CN110941274A - Control method and control system for automatically driving away from parking space - Google Patents
Control method and control system for automatically driving away from parking space Download PDFInfo
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Abstract
The invention discloses a control method and a control system for automatically driving away from a parking space, which comprises the following steps that a decision module issues a command for driving a vehicle away from the parking space; the control module receives the instruction and controls the vehicle to drive away from the parking space; the distance sensing module periodically collects and measures distance information of obstacle objects around the vehicle; the decision module makes a corresponding control strategy according to the input distance information and sends a control strategy signal to the control module; the control module controls the vehicle to operate according to the received control strategy signal. The invention has the beneficial effects that: the sensing module transmits the measured distance information to the vehicle decision module in a certain period, and the vehicle decision module makes a corresponding control strategy according to the distance information input by the ultrasonic radar and sends the control information to the vehicle operation module to improve the control precision.
Description
Technical Field
The invention relates to the technical field of automatic control of vehicles, in particular to a control method and a control system for automatically driving away from a parking space.
Background
In recent years, the automatic driving technology of automobiles is continuously developed, and the automatic driving technology comprises a video camera, a radar sensor and a laser range finder to know the surrounding traffic conditions, and a map is used for navigating the road ahead through a detailed map and a map collected by a person driving an automobile. All this is done through google's data center, which can process the vast amount of information collected by cars about the surrounding terrain. In this regard, the autonomous vehicle corresponds to a remote-controlled vehicle or an intelligent vehicle of google data center. One of the applications of the technology of the Internet of things in the automatic driving technology of the automobile.
The ultrasonic radar works on the principle that ultrasonic waves are emitted outwards through an ultrasonic emitting device, and the distance is measured and calculated through the time difference between the time when the ultrasonic waves are received and sent by a receiver. At present, the working frequency of the common probe is three types of 40kHz,48kHz and 58 kHz. Generally, the higher the frequency, the higher the sensitivity, but the smaller the detection angle in the horizontal and vertical directions, so a 40kHz probe is generally used. The ultrasonic radar is waterproof and dustproof, and even if a small amount of silt is shielded, the influence is avoided. The detection range is between 0.1 and 3 meters, and the precision is high, so the method is very suitable for parking.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned conventional problems.
Therefore, one technical problem solved by the present invention is: a method for controlling the driving of a vehicle out of a parking space through decision making by sensing the surrounding distance through an ultrasonic radar is provided.
In order to solve the technical problems, the invention provides the following technical scheme: a control method for automatically driving out of a parking space comprises the following steps that a decision-making module issues a command for driving a vehicle out of the parking space; the control module receives the instruction and controls the vehicle to drive away from the parking space; the distance sensing module periodically collects and measures distance information of obstacle objects around the vehicle; the decision module makes a corresponding control strategy according to the input distance information and sends a control strategy signal to the control module; the control module controls the vehicle to operate according to the received control strategy signal.
As a preferable aspect of the control method for automatically driving out of a parking space according to the present invention, there is provided: the control strategy sent by the decision module comprises that if the measured distance in front of the vehicle reaches an early warning value, control instructions that the steering wheel is turned right and the gear is turned backwards in the R gear are correspondingly sent; and if the measured distance behind the vehicle reaches an early warning value, correspondingly sending out a control instruction that the steering wheel is opened to the left and the gear is opened forwards in a D gear mode.
As a preferable aspect of the control method for automatically driving out of a parking space according to the present invention, there is provided: the control strategy comprises that if the distance sensing module in front cannot detect a target when the vehicle is driven forwards, the decision module sends out a command of increasing the speed of the vehicle and accelerating the driving forwards.
As a preferable aspect of the control method for automatically driving out of a parking space according to the present invention, there is provided: the decision module also comprises a behavior decision and trajectory planning module; and the behavior decision receives the routing and routing result, simultaneously receives perception prediction and map information, synthesizes input information, generates and inputs the information into the track planning module for track planning.
As a preferable aspect of the control method for automatically driving out of a parking space according to the present invention, there is provided: the behavior decision comprises outputting the current vehicle behavior, a vehicle motion target point and a target vehicle speed, and outputting a planned track of the vehicle motion target point and the target vehicle speed after inputting the behavior decision; the environmental state of the sensing module comprises environmental information collected by a laser radar, a millimeter wave radar, an ultrasonic radar and a vision sensor.
As a preferable aspect of the control method for automatically driving out of a parking space according to the present invention, there is provided: the state information of the vehicle comprises information collected by a positioning/inertial navigation sensor and a wheel speed sensor.
As a preferable aspect of the control method for automatically driving out of a parking space according to the present invention, there is provided: the control module comprises a path tracking system, a gear control, a pedal control, a corner control and an accessory control; and the trajectory planning module outputs a vehicle motion target point and a planned trajectory of a target vehicle speed to the path tracking system and outputs signals of an accelerator/brake, a pedal opening and a steering wheel angle control to the pedal control and the steering wheel angle control to carry out vehicle driving control.
As a preferable aspect of the control method for automatically driving out of a parking space according to the present invention, there is provided: the decision module also comprises the following steps of acquiring the azimuth information of the current vehicle by utilizing the distance sensing module; determining the final target azimuth information of the vehicle; and judging whether the direction can reach the target direction.
As a preferable aspect of the control method for automatically driving out of a parking space according to the present invention, there is provided: the control module controls the vehicle to directly run when the decision module judges that the azimuth information enables the vehicle to reach the target azimuth; and when the decision module judges that the azimuth information can not enable the vehicle to reach the target azimuth, the distance sensing module continues to acquire the azimuth in real time, the control module controls the vehicle to adjust the azimuth until the vehicle attitude meets the regulation, and otherwise, the last cycle is executed.
The invention solves another technical problem that: a control system for controlling the vehicle to leave a parking space by sensing the surrounding distance through an ultrasonic radar to make a decision is provided.
In order to solve the technical problems, the invention provides the following technical scheme: a control system for automatically driving away from a parking space, characterized in that: the system comprises a decision module, a control module and a distance sensing module; the distance sensing module acquires distance information of obstacles around the vehicle by installing distance sensors arranged around the vehicle; the control module is used for controlling the adjustment of the angle of a steering wheel of the vehicle, the speed of the vehicle and the gear of the vehicle; and the decision module is used for deciding the next action instruction of the vehicle according to the sensed distance information of the surrounding obstacles and sending the action instruction to the control module for execution.
The invention has the beneficial effects that: the sensing module transmits the measured distance information to the vehicle decision module in a certain period, the vehicle decision module makes a corresponding control strategy according to the distance information input by the ultrasonic radar and sends the control information to the vehicle operation module, and finally the purpose that the vehicle autonomously drives away from a parking space is achieved, and the control precision is improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic overall flowchart of a control method for automatically driving out of a parking space according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a decision module according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control system for automatically driving out of a parking space according to a second embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to the schematic diagram of fig. 1, which is a schematic diagram illustrating the overall flow structure of a control method for automatically leaving a parking space for the present implementation, automatic parking (automatic parking), also referred to as an active parking assist system, is an autonomous vehicle control system that moves a vehicle into (into) or out of (leaves) a parking space. Parking spaces may vary from parallel parking spaces, vertical parking spaces, or oblique parking spaces. The aim of automatic parking systems is to improve the comfort associated with driving in a constrained environment where much attention and experience is required to steer the vehicle. The control of driving in and driving out of the parking space is realized through coordination and automatic control of the steering angle and the speed. Further, the sensors and cameras may detect objects (such as other vehicles) in the external environment: coordinated and automated control of the vehicle during drive-in and drive-out parking space events may take into account the sensed presence and location of these objects to ensure collision-free motion within the available space.
The method proposed in this embodiment specifically comprises the following steps,
the decision module 100 issues an instruction that the vehicle leaves the parking space, and the control strategy issued by the decision module 100 includes that if the measured distance in front of the vehicle reaches an early warning value, a control instruction that the steering wheel is turned right and the gear is turned backwards in the R gear is correspondingly issued; if the measured distance behind the vehicle reaches an early warning value, correspondingly sending out control instructions that the steering wheel is opened to the left and the gear is opened forwards in a D gear;
the control module 200 receives the instruction and controls the vehicle to drive away from the parking space;
the distance sensing module 300 periodically collects and measures distance information of obstacle objects around the vehicle;
the decision module 100 makes a corresponding control strategy according to the input distance information and sends a control strategy signal to the control module 200, and the control strategy further includes that if the vehicle drives forwards and the front distance sensing module 300 cannot detect a target, the decision module 100 sends a command of increasing the vehicle speed and accelerating the driving forwards. The decision module 100 further comprises a behavior decision 101 and a trajectory planning module 102; the behavior decision 101 receives the routing result, also receives the perception prediction and the map information, synthesizes the input information, generates and inputs the information to the trajectory planning module 102 for trajectory planning. The behavior decision 101 comprises outputting the current vehicle behavior, a vehicle motion target point and a target vehicle speed, and outputting a planned track of the vehicle motion target point and the target vehicle speed after the behavior decision 101 is input; the environmental status of the sensing module 100 includes environmental information collected by a laser radar, a millimeter wave radar, an ultrasonic radar, and a vision sensor. The vehicle's own state information includes information collected by the positioning/inertial navigation and wheel speed sensors.
The method comprises the following steps that the decision-making module 100 judges that the azimuth information enables a vehicle to reach a target azimuth, and the control module 200 controls the vehicle to directly run; when the decision module 100 determines that the direction information does not enable the vehicle to reach the target direction, the distance sensing module 300 continues to acquire the direction in real time, the control module 200 controls the vehicle to adjust the direction until the vehicle meets the specified vehicle posture, and otherwise, the last cycle is executed.
The decision making module 100 further comprises the steps of,
acquiring the azimuth information of the current vehicle by using a distance sensing module 300;
determining the final target azimuth information of the vehicle;
and judging whether the direction can reach the target direction.
The control module 200 controls vehicle operation based on the received control strategy signal. The control module 200 includes a path tracking system, gear control, pedal control, steering angle control, and accessory control; the trajectory planning module 102 outputs a vehicle motion target point and a planned trajectory of a target vehicle speed to the path tracking system, and outputs control signals of an accelerator/brake, a pedal opening and a steering wheel angle to the pedal control and the steering wheel angle control to control the vehicle driving.
Scene one:
the technical effects adopted in the method are verified and explained, different methods selected in the embodiment and the method are adopted for comparison and test, and the test results are compared by means of scientific demonstration to verify the real effect of the method.
The traditional technical scheme is as follows: this scheme requires less than traditional scheme to the parking stall size, has higher security simultaneously. The method has a wider application range and higher safety compared with the traditional method. In the embodiment, the safe distance of the real vehicle is measured and compared in real time by adopting the traditional manual driving and the method respectively.
And (3) testing environment: running simulation and simulation of vehicle running on simulation platformDrive away from parking spaceBy usingTesla model SAnd testing the sample, namely performing steering angle test by respectively utilizing manual operation of the traditional method and obtaining test result data. By adopting the method, the automatic test equipment is started to realize the simulation test of the method, and the simulation data is obtained according to the experimental result. The actual recording of the test procedure, including,
simulation 1: for a car with the length of 5 meters and a parking space with the length of 5.4 meters, the test is carried out for 10 times totally, and the rubbing times are recorded for comparison.
Simulation 2: and comparing the minimum safety distance of the vehicles with the length of 5 meters and the parking spaces with the length of 5.6 meters in the process of driving out the vehicles for 10 times.
The actual results are shown in the data comparison in table 1 and table 2 below.
Table 1: 5 meters of cars and 5.4 meters of parking spaces, 10 tests are performed totally, and the rubbing times are compared.
| Test method | Manual testing | Automatic testing |
| Number of times of rubbing | 4 | 0 |
| Number of successes | 6 | 10 |
Table 2: comparison of minimum safety distance between 5-meter vehicle and 5.6-meter parking space in 10-time vehicle driving-out process
Example 2
Referring to fig. 3, which is a schematic view illustrating a control system for automatically driving out of a parking space according to the present embodiment, the control method can be implemented by depending on the present system, and specifically, the system includes a decision module 100, a control module 200, and a distance sensing module 300.
The distance sensing module 300 acquires distance information of obstacles around the vehicle by installing distance sensors arranged around the vehicle; the control module 200 is used for controlling adjustment of a steering wheel angle of the vehicle, a speed of the vehicle and a gear of the vehicle; the decision module 100 is configured to decide a next action instruction of the vehicle according to the sensed distance information of the surrounding obstacles, and send the next action instruction to the control module 200 for execution.
It should be further noted that another upstream module of the decision planning control system is a route routing module, which functions in a simple sense to be understood as navigation inside the unmanned vehicle software system, that is, to guide the control planning module of the unmanned vehicle software system to travel on what kind of road on a macro level so as to achieve the purpose of moving from the starting point to the destination point. It is noted that the routing path finding here is similar to the conventional navigation in some degree, but the details thereof are closely dependent on a high-precision map drawn specifically for unmanned vehicle navigation, and thus is substantially different from the conventional navigation.
Generally, routing is implemented as a separate module, and the traffic prediction part can be implemented as a service extension of the sensing module or as a peripheral module of the decision planning control module.
The task of the decision planning control system is to make the most reasonable decision and control on the vehicle by combining the routing intention and the current position of the unmanned vehicle on the basis of the perceived predicted track of the peripheral object.
The whole decision planning control software system can be divided into three modules of behavior decision, action planning and feedback control from top to bottom according to different layers of problem solving.
Wherein, the behavior Decision module (Decision) can be intuitively understood as the 'copilot' of the unmanned vehicle.
The behavior decision receives the result of routing and also receives perception prediction and map information.
By integrating the input information, the behavior decision module macroscopically decides how the unmanned vehicle runs.
The decision at the macro level includes normal car following on the road, waiting for avoidance when encountering traffic lights and pedestrians, and interactive passing between intersections and other vehicles.
For example, when routing requires that an unmanned vehicle keeps driving in the current Lane (Lane), and senses that a vehicle which normally runs ahead is found, the decision of behavior decision is likely to be the following behavior.
And the action planning module solves the problem of planning the action (Motion) of the specific unmanned vehicle in the division of the upper drawing. The function of the method can be understood as that in a small time zone, the problem of how to drive the unmanned vehicle from the point A to the point B is solved. The problem solved here by the action planning module is a more specific step relative to the action decision. The action planning needs to make a plan of the intermediate path points from A to B in a short time t, and comprises selecting specific path points to be passed through, and the speed, the orientation, the acceleration and the like of the unmanned vehicle when reaching each path point. Moreover, action planning needs to guarantee two points: firstly, in the subsequent time, generating a spatio-temporal path from A to B and keeping certain consistency; secondly, these generated path points between a and B, including the velocity heading acceleration to each point, are within the actual operable physical range of the downstream feedback control.
The lowest module of the decision planning control system is a feedback control module. The module is directly butted with a CAN-BUS control interface of an unmanned vehicle bottom layer. The key task of the system is to digest output track points of an upper-layer action planning module, and convert the output track points into signals of an accelerator, a brake and a steering wheel controlled By a vehicle Drive-By-Wire through a series of dynamic calculations combined with vehicle body attributes and external physical factors, so that the vehicle is controlled to actually execute the track points as much as possible.
The feedback control module is primarily concerned with the control of the vehicle itself, as well as the modeling of the interaction with the external physical environment.
The division method of the modules effectively divides the unmanned vehicle decision control planning into a plurality of complex problems from abstraction to concrete according to the calculation logic. By the division, each module can be dedicated to solve the problem of the level, so that the development efficiency of the whole complex software system is improved.
Wherein a series of control input increments in the control time domain are obtained during each control cycle:
ΔUt *＝[Δut *，Δut+1 *，…，Δut+Nc-1 *]T
in the formula: delta Ut *Control increment for time t;
according to the basic principle of model predictive control, the first element in the control sequence is used as the actual control input increment to act on the system, namely:
u(t)＝u(t-l)+Δut *
in the formula: u (t) is the actual control quantity of the system;
the system executes the control quantity until the next moment, at the new moment, the output of the time domain of the next stage is predicted again according to the state information, and a new control increment sequence is obtained through the optimization process;
and the steps are repeated in a circulating way until the control process is finished.
The control system of the present embodiment is implemented by one or more controllers communicatively connected to various sensors throughout the vehicle and other controllers that command and actuate various movements and actions in the vehicle. For example, first comprising instructing the driver to release the steering wheel, once a signal indicating that the steering wheel is released has been received, limiting the maximum allowable speed of the vehicle based on the distance between the vehicle and the external object, comprising automatically steering and automatically accelerating the steering wheel away from the parking space, the method comprising gradually increasing the maximum allowable speed based on said distance increase as the vehicle accelerates away from the parking space.
The system includes a plurality of object detection sensors configured to detect an external object, configured to limit an actual speed of the vehicle based on a distance between the vehicle and the external object in response to an operator activating an operating mode configured to automatically assist the vehicle in exiting a parallel parking space. One controller according to the present disclosure is further configured to limit speed at a linear rate based on the distance.
The vehicle in this embodiment further includes an accelerator pedal that is an amount of acceleration indicative of a demand when the accelerator pedal is depressed, and the controller is further configured to limit an actual acceleration of the vehicle to an amount less than the demanded acceleration based on a distance between the vehicle and the external object.
The vehicle in this embodiment includes a steering wheel sensor connected to the at least one controller and configured to detect a force applied to the steering wheel by an operator, wherein the limit on the actual speed of the vehicle is removed based on the force applied to the steering wheel.
It will be appreciated that in the present embodiment, the control scheme for controlling the vehicle during an auto-park event, which may include entering (entering) or exiting (leaving) a parking space. As will be explained in further detail, the operator of the vehicle can select the operating mode such that the vehicle can automatically park itself and, if already parked, can automatically leave the parking space and enter the driving lane.
The sensor has a sensor footprint with full forward-looking and side-looking functionality. Preferably, the sensor beam coverage area should be at least 180 degrees from the starting point or preferably 270 degrees at some location. By locating the sensors at multiple locations on the vehicle, a full coverage area may be provided in all directions so that the vehicle may detect objects in any area around the vehicle. Once an object is detected within range of the sensor, the information may be relayed to a processor so that the processor can calculate the distance between the sensor and the external object.
The algorithm used by the processor 12, for example, receives at the processor a request to initiate a drive-out parking space assistance (POA) session by an operator of a vehicle that automatically assists the driver in driving out of a parking space, may be implemented as an electronic control unit of the vehicle, also known as an on-board computer.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
1. A control method for automatically driving away from a parking space is characterized in that: comprises the following steps of (a) carrying out,
a decision module (100) issues an instruction for a vehicle to leave a parking space;
the control module (200) receives the instruction and controls the vehicle to drive away from the parking space;
the distance sensing module (300) collects and measures distance information of obstacle objects around the vehicle periodically;
the decision module (100) makes a corresponding control strategy according to the input distance information and sends a control strategy signal to the control module (200);
the control module (200) controls vehicle operation based on the received control strategy signal.
2. The control method of automatically driving out of a parking space according to claim 1, characterized in that: the control strategy sent by the decision module (100) comprises that if the measured distance in front of the vehicle reaches an early warning value, control instructions that the steering wheel is turned right and the gear is turned backwards to be R gear are correspondingly sent out; and if the measured distance behind the vehicle reaches an early warning value, correspondingly sending out a control instruction that the steering wheel is opened to the left and the gear is opened forwards in a D gear mode.
3. The control method of automatically driving out of a parking space according to claim 1 or 2, characterized in that: the control strategy comprises that if the distance sensing module (300) in front cannot detect a target when the vehicle is driven forwards, the decision module (100) sends a command of increasing the speed of the vehicle and accelerating the driving forwards.
4. The method of controlling automatic leaving of a parking space according to claim 3, characterized in that: the decision module (100) further comprises a behavioral decision (101) and trajectory planning module (102);
the behavior decision (101) receives the result of routing and routing, simultaneously receives perception prediction and map information, synthesizes input information, generates and inputs the information into the trajectory planning module (102) for trajectory planning.
5. The method of controlling automatic leaving of a parking space according to claim 4, characterized in that: the behavior decision (101) comprises outputting a current vehicle behavior, a vehicle motion target point and a target vehicle speed, and outputting a planned track of the vehicle motion target point and the target vehicle speed after the behavior decision (101) is input;
the environmental state of the sensing module (100) comprises environmental information collected by a laser radar, a millimeter wave radar, an ultrasonic radar and a vision sensor.
6. The method of controlling automatic leaving of a parking space according to claim 4 or 5, characterized in that: the state information of the vehicle comprises information collected by a positioning/inertial navigation sensor and a wheel speed sensor.
7. The method of controlling automatic leaving of a parking space according to claim 6, characterized in that: the control module (200) includes a path tracking system, gear control, pedal control, steering angle control, and accessory control;
and the trajectory planning module (102) outputs a vehicle motion target point and a planned trajectory of a target vehicle speed to the path tracking system and outputs signals of an accelerator/brake, a pedal opening and a steering wheel angle to the pedal control and the steering wheel angle control to carry out vehicle driving control.
8. The method of controlling automatic leaving of a parking space according to claim 7, characterized in that: the decision module (100) further comprises the steps of,
acquiring azimuth information of a current vehicle by using the distance sensing module (300);
determining the final target azimuth information of the vehicle;
and judging whether the direction can reach the target direction.
9. The method of controlling automatic leaving of a parking space according to claim 8, characterized in that: the method comprises the steps that the decision-making module (100) judges that the azimuth information enables the vehicle to reach a target azimuth, and the control module (200) controls the vehicle to directly run;
when the decision module (100) judges that the direction information can not enable the vehicle to reach the target direction, the distance sensing module (300) continues to acquire the direction in real time, the control module (200) controls the vehicle to adjust the direction until the direction meets the specified vehicle posture, and if not, the last cycle is executed.
10. A control system for automatically driving away from a parking space, characterized in that: comprises a decision module (100), a control module (200) and a distance perception module (300);
the distance sensing module (300) acquires distance information of obstacles around the vehicle by installing distance sensors arranged around the vehicle;
the control module (200) is used for controlling adjustment of a steering wheel angle of the vehicle, a speed of the vehicle and a gear of the vehicle;
the decision-making module (100) is used for deciding the next action instruction of the vehicle according to the sensed distance information of the surrounding obstacles, and sending the action instruction to the control module (200) for execution.
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