CN111152782A - Automatic parking control system and control method - Google Patents
Automatic parking control system and control method Download PDFInfo
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- CN111152782A CN111152782A CN201811316968.XA CN201811316968A CN111152782A CN 111152782 A CN111152782 A CN 111152782A CN 201811316968 A CN201811316968 A CN 201811316968A CN 111152782 A CN111152782 A CN 111152782A
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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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Abstract
The invention relates to an automatic parking control system and a control method. The system comprises a remote control system, a vehicle positioning system and a whole vehicle control system, wherein the remote control system comprises a vehicle-mounted terminal T-Box and is used for acquiring parking task information and position information of a target parking space; the vehicle positioning system is used for acquiring the position information of the vehicle; the whole vehicle control system comprises an automatic driving controller and a whole vehicle controller, wherein the automatic driving controller is respectively connected with a vehicle-mounted terminal T-Box, a vehicle positioning system and the whole vehicle controller, calculates state parameters and parking tracks of a vehicle to be operated according to the acquired vehicle information and the information of a target parking space, and transmits the calculation result information to the whole vehicle controller; and the vehicle control unit transmits the execution information to an execution mechanism of the vehicle so as to control the vehicle to run to a target parking space. The invention enables the vehicle to automatically park according to the acquired target parking space information and the vehicle position information, thereby realizing high automation.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an automatic parking control system and a control method.
Background
The mining vehicle is a main vehicle type operating in a mining area and is mainly used for loading, unloading and transporting earthwork, gravel and bulk materials. In recent years, mine operation environments are severe, labor intensity is high, living conditions are poor, and great inconvenience is brought to mine car drivers. There is also an increasing demand for unmanned mining vehicles in the market. The unmanned mining vehicle can reduce the technical threshold of labor, even completely solve the problem of difficult labor in the prior art, facilitate the operation management of mining vehicles, and improve the operation efficiency and operation safety of mining. How to accurately complete backing into a position in an actual mining area environment so as to carry out charging operation is a technical difficulty of unmanned mining vehicles.
Therefore, there is a need for a new automatic parking control technology, which enables automatic parking operation of vehicles, especially vehicles in the mining field, to be achieved, improves work efficiency and work safety, and facilitates vehicle operation management.
Disclosure of Invention
The invention aims to provide an automatic parking control system and a control method, so as to realize automatic parking of vehicles and improve automatic operation management.
The automatic parking control system comprises a remote control system, a vehicle positioning system and a whole vehicle control system, wherein the remote control system comprises a vehicle-mounted terminal T-Box which is used for acquiring parking task information and position information of a target parking space; the vehicle positioning system is used for acquiring the position information of a vehicle; the vehicle control system comprises an automatic driving controller and a vehicle controller, wherein the automatic driving controller is provided with an automatic driving algorithm program, is respectively connected with the vehicle-mounted terminal T-Box, the vehicle positioning system and the vehicle controller, and is used for calculating a state parameter and a parking track of a vehicle to be operated according to the acquired vehicle information and the information of a target parking space and transmitting the calculation result information to the vehicle controller; the vehicle control unit is used for receiving the information of the automatic driving controller and transmitting the execution information to an execution mechanism of the vehicle so as to control the vehicle to run to a target parking space.
In the system, the remote control system further comprises a vehicle scheduling platform, which is used for sending parking task information and position information of a target parking space to the vehicle-mounted terminal T-Box and monitoring the vehicle; the actuating mechanism comprises a steering actuating mechanism, a driving actuating mechanism, a brake actuating mechanism and a gear actuating mechanism.
In the system, the vehicle positioning system is a differential GPS positioning system, and is disposed on the top of the vehicle cab; the position information is longitude and latitude information; the vehicle dispatching platform is wirelessly connected with the vehicle-mounted terminal T-Box.
The system further comprises an environment sensing system, wherein the environment sensing system comprises a radar detection system and an image acquisition system and is used for sensing the environment around the vehicle and acquiring the road information, the vehicle position and the obstacle information of the vehicle, and the environment sensing system is connected with the automatic driving controller.
In the system, the radar detection system comprises a laser radar detector, a millimeter wave radar detector and an ultrasonic radar detector, wherein the laser radar detector and the millimeter wave radar detector are arranged at the front part of a cab of the vehicle and are used for detecting a long-distance object in the front direction of the vehicle; the ultrasonic radar detector is arranged around the vehicle body of the vehicle and used for detecting objects in a short distance.
In the system, the image acquisition system is arranged at the lower end of the windshield of the cab of the vehicle and is used for detecting objects in the forward direction of the vehicle and identifying lane lines.
In the system, the automatic driving controller is respectively connected with the vehicle-mounted terminal T-Box, the environment sensing system, the vehicle positioning system and the vehicle control unit through the CAN bus.
The invention also provides a control method for automatic parking by using the system, which comprises the following steps:
the vehicle-mounted terminal T-Box transmits the position information of the target parking space to a whole vehicle control system;
the vehicle positioning system sends the vehicle position information to a whole vehicle control system;
the whole vehicle control system calculates the parking track and the running state parameters of the vehicle to run through an automatic parking algorithm program, and respectively sends the calculated information to the execution mechanism of the vehicle through the whole vehicle controller so as to control the motion of the vehicle and realize parking.
The method described above, wherein the operating state parameters include steering wheel angle, driving force, braking force and gear information of the vehicle; and the whole vehicle control system also receives vehicle environment perception information transmitted by the environment perception system.
The method comprises the following steps of when the vehicle is calculated and controlled to move:
A. expressing the position of the vehicle by using the middle point of a rear axle, and converting the longitude and latitude of the current position of the vehicle and the longitude and latitude of four vertexes of a parking space into a local coordinate system; the parking trajectory line is a curve connecting the current position of the vehicle and the parking target point;
B. if the tangential angle of the vehicle and the curve is the same as the yaw angle of the vehicle under the local coordinate system, backing the vehicle by using a fixed steering wheel corner can drive to a parking target point; after the vehicle runs to a parking target point, the whole vehicle control system controls the steering wheel to return to the right and back to the parking position;
C. if the tangential angle of the vehicle and the curve is not the same as the yaw angle of the vehicle under the local coordinate system, the vehicle is advanced or retreated by the maximum rotation angle of the steering wheel until the tangential angle of the vehicle and the parking track line curve is the same as the yaw angle of the vehicle under the local coordinate system, and then the step B is repeated.
The automatic parking control system and the control method can plan the backing-in route by utilizing the position information of the vehicle and the position information of the parking space, calculate the reasonable steering wheel corner and accurately finish the backing-in. The invention solves the technical difficulty in automatic operation of the unmanned vehicle, in particular to a mining vehicle.
Drawings
FIG. 1 is a block diagram schematic of the system architecture of an unmanned vehicle in accordance with an embodiment of the present invention;
FIG. 2 is a functional block diagram of the parking of an unmanned vehicle in accordance with an embodiment of the present invention;
fig. 3 is a logic block diagram of an automated parking algorithm for an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
To facilitate understanding and implementing the invention by those of ordinary skill in the art, embodiments of the invention are now described with reference to the drawings.
The invention provides an automatic parking control system and a control method, which mainly automatically calculate the parking track and the state parameters to be operated of a vehicle by detecting the self position of the vehicle and other information of the vehicle according to a parking task instruction issued remotely and the position information of a target parking space, and control the motion of a vehicle execution mechanism to enable the vehicle to realize automatic parking operation.
The automatic parking control system mainly comprises a remote control system, a vehicle positioning system and a whole vehicle control system.
The remote control system comprises a vehicle-mounted terminal T-Box (human-vehicle interaction intelligent information terminal), and the module can be arranged on a vehicle and is used for acquiring parking task information and position information of a target parking space. The vehicle positioning system is used for acquiring real-time position information of the vehicle so as to master the current position of the vehicle. The vehicle control system comprises an automatic driving controller and a vehicle controller, wherein the automatic driving controller is provided with an automatic driving algorithm program, and the automatic driving controller is respectively connected with the vehicle-mounted terminal T-Box, the vehicle positioning system and the vehicle controller and is used for calculating a state parameter and a parking track of a vehicle to be operated according to the acquired real-time information of the vehicle and the information of a target parking space and transmitting the calculation result information to the vehicle controller so as to further execute control on the vehicle. The vehicle control unit is used for receiving the information of the automatic driving controller and transmitting the execution information to an execution mechanism of the vehicle so as to control the vehicle to run to a target parking space and realize automatic parking.
When a parking task and a target parking space are assigned, the remote control system can further comprise a vehicle dispatching platform which is used for sending parking task information and position information of the target parking space to the vehicle-mounted terminal T-Box and monitoring the vehicle. The vehicle dispatching platform and the vehicle-mounted terminal T-Box can be in wireless connection. Therefore, the remote parking operation on the vehicle can be realized, the field operation is not needed, and particularly for the field of mining vehicles, the problems of difficult field operation, difficult operation and unsafety are solved.
When the vehicle control unit controls the actuating mechanism, the actuating mechanism comprises a steering actuating mechanism, a driving actuating mechanism, a braking actuating mechanism and a gear actuating mechanism of the vehicle. Therefore, the vehicle can freely run, and accurate parking is realized.
In particular, the vehicle positioning system may be a differential GPS positioning system. Differential GPS (differential GPS-DGPS, DGPS) first uses a differential GPS reference station with known accurate three-dimensional coordinates to obtain a pseudo-range correction amount or a position correction amount, and then sends the correction amount to a user (GPS navigator) in real time or afterwards to correct the measurement data of the user, so as to improve the positioning accuracy of the GPS. Therefore, the parking accuracy can be improved by adopting the positioning system. For accuracy of reception, a differential GPS positioning system may be provided on the outside top of the vehicle cab.
Further, in the position information of the target parking space and the real-time position information of the vehicle, the position information is longitude and latitude information of the vehicle.
To accommodate the complexity of the environment, the automatic parking system of the present invention may also include an environmental awareness system. The environment sensing system comprises a radar detection system and an image acquisition system and is used for sensing the environment around the vehicle and acquiring the road information, the vehicle position and the obstacle information of the vehicle. The environment sensing system is connected with the automatic driving controller and used for transmitting the acquired information to the automatic driving controller so that the automatic driving controller comprehensively determines the parking track and the motion parameters of the vehicle according to various information.
In particular, the radar detection system may include a laser radar detector, a millimeter wave radar detector, and an ultrasonic radar detector. The laser radar detector and the millimeter wave radar detector can be arranged at the front part of a cab of the vehicle and used for detecting a long-distance object in the front direction of the vehicle. The ultrasonic radar detector can be arranged around the vehicle body of the vehicle and used for detecting objects in a short distance.
The image acquisition system can be arranged at the lower end of a windshield of a cab of the vehicle and is used for object detection and lane line identification in the forward direction of the vehicle.
In the system, the automatic driving controller CAN be respectively connected with the vehicle-mounted terminal T-Box, the environment sensing system, the vehicle positioning system and the vehicle control unit through the CAN bus or the Ethernet.
The invention also provides a control method for automatic parking by using the system, which mainly comprises the following steps:
the position information of the target parking space is transmitted to a whole vehicle control system by using a vehicle-mounted terminal T-Box;
the vehicle positioning system sends the vehicle position information to a whole vehicle control system;
the whole vehicle control system calculates the parking track and the running state parameters of the vehicle to run through an automatic parking algorithm program, and respectively sends the calculated information to the execution mechanism of the vehicle through the whole vehicle controller so as to control the motion of the vehicle and realize parking.
In the above method, the vehicle operating state parameters may include a steering wheel angle, a driving force, a braking force, and gear information of the vehicle.
Further, in order to comprehensively consider the influence factors of the environment, the vehicle control system also receives the vehicle environment perception information transmitted by the environment perception system. Under the condition that the whole vehicle control system considers road condition information, the vehicle parking track and the vehicle motion parameters are comprehensively calculated according to the acquired vehicle position information and parking space information so as to control the actuating mechanism to move for parking.
Specifically, the control method for calculating and controlling the motion of the vehicle mainly comprises the following steps:
A. expressing the position of the vehicle by using the middle point of a rear axle, and converting the longitude and latitude of the current position of the vehicle and the longitude and latitude of four vertexes of a parking space into a local coordinate system; the parking trajectory line is a curve connecting the current position of the vehicle and the parking target point;
B. if the tangential angle of the vehicle and the curve is the same as the yaw angle of the vehicle under the local coordinate system, backing the vehicle by using a fixed steering wheel corner can drive to a parking target point; after the vehicle runs to a parking target point, the whole vehicle control system controls the steering wheel to return to the right and back to the parking position;
C. if the tangential angle of the vehicle and the curve is not the same as the yaw angle of the vehicle under the local coordinate system, the vehicle is advanced or retreated by the maximum rotation angle of the steering wheel until the tangential angle of the vehicle and the parking track line curve is the same as the yaw angle of the vehicle under the local coordinate system, and then the step B is repeated.
In the above method, the parking trajectory line may be an arc connecting the current position of the vehicle and the parking target point, and the radius of the arc and the steering wheel angle are determined according to the following formulas. Wherein x and y represent the coordinates of the vehicle in the local coordinate system.
R＝|(x2+y2)/(2×x)|
θ＝-sin-1(-y/R)+π/2
The automatic parking control system and the control method can plan the backing-in route by utilizing the position information of the vehicle, the position information of the parking space and the surrounding environment information, calculate reasonable parameters such as steering wheel corners and the like, and accurately finish the backing-in. The invention solves the technical difficulty in automatic operation of the unmanned vehicle, particularly the mining vehicle, can realize remote vehicle operation management and improve the automation level of engineering operation.
Examples
As shown in fig. 1, the general structure of the unmanned mining vehicle according to the embodiment of the present invention includes a remote control system, an environment sensing system, a vehicle positioning system, and a vehicle control system.
The remote control system comprises a vehicle dispatching platform and a vehicle-mounted terminal T-Box. The vehicle dispatching platform is installed in a dispatching room and used for issuing task information and longitude and latitude information of parking spaces to the unmanned mining vehicles and monitoring the running state of each vehicle. The vehicle-mounted terminal T-Box (human-vehicle interaction intelligent information terminal) is arranged in a cab and used for receiving vehicle scheduling information and longitude and latitude information of a parking space, wherein the vehicle scheduling information and the longitude and latitude information of the parking space are issued by a vehicle scheduling platform. The vehicle dispatching platform is wirelessly connected with the vehicle-mounted terminal T-Box.
The environment sensing system comprises a laser radar, a millimeter wave radar, an ultrasonic radar and a camera and is used for sensing the environment around the vehicle to obtain road information, vehicle positions and obstacle information. The laser radar and the millimeter wave radar are arranged at the front part of the cab and used for detecting long-distance objects in the forward direction of the vehicle. The ultrasonic radar is arranged around the vehicle body and used for detecting objects in a close range. The camera is used as an image acquisition system and is arranged at the lower end of a windshield of the cab and used for object detection in the forward direction of the vehicle and identification of lane lines. The environment sensing system is connected with an automatic driving controller of the whole vehicle control system through a CAN bus.
The vehicle positioning system is arranged at the top of the cab and used for receiving longitude and latitude information of the vehicle in real time. The differential GPS positioning system is connected with an automatic driving controller of the whole vehicle control system through a CAN bus.
The whole vehicle control system comprises an automatic driving controller and a whole vehicle controller. An automatic driving algorithm program code is embedded in the automatic driving controller, and the automatic driving controller is connected with a vehicle-mounted terminal T-Box, an environment sensing system, a vehicle positioning system and a vehicle control unit through a CAN bus. The vehicle control unit is connected with a gear actuating mechanism, a lifting actuating mechanism, a steering actuating mechanism, a driving actuating mechanism, a braking actuating mechanism and an emergency stop mechanism. The automatic driving controller processes the information of the vehicles, pedestrians and roads identified by the environment sensing system through an automatic driving algorithm program, and calculates the size of the corner, the size of the driving force, the size of the braking force and the gear information of the vehicles under various working conditions such as following, obstacle avoidance and automatic parking by combining the vehicle scheduling information and the longitude and latitude information of the parking space sent by the vehicle-mounted terminal T-Box and the vehicle positioning information sent by the vehicle positioning system.
As shown in fig. 2, the automatic parking basic principle of the unmanned mining vehicle according to the embodiment of the present invention is: the unmanned mining vehicle runs to the position near a charging point and enters an automatic parking mode, and the vehicle dispatching platform issues longitude and latitude information of four vertexes of a parking space to a vehicle control system through a vehicle-mounted terminal T-Box. And the vehicle positioning system sends the longitude and latitude of the position of the vehicle to the whole vehicle control system. The whole vehicle control system calculates the steering wheel angle, the driving force, the braking force and the gear information through an automatic parking algorithm program, and respectively sends the signals to a steering actuating mechanism, a driving actuating mechanism, a braking actuating mechanism, a gear shifting actuating mechanism and the like through a whole vehicle controller to control the movement of the vehicle, so that the accurate backing-in position is realized.
As shown in fig. 3, the logic of the automatic parking algorithm according to the embodiment of the present invention is: (1) the position of the vehicle is assumed to be represented by the middle point of the rear axle, and the longitude and latitude of the current position of the vehicle and the longitude and latitude of four vertexes of the parking space are converted into a local coordinate system. (2) The parking curve is an arc connecting the current position of the vehicle and the parking target point. If the tangential angle of the vehicle and the arc is the same as the yaw angle of the vehicle in the local coordinate system, backing up the vehicle by using a fixed steering wheel corner can be carried out, and the vehicle can drive to a parking target point. After the vehicle runs to the parking target point, the steering wheel returns to the right and backs to the parking position. (3) If the tangential angle of the vehicle and the circular arc is not the same as the yaw angle of the vehicle in the local coordinate system, the vehicle is advanced or retreated by the maximum rotation angle of the steering wheel until the tangential angle of the vehicle and the parking circular arc is the same as the yaw angle of the vehicle in the local coordinate system, and then the step (2) is repeated.
Although the present invention has been described with reference to the embodiments, those skilled in the art will appreciate that many variations and modifications can be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An automatic parking control system is characterized by comprising a remote control system, a vehicle positioning system and a whole vehicle control system, wherein,
the remote control system comprises a vehicle-mounted terminal T-Box for acquiring parking task information and position information of a target parking space;
the vehicle positioning system is used for acquiring the position information of a vehicle;
the vehicle control system comprises an automatic driving controller and a vehicle controller,
the automatic driving controller is provided with an automatic driving algorithm program, is respectively connected with the vehicle-mounted terminal T-Box, the vehicle positioning system and the vehicle control unit, and is used for calculating state parameters and parking tracks of a vehicle to be operated according to the acquired vehicle information and the information of a target parking space and transmitting the calculation result information to the vehicle control unit;
the vehicle control unit is used for receiving the information of the automatic driving controller and transmitting the execution information to an execution mechanism of the vehicle so as to control the vehicle to run to a target parking space.
2. The system of claim 1, wherein the remote control system further comprises a vehicle scheduling platform, configured to send parking task information, position information of a target parking space, and monitor a vehicle to the vehicle-mounted terminal T-Box; the actuating mechanism comprises a steering actuating mechanism, a driving actuating mechanism, a brake actuating mechanism and a gear actuating mechanism.
3. The system of claim 2, wherein the vehicle positioning system is a differential GPS positioning system disposed on top of a vehicle cab; the position information is longitude and latitude information; the vehicle dispatching platform is wirelessly connected with the vehicle-mounted terminal T-Box.
4. The system of claim 1, 2 or 3, further comprising an environment sensing system, wherein the environment sensing system comprises a radar detection system and an image acquisition system, and is used for sensing the environment around the vehicle and acquiring the road information, the vehicle position and the obstacle information of the vehicle, and the environment sensing system is connected with the automatic driving controller.
5. The system of claim 4, wherein the radar detection system comprises a laser radar detector, a millimeter wave radar detector, and an ultrasonic radar detector, the laser radar detector and the millimeter wave radar detector being disposed at a front portion of a cab of the vehicle for detection of a distant object forward of the vehicle; the ultrasonic radar detector is arranged around the vehicle body of the vehicle and used for detecting objects in a short distance.
6. The system according to claim 4 or 5, wherein the image acquisition system is provided at the lower end of a windshield of a cab of the vehicle for object detection and lane line identification in the forward direction of the vehicle.
7. The system according to claim 4 or 5, wherein the automatic driving controller is respectively connected with the vehicle-mounted terminal T-Box, the environment sensing system, the vehicle positioning system and the vehicle control unit through CAN buses.
8. A method for controlling automatic parking using the system of any one of claims 1557, the method comprising:
the vehicle-mounted terminal T-Box transmits the position information of the target parking space to a whole vehicle control system;
the vehicle positioning system sends the vehicle position information to a whole vehicle control system;
the whole vehicle control system calculates the parking track and the running state parameters of the vehicle to run through an automatic parking algorithm program, and respectively sends the calculated information to the execution mechanism of the vehicle through the whole vehicle controller so as to control the motion of the vehicle and realize parking.
9. The method according to claim 8, wherein the running state parameters include a steering wheel angle magnitude, a driving force, a braking force magnitude, and gear information of the vehicle; and the whole vehicle control system also receives vehicle environment perception information transmitted by the environment perception system.
10. The method of claim 8, wherein calculating and controlling vehicle motion comprises:
A. expressing the position of the vehicle by using the middle point of a rear axle, and converting the longitude and latitude of the current position of the vehicle and the longitude and latitude of four vertexes of a parking space into a local coordinate system; the parking trajectory line is a curve connecting the current position of the vehicle and the parking target point;
B. if the tangential angle of the vehicle and the arc is the same as the yaw angle of the vehicle under the local coordinate system, backing the vehicle by using a fixed steering wheel corner can drive to a parking target point; after the vehicle runs to a parking target point, the whole vehicle control system controls the steering wheel to return to the right and back to the parking position;
C. if the tangential angle of the vehicle and the curve is not the same as the yaw angle of the vehicle under the local coordinate system, the vehicle is advanced or retreated by the maximum rotation angle of the steering wheel until the tangential angle of the vehicle and the parking track line curve is the same as the yaw angle of the vehicle under the local coordinate system, and then the step B is repeated.
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| CN112562389A (en) * | 2020-11-18 | 2021-03-26 | 联通智网科技有限公司 | Parking method and device based on remote control, computer equipment and storage medium |
| CN113581198A (en) * | 2021-06-24 | 2021-11-02 | 安徽海博智能科技有限责任公司 | Unmanned mine car parking control method based on parking control point |
| TWI747651B (en) * | 2020-12-08 | 2021-11-21 | 輝創電子股份有限公司 | Autonomous driving assistant system |
| CN114084124A (en) * | 2022-01-24 | 2022-02-25 | 上海伯镭智能科技有限公司 | Automatic parking method and device for unmanned mine car |
| CN114779257A (en) * | 2022-04-12 | 2022-07-22 | 中国第一汽车股份有限公司 | Parking space detection method and device, storage medium and vehicle |
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