CN111071218A

CN111071218A - Automatic lateral parking method for automobile

Info

Publication number: CN111071218A
Application number: CN202010053390.4A
Authority: CN
Inventors: 陈婉珍
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-01-17
Filing date: 2020-01-17
Publication date: 2020-04-28

Abstract

The invention discloses a lateral automatic parking method for an automobile, which comprises a left side bracket, a right side bracket and a cross beam, wherein the left side bracket and the right side bracket are fixed on two sides of the bottom of the automobile and are L-shaped, the cross beam is horizontally arranged in a sliding manner relative to the left side bracket and the right side bracket, the left side bracket and the right side bracket are respectively provided with a through hole, two ends of the cross beam respectively pass through the through holes, the bottom of the cross beam is rotatably provided with a rotating frame, a servo motor for driving the cross beam to rotate is arranged below the rotating frame, the bottom of the rotating frame is provided with a supporting plate in a sliding manner along the plumb direction, the rotating frame is provided with at least four groups of cylinders for driving the supporting plate, the front end and the rear end of the left side bracket and the right side bracket are respectively provided with an, not only simple structure, control is convenient, and it can use on the car of different grade type moreover.

Description

Automatic lateral parking method for automobile

Technical Field

The invention relates to automatic parking, in particular to an automatic lateral parking method for an automobile.

Background

An automatic parking system is a system that enables an inexperienced driver to conveniently park his/her vehicle. In the automatic parking system, when parking a vehicle, a driver determines the position of an obstacle by using a camera or an ultrasonic sensor attached to the rear of the vehicle and selects a side parking or a garage parking, and then the automatic parking system performs a predetermined operation.

In particular, in the case of an automatic parking system using a camera, once a driver selects a parking position and finally selects parking of a vehicle while checking a rear view through a monitor, the automatic parking system automatically controls a steering wheel of the vehicle using a sensor value, thereby safely parking the vehicle. Further, a parking area may be set in advance by a camera and a sensor, and the automatic parking system performs automatic parking through data obtained by the camera and the sensor.

As disclosed in application No. 201711274873.1, an automatic parking system includes: a sensor that detects a parking area according to a size of a target vehicle; and a controller controlling the target vehicle to be parked in an optimal parking area among the parking areas, wherein the sensor may detect the parking area in consideration of a length and a width of the target vehicle and detect a spaced distance from a surrounding vehicle located at one side of the target vehicle in the optimal parking area, and the controller may calculate a moving path between a current position of the target vehicle and the optimal parking area and compare a predetermined reference distance and the spaced distance to control the target vehicle. The present disclosure also provides an automatic parking method.

In the technical scheme, the automatic parking system can be only adopted on a specified vehicle type, namely a control system of the vehicle must be fused with the automatic parking system, so that the vehicle price of the vehicle type is high, and the automatic parking system is not only complicated in structure, but also cannot be used on other vehicle types.

Disclosure of Invention

The invention aims to overcome the defects of the technology and provide an automatic lateral parking method for an automobile.

The technical scheme adopted by the invention is as follows: an automatic lateral parking method for an automobile comprises the following steps:

s1: stopping the automobile to a position close to the curb, measuring the distance to the curb by two infrared distance measuring instruments close to the curb side, transmitting a detection signal to a controller, calculating the absolute value X of the difference between the two infrared distance measuring instruments by the controller, wherein the distance between the two infrared distance measuring instruments is Y, and calculating the angle a between the automobile body and the curb line by the controller, wherein a = arctan (X/Y);

s2: the controller controls the cylinder to drive the supporting plate to move downwards to be abutted against the ground so as to jack up the automobile body and separate the wheels from the ground;

s3: the controller controls the servo motor to drive the cross beam to rotate, and the rotation angle is a, so that the automobile body is parallel to the curb line;

s4: the controller controls the driving motor to start to drive the driving gear to rotate, the automobile body is enabled to integrally approach to the road tooth line under the coordination of the racks, and when the infrared distance meter detects that the distance from the automobile body to the road tooth line is smaller than a set value, the driving motor stops working;

s5: the controller controls the cylinder to pack up the supporting disc, so that wheels of the automobile are supported by the ground, the controller controls the driving motor to rotate reversely, and the cross beam is reset and contracted at the bottom of the automobile under the matching of the driving gear and the rack.

Further preferably: and in the step S4, when the infrared distance meter detects that the distance from the automobile body to the road tooth line is less than 10-15cm, the driving motor stops working.

By adopting the technical scheme, the invention has the beneficial effects that: this automatic parking device belongs to auxiliary assembly, and it can be installed on the vehicle of difference, need not rather than supporting control system to car self, and it is independent control system and uses, consequently has general popularization meaning, and is very simple to driver's operating requirement when parkking moreover, only need look for have sufficient parking space department and with the vehicle stop to this department can, all operations that get into the parking stall are accomplished by this automatic parking device.

Drawings

FIG. 1 is a top view of an automatic side parking apparatus for a vehicle;

fig. 2 is a side view of the automatic side parking apparatus for a vehicle.

Wherein: 1. a left side bracket; 2. a right side bracket; 3. a cross beam; 4. a rotating frame; 5. a servo motor; 6. a support disc; 7. a cylinder; 8. an infrared range finder; 9. a rack; 10. a drive motor; 11. a drive gear; 12. a transmission gear.

Detailed Description

The invention is further described below in conjunction with the appended drawings and the detailed description.

An automatic lateral parking method for an automobile comprises the following steps:

s1: stopping the automobile to a position close to the curb, measuring the distance to the curb by the two infrared distance measuring instruments 8 close to the curb side, transmitting a detection signal to the controller, calculating the absolute value X of the difference between the two infrared distance measuring instruments 8 by the controller, wherein the distance between the two infrared distance measuring instruments 8 is Y, and calculating the angle a between the automobile body and the curb line by the controller, wherein a = arctan (X/Y);

s2: the controller controls the cylinder 7 to drive the support plate 6 to move downwards to be abutted against the ground so as to jack up the automobile body and separate the wheels from the ground;

s3: the controller controls the servo motor 5 to drive the cross beam 3 to rotate, and the rotation angle is a, so that the automobile body is parallel to the curb line;

s4: the controller controls the driving motor 10 to start to drive the driving gear 11 to rotate, the whole automobile body is enabled to approach to the road tooth line under the coordination of the rack 9, and when the infrared distance meter 8 detects that the distance from the automobile body to the road tooth line is smaller than a set value, the driving motor 10 stops working;

s5: the controller controls the cylinder 7 to pack up the supporting disc 6, so that wheels of the automobile are supported by the ground, the controller controls the driving motor 10 to rotate reversely, and the cross beam 3 is reset and contracted at the bottom of the automobile under the matching of the driving gear 11 and the rack 9.

In the preferred embodiment of the present invention, in step S4, when the infrared distance meter 8 detects that the distance from the vehicle body to the road tooth line is less than 10-15cm, the driving motor 10 stops operating.

As shown in fig. 1 and 2, the automatic parking device comprises a left side bracket 1 and a right side bracket 2 which are used for being fixed on two sides of the bottom of an automobile and are in an L shape, and a cross beam 3 which is horizontally arranged in a sliding manner relative to the left side bracket 1 and the right side bracket 2, wherein the left side bracket 1 and the right side bracket 2 are respectively provided with a through hole, two ends of the cross beam 3 respectively penetrate through the through holes, the bottom of the cross beam 3 is rotatably provided with a rotating frame 4, a servo motor 5 for driving the cross beam 3 to rotate is arranged below the rotating frame 4, the bottom of the rotating frame 4 is provided with a supporting plate 6 in a sliding manner along the plumb direction, the rotating frame 4 is provided with at least four groups of cylinders 7 for driving the supporting plate 6, the front end and the rear end of the left side bracket 1 and the right side bracket 2 are respectively provided with an infrared distance meter, and a driving mechanism for driving the cross beam 3 to slide relative to the left side bracket 1 and the right side bracket 2 is arranged between the cross beam 3 and the left side bracket 1.

In the preferred embodiment, the driving mechanism includes a rack 9 disposed on one side of the cross beam 3, and a driving gear 11 rotatably disposed on the left side bracket 1 and the right side bracket 2 and respectively engaged with the rack 9, and the left side bracket 1 and the right side bracket 2 are respectively provided with a driving motor 10 for driving the driving gear 11 to rotate, which is based on the principle that the driving gear 11 is driven by the driving motor 10 to rotate, and since the driving gear 11 is engaged with the rack 9, the driving gear 11 can drive the left side bracket 1 and the right side bracket 2 to horizontally move along the cross beam 3 while rotating, so as to move the whole vehicle body, there are various moving driving mechanisms in the prior art, such as providing an i-shaped guide rail on the cross beam 3, and rotatably providing an i-shaped roller engaged with the left side bracket 1 and the right side bracket 2, the I-shaped roller is driven by the motor to move along the I-shaped guide rail, but two defects exist in the scheme compared with the embodiment of the application, firstly, the automobile body is heavy, so that the load of the motor for driving the I-shaped roller is necessarily large, otherwise, the left side bracket 1 and the right side bracket 2 cannot move under the gravity of the automobile body, and in addition, if the structure is adopted, the self-locking function cannot be realized, namely, the automobile can be displaced between the cross beam 3 and the left side bracket 1 and the right side bracket 2 in the normal running process to influence the normal running of the automobile, and the self-locking function is realized by utilizing the matching of the gear and the rack 9.

In order to enable the driving motor 10 to have a sufficient installation space, the left side support 1 and the right side support 2 are respectively provided with a transmission gear 12 in a rotating manner, the transmission gear 12 is meshed with the driving gear 11, a motor shaft of the driving motor 10 is connected with a gear shaft of the transmission gear 12 through a coupler, the left side support 1 and the right side support 2 are respectively provided with a motor fixing frame in a fixed manner, and the driving motor 10 is fixedly arranged on the motor fixing frame.

In order to ensure that the supporting disc 6 has good stability when the whole vehicle body is jacked up on the ground, the supporting disc 6 is concave, so that the adsorption area with the ground is increased, and certain negative pressure is formed after the supporting disc 6 is abutted against the ground.

The specific operation process of the driver in the application is as follows: firstly before stopping, need the driver to look for the curb department that has enough parking space, and stop the car to the parking department side, then flame out, get off the bus, start the automatic parking equipment, the automatic parking equipment parks according to self parking step is automatic, after the parking is accomplished, the automatic parking equipment is automatic to be contracted in the bottom of car, this application is preferred to be installed on the higher motorcycle type of vehicle chassis, such as SUV etc. in addition, the car of installing this automatic parking equipment is gone on flat highway section as far as possible, because the automatic parking equipment can occupy the partial space of vehicle bottom, therefore it is very easily scratched by the road surface to bump its components and parts in the highway section.

While there have been shown and described what are at present considered to be the fundamental principles of the invention and its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are included to illustrate the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims

1. The automatic side parking method for the automobile is characterized by comprising the following steps: the method comprises the following steps:

2. The method for automatically parking at the side of an automobile according to claim 1, wherein: and in the step S4, when the infrared distance meter detects that the distance from the automobile body to the road tooth line is less than 10-15cm, the driving motor stops working.