement is more intelligent, improves user experience.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram that one kind provided in an embodiment of the present invention is capable of fool proof automatic parking device；
Fig. 2 is the maloperation monitoring module that one kind provided in an embodiment of the present invention is capable of fool proof automatic parking device
Structural schematic diagram；
Fig. 3 is the automatic parking control mould that one kind provided in an embodiment of the present invention is capable of fool proof automatic parking device
The structural schematic diagram of block；
Fig. 4 is the flow chart that one kind provided in an embodiment of the present invention is capable of fool proof automatic parking method；
Fig. 5 is the stream of expendable fool proof method after a kind of automatic parking provided in an embodiment of the present invention interrupts
Cheng Tu；
Fig. 6 is the process of recoverable fool proof method after a kind of automatic parking provided in an embodiment of the present invention interrupts
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
Embodiment 1:
Provided in the embodiment of the present invention one kind can fool proof automatic parking device, as shown in Figure 1, described device
Include:
Environment information acquisition module, route planning module, maloperation monitoring module and automatic parking control module；
The environment information acquisition module is for acquiring surrounding enviroment information；
The route planning module is for generating traffic route；
Maloperation monitoring module is used for during automatic parking, obtains the current behaviour of each sensor and controller feedback
Make signal, judges that current operation influences rank caused by automatic parking.The sensor may belong to car body control module, institute
The status information of car door, safety belt etc. can be fed back by stating sensor.
As shown in Fig. 2, the maloperation monitoring module includes operation signal receiving unit and operation grade judging unit, institute
State operation signal receiving unit for obtain during automatic parking, user's execution that sensor or controller are sent it is current
Operation signal, the operation grade judging unit are used to influence the current operation that user executes during automatic parking
Grade judgement.After i.e. driver or passenger are when automatic parking is carried out to the operation of vehicle, the influence grade of the operation is judged,
After the influence grade is for judging that current operation causes automatic parking function to interrupt, whether the influence can continue to after disappearing
Carry out automatic parking operation.When the influence grade of the operation is lower, automatic parking function can be restored after interrupting, when described
When the influence of operation is higher ranked, automatic parking function cannot be restored after interrupting.
The automatic parking control module carries out automatic parking for controlling vehicle, influential on automatic parking when occurring
When operation, interrupts automatic parking and continue.The automatic parking control module can be integrated in one with maloperation monitoring module
It rises.
As shown in figure 3, the automatic parking control module includes turning control cell, brake unit, the control of electronics parking brake
Unit and shift control unit.The turning control cell for controlling Vehicular turn, the brake unit be used for vehicle into
Row braking, the electronics parking brake control unit are used for pull-up electronics parking brake, and the shift control unit is for controlling vehicle progress
Shift.
The turning control cell, brake unit and electronics parking brake control unit can be the list of body electronics systems stabilisation
Member composition, the shift control unit may be the component part of shift control unit, and the automatic parking control module is made
It for master control, sends and instructs to these units, control these units and execute corresponding function.
By operating grade judging unit, it can be determined that go out that automatic parking function caused by the operation interrupts whether can be with
Restore.When the automatic parking function caused by the operation interrupts irrecoverable, automatic parking function is interrupted.
Further, the turning control cell is for obtaining steering wheel operation signal.During parking, driver is accidentally grasped
Make steering wheel, the turning control cell of vehicle has monitored that external force is applied on steering wheel, and this external force reaches certain threshold values, will
Maloperation monitoring module is fed back to induction signal, the operation of maloperation monitoring module judgement " operation steering wheel " is to automatic parking shadow
Sound is higher ranked, and brake unit is with maximum deceleration abrupt deceleration vehicle, and after stationary vehicle, pull-up electronics parking brake simultaneously sends instruction and makes to change
Gear is linked into P gear by gear control unit.Interruption caused by the steering wheel maloperation is irrecoverable.
Further, the operation signal receiving unit can obtain gas pedal and push signal, judge that user steps on oil
Door pedal, the operation grade judging unit judge that the operation that user carries out influences grade to automatic parking and feeds back.It parked
Cheng Zhong, driver fault misstepping on accelerator pedal, accelerator pedal sensor will feed back to maloperation monitoring module, maloperation prison to induction signal
The operation for controlling module judgement " trampling gas pedal " is higher ranked on automatic parking influence, and brake unit is braked with maximum deceleration
Vehicle, after stationary vehicle, pull-up electronics parking brake and sending instruction makes shift control unit that gear is linked into P gear.Vehicle does not enter
Before safe condition, engine control module is not responding to the input of driver's gas pedal.In caused by the gas pedal maloperation
Break irrecoverable.
Further, the operation signal receiving unit can obtain main driving vehicle door status signal and seat belt status letter
Number, judge user open main driving car door or unclamp main driving side safety belt, the operation grade judging unit judge user into
Capable operation influences grade to automatic parking and feeds back.When main driving door state is opening or seat belt status sensor states
When to unclamp, main driving door opening signal is sent, safety belt is sent and unclamping signal, maloperation monitoring module obtains main driving door and beats
It opens and safety belt unclamps signal.During parking, driver opens the main door and when unclamping main driving side safety belt of driving, main driving
Door sensor and seat belt status sensor obtain main driving car door opening signal and main driving side safety belt unclamps signal, will
Maloperation monitoring module is fed back to induction signal, maloperation monitoring module judges " unlatching of main driving door " and " main driving side safety
With unclamping " operation automatic parking is influenced higher ranked, brake unit is with maximum deceleration abrupt deceleration vehicle, after stationary vehicle,
Pull-up electronics parking brake and send instruction make shift control unit by gear be linked into P gear.The main driving door is opened and safety belt pine
Interruption caused by opening is irrecoverable.
Further, the electronics parking brake control unit is also used to obtain electronics parking brake operation signal.Automatic parking process
In, accidentally pull-up electronics parking brake, electronics parking brake control unit will feed back to maloperation monitoring module to induction signal, and maloperation monitors mould
It is higher ranked that block judges that the operation of " pull-up electronics parking brake " influences automatic parking, and brake unit brakes vehicle with maximum deceleration
, after stationary vehicle, pull-up electronics parking brake and send instruction make shift control unit by gear be linked into P gear.
Further, the shift control unit is for obtaining gear shifting signal.During parking, driver's maloperation shift
Bar, shift control unit will feed back to maloperation monitoring module, maloperation monitoring module judgement " operation gear lever " to induction signal
Operation automatic parking is influenced higher ranked, brake unit is with maximum deceleration abrupt deceleration vehicle, after stationary vehicle, pull-up electronics
Parking brake and send instruction make shift control unit by gear be linked into P gear.Before vehicle does not enter safe condition, shift control unit is not
The input of driver's gear lever is responded, i.e., will not be operated according to driver and carry out gear switching.It is interrupted not caused by shift maloperation
It can restore.
By operating grade judgment module, it can be determined that go out that automatic parking function caused by the operation interrupts whether can be with
Restore.When the interruption of the automatic parking function caused by the operation can restore, after the influence of the operation is eliminated, continue to hold
Row automatic parking.
Further, the operation signal receiving unit can obtain non-master driver side vehicle door status signal, judge user
Non-master driver side car door is opened, the operation grade judging unit judges that the operation that user carries out influences grade simultaneously to automatic parking
Feedback.During parking, since parking stall is too small, leads to moor personnel behind parking stall and get off difficulty etc., passenger can be first other than driver
It gets off, non-master at this time to drive to be opened, non-main driving door sensor, which detects, non-master to be believed after driving car door opening by corresponding
Maloperation monitoring module number is fed back to, maloperation monitoring module judges the operation of " non-main driving car door opening " to automatic parking shadow
It is lower to ring grade, after brake unit is with maximum deceleration abrupt deceleration vehicle, remain stationary vehicle by building pressure.30 seconds Nei Dangfei
After master drives closing of the door, automatic parking control module control vehicle continues parking manoeuvres, until vehicle is successfully moored into parking stall.
Further, the operation signal receiving unit can obtain automatic parking switching signal, judge that automatic parking is opened
It closes and whether closes, the operation grade judging unit judges that the operation that user carries out influences grade to automatic parking and feeds back.Pool
During vehicle, maloperation monitoring module, which detects to park, switchs shutdown signal, illustrates that in parking process driver unclamps and parks
The operation of switch, maloperation monitoring module judgement " release park switch " is lower on automatic parking influence grade, brake unit with
After maximum deceleration abrupt deceleration vehicle, it remain stationary vehicle by building pressure.When driver presses switch of parking again in 30 seconds
When, automatic parking control module control vehicle continues parking manoeuvres, until vehicle is moored into parking stall.
Further, the operation signal receiving unit can obtain brake pedal and push signal, judge that user steps on system
Dynamic pedal, the operation grade judging unit judge that the operation that user carries out influences grade to automatic parking and feeds back.It parked
Cheng Zhong, if driver feels that speed is too fast, driver tramples brake pedal slightly to reduce speed of parking, if being applied to wheel
The brake force at end is less than a certain threshold values, only will affect speed of automatically parking, and not will lead to park and interrupts or exit.If driven
The external force that member is applied to brake pedal continues to increase, and leads to take turns end brake force greater than a certain threshold values, stationary vehicle can not continue to moor
Che Shi, for brake pedal sensor feedback to induction signal, maloperation monitoring module judges the operation of " trampling brake pedal " to automatic
Parking, it is lower to influence grade, and automatic parking device is unclamped by multimedia human-computer interaction display screen or voice prompting driver to be stepped on
Plate continues to park.In 30 seconds after brake pedal unclamps, automatic parking control module control vehicle continues parking manoeuvres, directly
It successfully moors to vehicle into parking stall.
One kind described in the present embodiment can fool proof automatic parking device, in automatic parking, if user into
It has gone and has touched the operation such as steering wheel or door opening, judged influence grade of the operation of user's progress to automatic parking, when judgement is used
When the operation that family carries out has an impact to automatic parking, automatic parking will be interrupted, and improve the safety of vehicle.
Embodiment 2:
The present embodiment propose one kind can fool proof automatic parking method, as shown in Figure 4, which comprises
S1. surrounding enviroment information is acquired, traffic route is generated, carries out automatic parking；
S2. the current operation signal that sensor or controller are sent is obtained；
S3. judge whether current operation influences the progress of automatic parking；
S4. when current operation influences the progress of automatic parking, judge the influence grade of current operation, and interrupt automatic pool
Vehicle, abrupt deceleration vehicle；
S5. judge whether to can continue to carry out automatic parking operation according to influence grade.
Further, when the influence grade of current operation is high, after automatic parking interrupts, vehicle braking is simultaneously remain stationary.
Further, when the influence grade of current operation is low, automatic parking is interrupted, and the signal disappears in the given time
After removing, automatic parking continues.
Specifically, when carrying out automatic parking operation, the maloperation monitoring module can obtain each sensor in real time
And the signal of the transmission of controller, judge that vehicle multiplies whether personnel operate steering wheel, if pedal of stepping on the throttle, if unclamp master
Driving safety band, if open main driving side car door, if carried out gear shift operation, if pull-up electronics parking brake, if unclamp
It parks switch, if open non-master driver side car door, if brake pedal etc..
When in automatic parking, vehicle multiplies after personnel have carried out aforesaid operations, judge vehicle multiply personnel's progress operation influence it is automatic
The degree parked, while stopping automatic parking.
When the operation that vehicle multiplies personnel's progress influences higher ranked, such as vehicle multiplies personnel and operates steering wheel, steps on oil
Door pedal unclamps main driving safety belt, opens main driving side car door, carried out gear shift operation and pull-up electronics parking brake etc., brakes
Unit is braked with maximum deceleration, after stationary vehicle, pull-up electronics parking brake and send instruction make shift control unit will keep off
Position is linked into P gear.
When vehicle multiply personnel progress operation influence grade it is lower when, such as vehicle multiply personnel unclamp park switch, open it is non-
Main driving side car door and brake pedal etc., brake unit is braked with maximum deceleration, keeps vehicle by building pressure
It is static.In 30 seconds when driver press again park switch when, continuation of parking, until vehicle moors into parking stall.
One kind described in the present embodiment can fool proof automatic parking method, in automatic parking, if user into
It has gone and has touched the operation such as steering wheel or door opening, judged influence grade of the operation of user's progress to automatic parking, when judgement is used
When the operation that family carries out has an impact to automatic parking, automatic parking will be interrupted, and improve the safety of vehicle.
Embodiment 3:
The embodiment of the present invention proposes a kind of expendable fool proof method after automatic parking interrupts, such as Fig. 5 institute
Show, which comprises
S01. surrounding enviroment information is acquired, traffic route is generated, carries out automatic parking；
S02. the current operation signal that sensor or controller are sent is obtained；
S03. judge whether current operation influences the progress of automatic parking；
S04. when current operation influences the progress of automatic parking, judge the influence grade of current operation, and interrupt automatic
It parks；
S05. when the influence grade of current operation is high, brake unit is braked with maximum deceleration；
S06. after stationary vehicle, pull-up electronics parking brake and send instruction make shift control unit by gear be linked into P gear.
Specifically, when carrying out automatic parking operation, the maloperation monitoring module can obtain each sensor in real time
And the signal of the transmission of controller, judge that vehicle multiplies the operation that personnel carry out vehicle during automatic parking.
When vehicle multiplies after personnel have carried out operation influential on automatic parking in automatic parking, stops automatic parking, sentence
The operation that disconnected vehicle multiplies personnel's progress influences the degree of automatic parking.
When the operation that vehicle multiplies personnel's progress influences higher ranked, such as vehicle multiplies personnel and operates steering wheel, steps on oil
Door pedal unclamps main driving safety belt, opens main driving side car door, carried out gear shift operation and pull-up electronics parking brake etc., brakes
Unit is braked with maximum deceleration, after stationary vehicle, pull-up electronics parking brake and send instruction make shift control unit will keep off
Position is linked into P gear.
Expendable fool proof method after a kind of automatic parking described in the present embodiment interrupts, in automatic parking
When, if user has carried out touching the operation such as steering wheel or door opening, judge influence of the operation of user's progress to automatic parking
Grade, when influence grade of the operation to automatic parking for judging that user carries out is high, automatic parking will be interrupted, vehicle braking and
After stationary vehicle, pull-up electronics parking brake and send instruction make shift control unit by gear be linked into P gear.One described in the present embodiment
Expendable fool proof method can be improved the safety of vehicle after kind automatic parking interrupts.
Embodiment 4:
The embodiment of the present invention proposes a kind of recoverable fool proof method after automatic parking interrupts, as shown in fig. 6,
The described method includes:
S001. surrounding enviroment information is acquired, traffic route is generated, carries out automatic parking；
S002. the current operation signal that sensor or controller are sent is obtained；
S003. judge whether current operation influences the progress of automatic parking；
S004. when current operation influences the progress of automatic parking, judge the influence grade of current operation, and interrupt automatic
It parks；
S005. when the influence grade of the signal is low, brake unit is braked with maximum deceleration, is made by building pressure
Vehicle is remain stationary；
S006. in the predetermined time when the operation impacted is eliminated, control automatic parking continues, until vehicle is moored
Enter parking stall.
Specifically, when carrying out automatic parking operation, the maloperation monitoring module can obtain each sensor in real time
And the signal of the transmission of controller, judge that vehicle multiplies the operation that personnel carry out vehicle during automatic parking.
When vehicle multiplies after personnel have carried out operation influential on automatic parking in automatic parking, stops automatic parking, sentence
The operation that disconnected vehicle multiplies personnel's progress influences the degree of automatic parking.
When vehicle multiply personnel progress operation influence grade it is lower when, such as vehicle multiply personnel unclamp park switch, open it is non-
Main driving side car door and brake pedal etc., brake unit is braked with maximum deceleration, keeps vehicle by building pressure
It is static.In 30 seconds when driver press again park switch when, continuation of parking, until vehicle moors into parking stall.
Recoverable fool proof method after a kind of automatic parking described in the present embodiment interrupts, in automatic parking,
If user has carried out touching the operation such as steering wheel or door opening, influence etc. of the operation of user's progress to automatic parking is judged
Grade, when judging that influence grade of the operation of user's progress to automatic parking is low, automatic parking will be interrupted, and vehicle braking simultaneously passes through
Building pressure remain stationary vehicle.In predetermined time when the operation impacted is eliminated, control automatic parking continues, until
Vehicle is moored into parking stall.Recoverable fool proof method can be not high in influence grade after a kind of automatic parking interrupts
In the case of guarantee that automatic parking continues, improve the driving experience of user.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. one kind being capable of fool proof automatic parking device, which is characterized in that described device includes: environment information acquisition mould
Block, route planning module, maloperation monitoring module and automatic parking control module；
The environment information acquisition module is for acquiring surrounding enviroment information；
The route planning module is for generating traffic route；
The maloperation monitoring module includes operation signal receiving unit and operation grade judging unit, and the operation signal receives
Unit is for obtaining during automatic parking, and the current operation signal that the user that sensor or controller are sent executes is described
Operation grade judging unit is used to carry out the current operation that user executes during automatic parking to influence grade judgement；
The automatic parking control module includes turning control cell, brake unit, electronics parking brake control unit and shift control
Unit, the turning control cell is for controlling Vehicular turn, and the brake unit is for controlling vehicle braking, the electronic hand
Brake control unit is used to control the opening and closing of electronics parking brake, and the shift control unit is for controlling vehicle shift.
2. one kind according to claim 1 being capable of fool proof automatic parking device, which is characterized in that the operation letter
Number receiving unit can obtain gas pedal and push signal, judge that user steps on the throttle pedal, the operation grade judging unit
Judge that the operation that user carries out influences grade to automatic parking and feeds back.
3. one kind according to claim 1 being capable of fool proof automatic parking device, which is characterized in that the operation letter
Number receiving unit can obtain brake pedal and push signal, judge user's brake pedal, the operation grade judging unit
Judge that the operation that user carries out influences grade to automatic parking and feeds back.
4. one kind according to claim 3 being capable of fool proof automatic parking device, which is characterized in that work as brake pedal
When pushing signal is not up to preset threshold, control module control automatic parking continues, and reaches when brake pedal pushes signal
When preset threshold, vehicle stops.
5. one kind according to claim 1 being capable of fool proof automatic parking device, which is characterized in that the operation letter
Number receiving unit can obtain main driving vehicle door status signal and seat belt status signal, judge user open main driving car door or
Main driving side safety belt is unclamped, the operation grade judging unit judges that the operation that user carries out influences grade simultaneously to automatic parking
Feedback.
6. one kind according to claim 1 being capable of fool proof automatic parking device, which is characterized in that the operation letter
Number receiving unit can obtain non-master driver side vehicle door status signal, judge that user opens non-master driver side car door, the operation
Grade judging unit judges that the operation that user carries out influences grade to automatic parking and feeds back.
7. one kind according to claim 1 being capable of fool proof automatic parking device, which is characterized in that the operation letter
Number receiving unit can obtain automatic parking switching signal, judge whether automatic parking switch closes, and the operation grade judges
The operation that unit judges user carries out influences grade to automatic parking and feeds back.
8. one kind being capable of fool proof automatic parking method, which is characterized in that the described method includes:
Surrounding enviroment information is acquired, traffic route is generated, carries out automatic parking；
Obtain the current operation signal that sensor or controller are sent；
Judge whether current operation influences the progress of automatic parking；
When current operation influences the progress of automatic parking, the influence grade of current operation is judged, interrupt automatic parking, and brake
Vehicle；
Judge whether to can continue to carry out automatic parking operation according to grade is influenced.
9. one kind according to claim 8 being capable of fool proof automatic parking method, which is characterized in that
When the influence grade of current operation is high, control vehicle is braked with maximum deceleration, after stationary vehicle, pull-up electronics
Parking brake controls vehicle for gear and is linked into parking shifting-position；
When the influence grade of current operation is low, control vehicle is braked with maximum deceleration, keeps vehicle by building pressure
Static, influence of the current operation to automatic parking in the given time is eliminated, and control vehicle carries out automatic parking, until vehicle is moored
Enter parking stall.
10. one kind according to claim 9 being capable of fool proof automatic parking method, which is characterized in that in pre- timing
Influence of the interior current operation to automatic parking is not eliminated, and automatic parking function exits.
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| JP7184695B2 (en) * | 2019-03-29 | 2022-12-06 | 本田技研工業株式会社 | vehicle control system |
| CN110239510B (en) * | 2019-05-10 | 2021-05-25 | 浙江吉利控股集团有限公司 | Automatic parking control method, device and equipment |
| JP6990687B2 (en) * | 2019-06-24 | 2022-01-12 | 本田技研工業株式会社 | Parking support system |
| CN110356414B (en) * | 2019-08-08 | 2020-09-22 | 浙江吉利汽车研究院有限公司 | Failure processing method and system based on full-automatic parking system |
| CN110949353B (en) * | 2019-11-25 | 2021-03-19 | 中国第一汽车股份有限公司 | Parking method, parking device, vehicle and storage medium |
| CN111216716B (en) * | 2020-02-17 | 2021-09-03 | 威马智慧出行科技（上海）有限公司 | Automatic parking driver intervention response method, electronic device and automobile |
| CN112550279B (en) * | 2020-12-09 | 2022-07-12 | 奇瑞汽车股份有限公司 | Braking method and device for automobile and computer storage medium |
| CN113335285B (en) * | 2021-06-29 | 2022-09-27 | 东风汽车集团股份有限公司 | Control method and system for preventing accelerator misoperation based on electric vehicle reversing scene |
| CN113859225A (en) * | 2021-10-26 | 2021-12-31 | 北京经纬恒润科技股份有限公司 | Remote control parking method and device |
| CN116198444A (en) * | 2023-02-22 | 2023-06-02 | 中国第一汽车股份有限公司 | Door opening and parking control method in abrupt slope descent process, storage medium and vehicle |
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| FI20095178A0 (en) * | 2009-02-24 | 2009-02-24 | Teemu Salmenaho | Automatic parking system |
| CN202481079U (en) * | 2012-02-28 | 2012-10-10 | 浙江吉利汽车研究院有限公司 | Automatic car reversing control device |
| CN103661368B (en) * | 2012-09-10 | 2016-12-07 | 北汽福田汽车股份有限公司 | Storage automatic parking equipment uses the system of information, method and vehicle |
| CN102963356A (en) * | 2012-12-12 | 2013-03-13 | 涂亚庆 | Human-simulated intelligent control structure of automatic parking system |
| JP6049811B1 (en) * | 2015-06-23 | 2016-12-21 | 三菱電機株式会社 | Automatic parking control device |
| CN107139722A (en) * | 2017-05-16 | 2017-09-08 | 罗醒江 | On-vehicle safety drives automatic control system |
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