CN109017765A - The control method of the full-automatic parking system of parallel space for automatic driving vehicle - Google Patents
The control method of the full-automatic parking system of parallel space for automatic driving vehicle Download PDFInfo
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- CN109017765A CN109017765A CN201810877681.8A CN201810877681A CN109017765A CN 109017765 A CN109017765 A CN 109017765A CN 201810877681 A CN201810877681 A CN 201810877681A CN 109017765 A CN109017765 A CN 109017765A
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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
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
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Abstract
The invention belongs to automatic driving vehicle control fields, a kind of control method of full-automatic parking system of the parallel space for automatic driving vehicle is disclosed, the range information and angle information of more ultrasonic sensor detection parking position information and the opposite automatic driving vehicle of periphery barrier are utilized；FAPA controller acquires sensor information, vehicle attitude and status information and actuator status information, carries out perception fusion, path planning, Decision Control；Carry out searching, transverse path and the longitudinal velocity planning and the vertically and horizontally control of vehicle of parking position.The present invention can be realized auto-steering, self-actuating brake, auto-throttle, self shifter, automatic parking and correlation BCM movement (light, loudspeaker etc.), be finally completed the function of automatically parking of vehicle.Can also be used cooperatively with auto-pilot controller, thus realize under automatic driving mode vehicle drive and parallel direction park all act it is unmanned.
Description
Technical field
The invention belongs to automatic driving vehicle control field more particularly to a kind of parallel spaces for automatic driving vehicle
The control method of full-automatic parking system.
Background technique
Currently, the prior art commonly used in the trade is such that
The control method of automatically parking of low cost is mainly to perceive environmental information, pool by ultrasonic sensor at present
Vehicle controller calculates target parking position and optimal parking path according to surrounding enviroment combination vehicle location of parking, and issues control
System order, control steering wheel angle, complete to park, during vehicle of parking is parked speed and gear switching by driver Lai
It completes.And existing vehicle automatic parking control method is mostly carried out automatically controlling to the steering wheel of vehicle, vehicle during parking
The control of speed then needs driver to operate gas pedal or brake pedal to realize, while the switching of gear is also required to driver behaviour
It is realized as gear lever, the automatic parking of overall process fails to realize horizontal and vertical Automatic Control well, and by transverse and longitudinal
It is coupled well to control.
In conclusion problem of the existing technology is:
(1) current volume production of the automatic parking technology on vehicle assist the form driven presence using mostly, not with
Automatic Pilot is connected well, and control unit and automatic Pilot control unit are relatively independent, parks movement to a certain degree
On need man-machine coordination to complete jointly, enabled, parking stall including function of parking find, speed control etc., so that driver
Both hands both feet in parking process is not liberated thoroughly.
(2) current to park controller after calculating target parking position and most preferably parking, controller can only issue corner
Control command, without the control method of speed control and gear switching, in parking process may change and keep off because of speed
Position is incorrect, and cannot park according to calculated track causes to park unsuccessfully.
(3) current control method of parking does not solve in driver's maloperation or scatterbrained happens chance
The problem of cannot actively stopping to barrier, so as to cause unnecessary traffic accidents such as scratches.
(4) current control method of parking requires parking position as big as possible, when parking position is smaller, success rate of parking compared with
It is low, the various situations during actually parking cannot be well adapted to.
Solve the difficulty and meaning of above-mentioned technical problem:
Above-mentioned technical problem is solved, automated parking system can be made to be connected well with automatic Pilot, control is single
Member is blended with automatic Pilot control unit, and in parking process only needs machine automatic control no longer driver to be needed to participate in,
Make the available thorough liberation of both hands both feet in parking process of driver.
Increase speed control in existing automatic parking control method and gear method for handover control will increase the process of parking
Middle vehicle raising track of parking is parked stability, and raising is parked success rate.
It solves the problems, such as to improve peace of parking because driver's maloperation and the absent minded barrier that encounters actively stop
Quan Xing reduces or eliminates the unnecessary traffic accidents such as scratch.
The failure rate that solves the problems, such as to park when parking position is smaller during actually parking is higher, and system is made integrally to control effect
Fruit is more preferably.
A kind of control method of automatically parking of horizontal parking stall is provided, while being adapted to vertical parking stall etc., main body control
Thought and control flow are come round, and are offered reference meaning for the full-automatic parking system of full scene.
Summary of the invention
In view of the problems of the existing technology, it is complete certainly that the present invention provides a kind of parallel spaces for automatic driving vehicle
The control method of dynamic parking system.
The invention is realized in this way a kind of control of the full-automatic parking system of parallel space for automatic driving vehicle
Method, the distance including 12 ultrasonic sensor detection parking position information and the relatively described automatic driving vehicle of periphery barrier
Information and angle information, FAPA controller acquire sensor information, vehicle attitude and status information and actuator status information, into
Row perception fusion, path planning, Decision Control, the final searching for realizing parking position, transverse path and longitudinal velocity plan and
The vertically and horizontally control of vehicle.
It specifically includes:
Step 1 carries out the selection of parallel space park mode by human-computer interaction interface or vehicle vehicle interactive module.Machine machine is handed over
The function of automatically parking mutually being mainly used under automatic Pilot state is that auto-pilot controller passes through latticed form to FAPA
Controller issues parallel space and parks enabled control command；Human-computer interaction, which is embodied in, automatically parks in enabled hardwire switch, when
Auto-pilot controller is independent in use, FAPA function can be enabled by hand push button；MP5 multimedia system offer simultaneously is parked
System mode display function；
Step 2, the ultrasonic sensor (APA) by being located at vehicular sideview carry out the detection of parking position.Utilize ultrasonic wave
The distance between vehicle and barrier are measured, with information such as this relative positions for obtaining the width of parking stall, depth and vehicle；
Step 3, FAPA controller acquire sensor information and vehicle CAN information, carry out transverse path planning and longitudinal speed
Metric is drawn；
Step 4 automatically parks controller after trajectory planning, according to control method and strategy to throttle (EMS), turn
CAN bus instruction is issued to (EPS), braking (ESC), parking (EPB), gear (TCU), light and loudspeaker (BCM) to be controlled,
And controlled to adjust by feedback information, operation vehicle is parked dynamic according to the path of planning and control flow (step 5) realization
Make；
Step 5, system control process is as follows, and during mooring, motion flow of parking is to find right side or left side to put down
Driving position finds parking position, please stop, hang R gear, travel, please stop backward, hangs D gear, moves forward, and front and back carries out two to three
Secondary adjustment, main according to depending on parking space's size, front and back adjustment number is on the high side when theoretically truck spaces are smaller, vehicle moor into
Behind parking stall, being automatically brought into operation for P gear is stopped and is hung, vehicle steadily stops the automatic pull-up of EPB, and MP5 shows completion of parking,
Movement of parking in the process has display on MP5, and with voice prompting.During mooring out, motion flow of parking is pine
EPB, it please stop, hang D and keep off, move forward, please stop, hang R gear, travel backward, front and back carries out two to adjusting three times, and vehicle is moored out
Behind parking stall, stopped and hung being automatically brought into operation for N gear, MP5 shows to moor out and complete, and with voice prompting, if it is
Automatic driving mode, by auto-pilot controller adapter tube vehicle, if function exclusive use is automatically parked, by people come to vehicle
It takes over；
Step 6, vehicle execution unit throttle (EMS) turn to (EPS), braking (ESC), parking (EPB), light and loudspeaker
(BCM), gear (TCU) etc. receives the action command that automatically park controller or auto-pilot controller are sent, control from CAN line
Vehicle accelerator, steering, braking, parking, gear and light processed etc. execute corresponding actions according to control instruction of parking.
Step 7, front and back ultrasonic sensor (UPA) using between ultrasonic measurement vehicle and forward and backward side's barrier away from
From, UPA sensor cooperates sideway angle transducer to carry out the differentiation of stop, the shortest distance information with front and back barrier is exported,
Guiding vehicle parking；
Step 8, the status monitoring during parking, to sensor information and car status information and actuator information into
Row real-time monitoring, when occur parking cancellation instruction or park exception after, MP5 shows FAPA state or fault message, and carries out flat
Then steady parking process releases the control power；
Step 9, in parking process control priority are followed successively by failure of parking (from high to low), cancellation of parking, normal row
It sails.
Park mode selection in step 1 specifically includes: Parallel parking to the right；Parallel parking to the left；It moors out in parallel；Pool
Vehicle is cancelled.
Step 2 specifically includes: during finding parking stall, control vehicle is travelled with lower vehicle velocity V, if there is barrier in roadside
Vehicle, the ultrasonic sensor (APA) of vehicular sideview detect that obstacle distance is D1, when clear vehicle detects obstacle
Object distance is D2, D1With D2Catastrophe point twice be the parking position starting point (t detected1Position) and terminal (t2Position), pool
The width of parking stall isDepth W=D2-D1, the parking stall width L that detects1It is greater than parking vehicles' total length
1 meter or more can determine whether to find parking stall success.
FAPA controller acquisition sensor information and vehicle CAN information, carry out transverse path planning and longitudinal direction in step 3
Speed planning.Using steering wheel angle as control object, Parallel parking process, which can refer to driver and park, is planned for transverse path
Driving experience in journey, using five-part form control method, i.e., straight line car-backing, it is right play wheel reversing, wheel is beaten on the positive straight line car-backing of circulation, a left side
Reversing and right wheel of beating go to end；Longitudinal velocity is planned, since speed is difficult intelligent driving vehicle at low speeds
Accomplish accurately to control, the speed for process of entirely parking can be controlled in the case where not influencing riding comfort in 3km/h to 5km/h
In the range of；
In order to enable the vehicle to moor as much as possible into the lesser parking stall of size in step 5, need during parking to transverse rails
Mark control and longitudinal velocity control are effectively cooperated, this is because the parallel space in parking lot is generally at 6.2 meters or so, and
Most SUV vehicle length is 4.8 meters or so now, simultaneously because parking for fore-aft vehicle is irregular, may cause parking position
Size is smaller, and vehicle is difficult to normally to moor into providing a kind of control method of delayed type in the present invention, can effectively solve above-mentioned
Problem, during mooring, reversing course changing control and speed control act on vehicle simultaneously for the first time, i.e. vehicle is slowly being moved backward
Steering wheel is controlled when (in 5km/h), travels it by planned trajectory, subsequent everything takes delays time to control, i.e., logical
It crosses ESC to stop vehicle brake, first controls steering wheel movement, just discharge ESC after the completion of steering wheel movement, travel vehicle slowly.Pool
Process is not distinguished for the first time out and subsequent action, whole process use delays time to control.
Vehicle execution unit throttle (EMS), steering (EPS), braking (ESC), parking (EPB), light and loudspeaker in step 6
(BCM), gear (TCU) etc. receive the control instruction that controller is sent of automatically parking from CAN line and acted, pass through simultaneously
MP5 shows every prompt information (only illustrate and park here relevant information) during automatically parking, including movement of parking
Information (find left/right parking stall, stop, put into gear, moving forward, travelling backward, completion etc. of parking), actuator status information
(locating gear information, speed etc.) and miscue information (do not find parking stall, EPS is not enabled on, FAPA failure etc.).
UPA sensor cooperation sideway angle transducer carries out the differentiation of stop in step 7, and the vehicle commander of automatic Pilot is S
When, when after ultrasonic sensor (UPA) detect the distance L apart from barrier vehicle2For L2=(L1- S)/2, that is, it can determine whether vehicle
It completes to park function.
Step 8 occurs parking after cancellation instruction or exception of parking, and is first braked using ESC, after detecting that vehicle stops
Electronics parking brake pull-up, while P gear is hung, discharge the control of FAPA.When under automatic driving mode, what is steadily stopped is same
When, need to upload FAPA fault message to auto-pilot controller.
Another object of the present invention is to provide the parallel space that automatic driving vehicle is used for described in a kind of realize is full-automatic
The computer program of the control method of parking system.
Another object of the present invention is to provide the parallel space that automatic driving vehicle is used for described in a kind of realize is full-automatic
The information data processing terminal of the control method of parking system.
Another object of the present invention is to provide a kind of computer readable storage mediums, including instruction, when it is in computer
When upper operation, so that computer executes the controlling party of the full-automatic parking system of the parallel space for automatic driving vehicle
Method.
Another object of the present invention is to provide the parallel space that automatic driving vehicle is used for described in a kind of realize is full-automatic
The full-automatic parking system of the parallel space for automatic driving vehicle of the control method of parking system.
Another object of the present invention is to provide the parallel space that automatic driving vehicle is used for described in a kind of realize is full-automatic
The unmanned plane of the control method of parking system.
In conclusion advantages of the present invention and good effect are as follows:
It is dynamic that the present invention can be realized auto-steering, self-actuating brake, auto-throttle, self shifter, automatic parking and correlation BCM
Make (light, loudspeaker etc.), is finally completed the function of automatically parking of vehicle.The interaction with auto-pilot controller is provided simultaneously to connect
Mouthful and man-machine interactive interface, the function that makes automatically to park can not only complete that (human-computer interaction is opened independently of auto-pilot controller
Put into row park it is enabled), can also be used cooperatively with auto-pilot controller, to realize vehicle drive under automatic driving mode
Parking with parallel direction, it is unmanned all to act.
The present invention automatically parks (FAPA) controller receiving sensor information and vehicle CAN information, realizes parking position
Detection, lateral path planning and longitudinal velocity planning, the tracing control etc. of parking path complete the full-automatic of intelligent driving vehicle
It parks function.Parking system includes surrounding enviroment information module, collecting vehicle information module, vehicle execution module, interactive module
(interaction of machine machine and human-computer interaction) and five parts such as (FAPA) controller composition of automatically parking, can be realized steering, brake, oil
Door, shift, parking and correlation BCM act the automatic control of (light, loudspeaker etc.)；Friendship with unmanned controller is provided simultaneously
Mutual interface and man-machine interactive interface, the function that makes automatically to park not only can complete (man-machine friendship independently of auto-pilot controller
Mutually switch park enabled), it can also be used cooperatively with auto-pilot controller, make to park function in automatic driving vehicle
Obtain good application.
Detailed description of the invention
Fig. 1 is the control of the full-automatic parking system of the parallel space for automatic driving vehicle provided in an embodiment of the present invention
Method flow diagram.
Fig. 2 is detection schematic diagram in Parallel parking position provided in an embodiment of the present invention.
Fig. 3 is Parallel parking path planning schematic diagram provided in an embodiment of the present invention.
Fig. 4 is the full-automatic parking system structure of the parallel space for automatic driving vehicle provided in an embodiment of the present invention
Block diagram.
Fig. 5-1, Fig. 5-2, Fig. 5-3, Fig. 5-4 are simulated effect figures provided in an embodiment of the present invention.
Fig. 5-1 is process schematic of parking.In order to preferably describe process of parking of the invention, the present invention passes through emulation effect
Fruit figure indicates effect picture of entirely parking, and in simulations indicates entire vehicle with rectangle, the length of rectangle is the length of vehicle
Degree, the width of rectangle is the width of vehicle, is parked by observation and emulates schematic diagram, so that it may intuitively observe effect of actually parking
Fruit.Curve in this figure is exactly practical parking path, in order to preferably model and study in research process of the present invention, by vehicle
Regard into track of parking as in the track of parking of rear shaft center.
Fig. 5-2 is parking path Curvature varying curve.Parking path Curvature varying is important during practical study
Parameter request, parking path curvature may indicate that the continuity and flatness of practical parking path, be the important of comfort of parking
Parameter, parking path curvature is coherent, and process of parking is more comfortable.
Fig. 5-3 be vehicle body course angle change curve schematic diagram park course angle when indicate in parking process vehicle relative to
The important parameter of parking stall position, as shown in the figure when curve initial value just illustrates that vehicle body is flat with parking position when parking and starting for 0
It is capable, stop value be 0 explanation the process of parking terminate rear and parking stall be also it is parallel this saying can be proved by Fig. 5-1,
Vehicle body course angle be also evaluation park whether successfully it is important in parameter.
Fig. 5-4 is front wheel angle angular speed change curve.In parking process vehicle is changed in fact by control front wheel angle
The angle change of parking vehicles' motion profile, front-wheel affects motion profile of parking, that is to say, that corner variation be park it is important
Parameter, only angled control, which is accurately just able to achieve, accurately parks.Since the bright vehicle of this chart parking to successful full mistake of parking
The variation of journey front wheel angle.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The control method of the full-automatic parking system of parallel direction of intelligent driving vehicle provided in an embodiment of the present invention, 12
Ultrasonic sensor detects range information and the angle letter of parking position information and the relatively described automatic driving vehicle of periphery barrier
Breath, FAPA controller acquire sensor information, vehicle attitude and status information and actuator status information, carry out perception fusion,
Path planning, Decision Control, the final searching for realizing parking position, transverse path and longitudinal velocity planning and vehicle are vertically and horizontally
Control.
Below with reference to concrete analysis, the invention will be further described.
The control method of the full-automatic parking system of parallel direction of intelligent driving vehicle provided in an embodiment of the present invention, packet
It includes:
Step 1 first has to find parking stall to right/left as indicated with 1.Parallel direction park mode includes horizontal to the right moors
Vehicle, to the left level, which park, moor out in parallel and park, cancels four kinds of modes.Under automatic Pilot state, auto-pilot controller passes through
Latticed form issues Parallel parking to FAPA controller and enables control command；Automatically functional independence is parked in use, driver
Park mode selection can be carried out by hardwire switch.For the quantity for reducing the hard line options switch of park mode, former vehicle can be turned to
Lamp switch and gear are used cooperatively, i.e., a hardwire switch is only arranged in four kinds of park modes.When current gear is that forward gear D is kept off,
Enabled switch of parking is pressed, horizontal park mode is selected to the right；D keeps off infralevoversion and opens to lamp switch, presses enabled open of parking
It closes, horizontal park mode is selected to the left；When current gear is that parking shift P is kept off, enabled switch of parking is pressed, in parallel the mode of mooring out
It is selected；In the case of function of automatically parking has been enabled, enabled switch of parking is pressed again, and cancellation mode of parking is selected.
Step 2 can carry out the detection of parking position as shown in Figure 2, during finding parking stall, control vehicle with lower vehicle velocity V
(be lower than 5km/h) traveling, if there is a barrier vehicle in roadside, the ultrasonic sensor (APA) of vehicular sideview detect barrier away from
From for D1, when clear vehicle detects that obstacle distance is D2, D1With D2Catastrophe point twice be that the parking position that detects rises
Initial point (t1Position) and terminal (t2Position), the width of parking position isDepth W=D2-D1, detect
Parking stall width L11 meter for being greater than parking vehicles' total length or more can determine whether to find parking stall success.
Step 3, FAPA controller acquire sensor information and vehicle CAN information, carry out transverse path planning and longitudinal speed
Metric is drawn.Longitudinal velocity is planned, it, can be since speed is difficult to accomplish accurately to control intelligent driving vehicle at low speeds
Regulation speed is in the range of 3km/h~5km/h in the case where not influencing riding comfort.Transverse path is planned, with side
It is control object to disk corner, Parallel parking process can refer to the driving experience during driver parks, be controlled using five-part form
Method, i.e. straight line car-backing, it is right beat wheel reversing, the positive straight line car-backing of circulation, it is left beat that wheel is moved backward and the right side is beaten to take turns and go to end, such as Fig. 3
It is shown.
First segment: vehicle is from the stop P0 after parking position is found with the speed straight line car-backing of 3km/h~5km/h to P1
Point；
Second segment: vehicle changes angle P value with a certain fixed body gesture to the right and retreats arrival P2 along circular arc from the position P1,
Parking vehicles do not know at a distance from barrier vehicle during due to finding parking stall, can measure P value by the method for calibration
With the numerical relation of parking vehicles and barrier vehicle longitudinal spacing, steering wheel angle finally is converted by P value；
Third section: vehicle is from the position P2 with the speed straight line car-backing of 3km/h~5km/h to the position P3；
4th section: vehicle is moved backward along circular arc to P4 from the position P3 with a direction disk corner to the left, and automobile body appearance is made
State angle change q value；
5th section: vehicle advances to P5 along circular arc with a direction disk corner to the right from the position P4, makes automobile body appearance
State angle change r value.
By geometrical relationship it is found that in order to guarantee that five-part form is parked after control method, instruction carriage just with initial position
Keeping parallelism, i.e. instruction carriage " can be ajusted " in parking stall, it is necessary to angle q and angle be allowed r's and to be equal to angle P.
Step 4, after the completion of FAPA controller trajectory planning, according to control method and strategy to throttle (EMS), turn to
(EPS), (ESC), parking (EPB), gear (TCU), light and loudspeaker (BCM) are braked to issue CAN bus instruction and controlled, and
It is controlled to adjust by feedback information, operation vehicle realizes movement of parking according to the path of planning and control flow.
Step 5, if the control flow of Fig. 1 includes to moor into and moor out two processes.It is described to moor into process, stream of action of parking
Journey be find right side or left parallel parking stall, find parking position, please stop, hangs R gear, travel, please stop backward, hang D keep off, forward
Traveling, front and back carry out two to adjusting three times, and main according to depending on parking space's size, front and back is adjusted when theoretically truck spaces are smaller
Whole number is on the high side, after vehicle moors parking stall, is stopped and hung being automatically brought into operation for P gear, the vehicle EPB that steadily stops is drawn automatically
It rises, MP5 shows completion of parking, and movement of parking in the process has display on MP5, and with voice prompting.During mooring out,
Motion flow of parking be pine EPB, please stop, hangs D keep off, move forward, please stop, hang R keep off, travel backward, front and back progress two to
It adjusting three times, after vehicle moors out parking stall, is stopped and hung being automatically brought into operation for N gear, MP5 shows to moor out and complete, and with
Voice prompting, if it is in automatic driving mode, by auto-pilot controller adapter tube vehicle, if function of automatically parking is independent
It uses, vehicle is taken over by people.
In order to enable the vehicle to moor as much as possible into the lesser parking stall of size, need to control transverse path during parking and
Longitudinal velocity control is effectively cooperated, and can be moored to solve full-automatic parallel space parking system into size as small as possible
It moors to move backward for the first time into process and course changing control and speed control while make using the control method of delay in present example in parking stall
For vehicle, i.e. vehicle controls steering wheel in slowly reversing (in 5km/h), travels it by planned trajectory, subsequent
Everything takes delays time to control, i.e., stops vehicle brake by ESC, first control steering wheel movement, make steering wheel control after the 4s that is delayed
Braking just discharges ESC after the completion of making, and travels vehicle slowly, moors out process whole process and uses delays time to control.
Step 6, vehicle execution unit throttle (EMS) turn to (EPS), braking (ESC), parking (EPB), light and loudspeaker
(BCM), gear (TCU) etc. receives the action command that automatically park controller or auto-pilot controller are sent, control from CAN line
Vehicle accelerator, steering, braking, parking, gear and light processed etc. execute corresponding actions according to control instruction of parking.
Step 7, front and back ultrasonic sensor (UPA) using between ultrasonic measurement vehicle and forward and backward side's barrier away from
From, UPA sensor cooperates sideway angle transducer to carry out the differentiation of stop, the shortest distance information with front and back barrier is exported,
When after ultrasonic sensor (UPA) detect the distance L apart from barrier vehicle2For
L2=(L1-S)/2
It can determine whether that vehicle completes function of parking.
Step 8 after such as occur in Fig. 2 parking cancellation instruction or exception of parking, is first braked using ESC, detects vehicle
Stop after electronics parking brake pull-up, while hang P gear, discharge the control of FAPA.When under automatic driving mode, steadily stopped
While vehicle, need to upload FAPA fault message to auto-pilot controller；
Step 9, in parking process control priority are followed successively by failure of parking (from high to low), cancellation of parking, normal row
It sails.
As shown in figure 4, the full-automatic parking system of parallel space provided in an embodiment of the present invention, including vehicle-surroundings environment letter
It ceases module, collecting vehicle information module, vehicle execution module, interactive module (interaction of machine machine and human-computer interaction) and automatically parks
(FAPA) five part such as controller forms.
The vehicle-surroundings environmental information module uses 4 APA ultrasonic radars and 8 UPA ultrasonic sensors, uniformly
Vehicle's surroundings are distributed in, main function is the distance and angle letter for detecting the relatively described automatic driving vehicle of periphery barrier
Breath, the APA ultrasonic radar of two sides are used for the positioning of parking position, and the UPA ultrasonic sensor that front and back is surveyed is for detecting front and back barrier
The distance for hindering object differentiates the position of stop, and exports the shortest distance information with front and back barrier.
The collecting vehicle information module, including vehicle CAN bus information and yaw angle sensor information, vehicle CAN mention
For speed needed for function of automatically parking, steering wheel angle, automobile gear level value, electronic parking state, BCM information and each execution
Device operating status, yaw angle sensor obtain the angle that vehicle body deviates horizontal direction for differentiating vehicle body state.
The vehicle execution module is received entirely certainly by the vehicles such as vehicle EMS, EPS, ESC, EPB, BCM, TCU ECU from CAN line
The action command that dynamic park controller or auto-pilot controller are sent, control vehicle accelerator, steering, braking, parking, gear and
Light etc. executes corresponding actions according to control instruction.
The interactive module, including human-computer interaction and machine machine interactive module, human-computer interaction include that hardware switch and MP5 are shown
Function, hardware switch need to realize Parallel parking to the right, to the left Parallel parking, Parallel parking and 4 kinds of switch commands of cancellation of parking；
MP5 is used to show every prompt information (only illustrate and park here relevant information) during automatically parking, including parks
Action message (find left/right parking stall, stop, put into gear, moving forward, travelling backward, completion etc. of parking), actuator state
Information (locating gear information, speed etc.) and miscue information (EPS be not enabled on, APA failure etc.).Machine machine interactive module master
The function of automatically parking that be applied under automatic driving mode, auto-pilot controller pass through latticed form to FAPA controller
Enabled control command of parking is issued, while being based on security consideration, under automatic Pilot state, actuator receives control command and takes list
The form in channel, only receives the control instruction issued from auto-pilot controller, thus the steering of FAPA controller, throttle,
Brake, gear, parking and BCM control instruction vehicle actuator need to be transmitted to by auto-pilot controller, while FAPA is controlled
Device processed uploads operating status of parking by network.
Automatically park controller, receiving sensor information and the vehicle CAN information carry out perception fusion, path rule
It draws, Decision Control, the final searching for realizing parking position, transverse path and longitudinal velocity planning and the vertically and horizontally control of vehicle.
The invention will be further described combined with specific embodiments below.
Fig. 5 is simulated effect figure provided in an embodiment of the present invention.Relative to function of vertically parking in real life, in parallel
Parking can be more with number, in order to better illustrate and describe the actual effect of the invention, is being parked according to parking system
Actual requirement is emulated in vehicle, and simulation process path and planning algorithm are identical with Actual path planning algorithm, is such as schemed
Shown in 5-3.Vehicle regarded as in simulation process it is rectangular, parking path is main and speed, front wheel angle, initial position and
Target parking is correlation, and in Simulation Engineering of parking, control algolithm of parking can be calculated according to starting parking position and termination parking position
A parking path out, vehicle during parking along this parking path, a little can on path by each corresponding parks
Corresponding corresponding full rotating wheel angle, front wheel angle is corresponding as shown in Fig. 5-2, and path curve has showed in Fig. 5-4, parks
Path curvatures are the important parameter for describing parking path smoothness, the more smooth vehicle corner of parking path better control such as Fig. 5-1
It is shown.This simulated effect of understanding and effect of actually parking that sum up related personnel can will be apparent that.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of control method of the full-automatic parking system of parallel space for automatic driving vehicle, which is characterized in that described
The control method of the full-automatic parking system of parallel space for automatic driving vehicle includes:
Utilize the range information of more ultrasonic sensor detection parking position information and the opposite automatic driving vehicle of periphery barrier
And angle information；FAPA controller acquires sensor information, vehicle attitude and status information and actuator status information, is felt
Know fusion, path planning, Decision Control；Carry out searching, transverse path and the longitudinal velocity planning of parking position and indulging for vehicle
Crosswise joint.
2. the control method for the full-automatic parking system of parallel space of automatic driving vehicle as described in claim 1,
It is characterized in that, the control method of the full-automatic parking system of the parallel space for automatic driving vehicle specifically includes:
Step 1 carries out the selection of parallel space park mode by human-computer interaction interface or vehicle vehicle interactive module；
Step 2, the ultrasonic sensor APA by being located at vehicular sideview carry out the detection of parking position；Utilize ultrasonic measurement vehicle
The distance between with barrier, the relative position information of the width of parking stall, depth and vehicle is obtained；
Step 3, FAPA controller acquire sensor information and vehicle CAN information, carry out transverse path planning and longitudinal velocity rule
It draws；
Step 4 automatically parks controller after trajectory planning, according to control method and strategy to throttle EMS, turn to EPS,
Braking ESC, parking EPB, gear TCU, light and loudspeaker BCM issue CAN bus instruction and are controlled, and by feedback information into
Row controls to adjust, and operates vehicle according to step 5 and carries out movement of parking；
Step 5 carries out control flow: during mooring, motion flow of parking is to find right side or left parallel parking stall, find
Parking position please stop, hang R gear, travel, please stop backward, hanging D and keep off, move forward, and front and back progress two to adjusting three times；Vehicle
After mooring parking stall, being automatically brought into operation for P gear is stopped and is hung, vehicle steadily stops the automatic pull-up of EPB, and MP5 shows completion of parking,
Movement of parking in the process is shown on MP5, and with voice prompting；During mooring out, motion flow of parking is pine
EPB, it please stop, hang D and keep off, move forward, please stop, hang R gear, travel backward, front and back carries out two to adjusting three times, and vehicle is moored out
Behind parking stall, being automatically brought into operation for N gear is stopped and is hung, MP5 shows to moor out and complete, and with voice prompting；
Vehicle execution unit throttle EMS, step 6 turns to EPS, braking ESC, parking EPB, light and loudspeaker BCM, gear TCU
Receive the action command that automatically park controller or auto-pilot controller are sent from CAN line, control vehicle accelerator, steering,
Braking, parking, gear and light execute corresponding actions according to control instruction of parking；
Step 7, front and back ultrasonic sensor UPA utilize the distance between ultrasonic measurement vehicle and forward and backward side's barrier, UPA
Sensor cooperates sideway angle transducer to carry out the differentiation of stop, exports the shortest distance information with front and back barrier, instructs vehicle
Parking；
Step 8, the status monitoring during parking carry out sensor information and car status information and actuator information real
When monitor, when occur parking cancellation instruction or park exception after, MP5 shows FAPA state or fault message, and is steadily stopped
Vehicle processing, then releases the control power；
Step 9, in parking process control priority are followed successively by failure of parking, cancellation of parking, normally travel.
3. the control method for the full-automatic parking system of parallel space of automatic driving vehicle as claimed in claim 2,
It is characterized in that,
Park mode selection in step 1 specifically includes: Parallel parking to the right；Parallel parking to the left；It moors out in parallel；It parks and takes
Disappear；
Machine machine interactive application automatically parking under automatic Pilot state is auto-pilot controller by latticed form to
FAPA controller issues parallel space and parks enabled control command；
Human-computer interaction is applied to automatically park in enabled hardwire switch, and auto-pilot controller is independent in use, by manual
Button enables FAPA function；MP5 multimedia system is used for parking system status display simultaneously.
4. the control method for the full-automatic parking system of parallel space of automatic driving vehicle as claimed in claim 2,
Be characterized in that, step 2 specifically includes: during finding parking stall, control vehicle is travelled with lower vehicle velocity V, if there is barrier in roadside
Vehicle, the ultrasonic sensor APA of vehicular sideview detect that obstacle distance is D1, when clear vehicle detects barrier
Distance is D2, D1With D2Catastrophe point twice be the parking position starting point t detected1Position and terminal t2Position, the width of parking position
Degree isDepth W=D2-D1, the parking stall width L that detects1When greater than 1 meter of parking vehicles' total length, judgement
Find parking stall success；
In step 3, transverse path is planned, using steering wheel angle as control object, Parallel parking process can refer to driver's pool
Driving experience during vehicle, using five-part form control method, straight line car-backing, it is right play wheel reversing, the positive straight line car-backing of circulation, a left side are beaten
Wheel reversing and right wheel of beating go to end；Longitudinal velocity is planned, in the case where not influencing to take, control was entirely parked
The speed of journey is in 3km/h to 5km/h；
In step 5, transverse path control and longitudinal velocity control are effectively cooperated during parking, during mooring,
Reversing course changing control and speed control act on vehicle simultaneously for the first time, and vehicle controls steering wheel in slow reversing, presses
Planned trajectory traveling, subsequent everything take delays time to control, stop vehicle brake by ESC, first control steering wheel movement, direction
ESC is just discharged after the completion of disk movement, travels vehicle slowly；The process of mooring out is not distinguished prolongs with subsequent action, whole use for the first time
When control.
5. the control method for the full-automatic parking system of parallel space of automatic driving vehicle as claimed in claim 2,
It is characterized in that, in step 7, UPA sensor cooperates sideway angle transducer to carry out the differentiation of stop, and the vehicle commander of automatic Pilot is S
When, when after ultrasonic sensor UPA detect the distance L apart from barrier vehicle2For L2=(L1- S)/2, judge that vehicle is completed
It parks.
6. a kind of parallel space realized described in Claims 1 to 5 any one for automatic driving vehicle, which is automatically parked, is
The computer program of the control method of system.
7. a kind of parallel space realized described in Claims 1 to 5 any one for automatic driving vehicle, which is automatically parked, is
The information data processing terminal of the control method of system.
8. a kind of computer readable storage medium, including instruction, when run on a computer, so that computer is executed as weighed
Benefit requires the control method described in 1-5 any one for the full-automatic parking system of parallel space of automatic driving vehicle.
9. a kind of control method realized described in claim 1 for the full-automatic parking system of parallel space of automatic driving vehicle
The full-automatic parking system of the parallel space for automatic driving vehicle.
10. a kind of controlling party realized described in claim 1 for the full-automatic parking system of parallel space of automatic driving vehicle
The unmanned plane of method.
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| CN109532824A (en) * | 2018-12-19 | 2019-03-29 | 杭州湘滨电子科技有限公司 | A kind of curb recognition methods that level is parked |
| CN109559555A (en) * | 2018-12-21 | 2019-04-02 | 联创汽车电子有限公司 | Parking stall identifying system and its recognition methods |
| CN109739231A (en) * | 2018-12-29 | 2019-05-10 | 北京智行者科技有限公司 | Automatic Pilot charging vehicle control method for stopping and system |
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| CN111002978A (en) * | 2019-12-03 | 2020-04-14 | 湖北文理学院 | Automatic parking method for garage, terminal and storage medium |
| CN111002978B (en) * | 2019-12-03 | 2021-11-23 | 湖北文理学院 | Automatic parking method for garage, terminal and storage medium |
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| CN111880511A (en) * | 2020-07-03 | 2020-11-03 | 长安大学 | System and method for testing parking capacity of unmanned vehicle |
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| CN113460038B (en) * | 2021-06-28 | 2023-02-28 | 东风汽车集团股份有限公司 | Ramp automatic parking safe vehicle speed control method |
| CN113665564A (en) * | 2021-08-10 | 2021-11-19 | 东风汽车集团股份有限公司 | Magnetic track memory parking method and system |
| CN113665564B (en) * | 2021-08-10 | 2023-04-18 | 东风汽车集团股份有限公司 | Magnetic track memory parking method and system |
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| CN115447570A (en) * | 2022-09-13 | 2022-12-09 | 北斗星通智联科技有限责任公司 | Automatic parking method, device, equipment and medium based on ultrasonic sensor |
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