CN111762153A - Automatic automobile parking method based on 5G communication mode - Google Patents

Automatic automobile parking method based on 5G communication mode Download PDF

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Publication number
CN111762153A
CN111762153A CN202010488761.1A CN202010488761A CN111762153A CN 111762153 A CN111762153 A CN 111762153A CN 202010488761 A CN202010488761 A CN 202010488761A CN 111762153 A CN111762153 A CN 111762153A
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automobile
parking
vehicle
center
wheel
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杨胜兵
徐舟
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses an automatic automobile parking method based on a 5G communication mode, wherein an automobile collects space information around the automobile body and posture information of the automobile through a sensor arranged on the automobile body; the information data are packaged and sent to a cloud server through a 5G communication technology; the cloud server firstly judges whether the obtained data meet the parking requirement or not, then judges whether the surrounding environment is dynamic or static, if the surrounding environment is static, the cloud server obtains an optimal parking path through the collected data, and then the cloud server sends an optimal parking path instruction and a parking instruction to the automobile through 5G communication, so that the automobile completes the automatic parking process. Based on a cloud 5G communication mode, the real-time performance of data transmission during communication can be guaranteed; and the cloud server collects a large amount of parking information, so that the parking algorithm can be optimized to obtain an optimal parking path, and the accuracy can be ensured.

Description

Automatic automobile parking method based on 5G communication mode
Technical Field
The invention relates to an automatic parking method of an automobile in a 5G communication mode, relates to the field of 5G communication and automatic driving of the automobile, and has a great auxiliary effect on freeing a driver from the problem of difficult parking.
Technical Field
The increase of the travel demand of residents and the expansion of the travel distance stimulate the increase of the use demand of the automobile by the public. The urban population has small multipurpose area, and the problem of difficult parking becomes a difficult problem which puzzles people to go out daily. Limited parking space, complex and varied parking environments, and driver-level variability, all of which contribute to the difficulty of manual parking. The development of artificial intelligence control technology and the large-area use of various high-precision sensors such as laser radar, GPS, inertial navigation, etc. have led to the emergence of various intelligent assisted driving systems (ADAS). And some automobile manufacturers have already produced in a quantitative manner, such as: adaptive cruise systems, active collision avoidance systems, automated parking systems, and the like. The investigation results of the automatic parking system, the emergency braking system and the traffic jam self-adaptive system show that the automatic parking system is one of the current people with higher demand call.
Currently, an automatic parking method applied in an industrialized manner is generally applied in an ADAS (advanced driver assistance system) of a vehicle, as shown in fig. 1, a related parking algorithm is integrated in a system of the vehicle, when parking is needed, information is acquired by using a vehicle body sensor, and a path is calculated and planned through a processing unit ECU (electronic control unit).
Disclosure of Invention
The invention aims to solve the technical problems and provides an automatic automobile parking method based on a 5G communication mode, wherein the real-time performance of data transmission during communication can be ensured based on a cloud 5G communication mode; and the cloud server collects a large amount of parking information, so that the parking algorithm can be optimized to obtain an optimal parking path, and the accuracy can be ensured.
In order to solve the technical problems, the invention adopts the following technical scheme:
an automatic automobile parking method based on a 5G communication mode is characterized by comprising the following steps:
s1: firstly, collecting space information around a vehicle body and attitude information of the vehicle by a vehicle through a sensor which is arranged on the vehicle body and comprises a radar, a camera, a GPS (global positioning system) and an inertial navigator;
s2: after the sensors on the automobile collect the sensor data, the automobile packs the information data and sends the information data to the cloud server through a 5G communication technology;
s3: the cloud server firstly judges whether the obtained data meets the parking requirement, and if the parking requirement cannot be finished due to considerable space and angle, the cloud server prompts a driver that the parking cannot be finished; then, judging whether the surrounding environment is dynamic or static, if so, planning an optimal parking path through the collected data by the cloud server, and then sending an optimal parking path instruction and a parking instruction to the automobile by the cloud server through 5G communication; if the parking environment is dynamic, continuing to acquire data until the parking environment is static, and then generating a parking path and a parking instruction and sending the parking path and the parking instruction to the automobile;
s4: the automobile executing mechanism operates the automobile through the received command, so that the automobile finishes the automatic parking process.
In the above technical solution, the information collected in step S1 includes radar ranging and binocular camera imaging information.
In the above technical solution, the fact that the surrounding environment is static in step S3 means that the surrounding environment is static and there is no other vehicle entering or exiting, and the fact that the surrounding environment may have another vehicle entering or passing through is referred to as a dynamic scene.
In the above technical solution, the parking path in step S3 is determined by the following equation:
Figure BDA0002520093850000031
Figure BDA0002520093850000032
radius R of vehicle turning and front axle center equivalent corner
Figure BDA0002520093850000033
And the wheel base l is related to:
Figure BDA0002520093850000034
wherein α is the front outer wheel corner of the automobile, β is the front inner wheel corner of the automobile,
Figure BDA0002520093850000035
The corner corresponding to the steering center at the center of the front wheel is the Ackerman corner or the steering angle of the center of the front wheel.
In the above technical solution, the automatic parking path planning in step S3 is completed in 4 stages:
firstly, after an automobile finds a proper parking space, the automobile is driven to a proper parking starting point from an outer side position parallel to a side line of the parking space, then the automobile starts to slam a steering wheel relative to one side of the parking space to keep the automobile driving backwards for a period of time, the automobile retreats to a certain position to enable the steering wheel to return to a positive position and keep for a period of time, finally the automobile drives the steering wheel to the maximum position in the opposite direction of the initial driving of the steering wheel to continue retreating to the parking space, and micro-automobile body posture adjustment is carried out in the parking space to enable an automobile body to be parallel to the side line of the parking space from the.
In the above technical solution, in step S3, the lateral force of the automobile is not considered in the automatic parking process of the automobile, and the path planning model based on the method is as follows:
let the length of the front axle of the automobile be LaAnd the coordinate of the center point of the front axle is (x)f，yf) The speed is v, the advancing direction is set to be a positive direction, and the vehicle is negative when the vehicle is reversed; the direction angle theta of the automobile body, the coordinates of the center point of the automobile are (x, y), and the steering angle of the center of the front wheel of the automobile is
Figure BDA0002520093850000048
When backing a car, the coordinate (x) of the centre point of the rear axle of the car is not taken into accountr，yr) The axial speed of the wheel is close to 0, the wheel base is l, and the wheel base of the rear axle isIs Lr(ii) a The following relationship is given:
Figure BDA0002520093850000041
from the geometrical relationship of the automobile, the coordinates at the center points of the front and rear axles of the automobile have the following relationship:
Figure BDA0002520093850000042
for longitudinal speed of vehicles
Figure BDA0002520093850000043
And representing that the coordinate at the central point of the automobile has the following relation:
Figure BDA0002520093850000044
front axle center point velocity v and front wheel center steering angle
Figure BDA0002520093850000045
And the amount of change in the center steering angle of the front wheel
Figure BDA0002520093850000046
The following relations exist:
Figure BDA0002520093850000047
let the left rear wheel coordinate of the car be (x)a，ya) The right rear wheel coordinate is (x)d，yd) The expression for the rear wheel is:
Figure BDA0002520093850000051
that is, the path track of the vehicle moving at low speed is independent of the vehicle speed and only dependent on the wheelbase, wheelbase and the steering angle of the front wheel center
Figure BDA0002520093850000052
It is related.
In the above technical solution, the path planning in step S3 adopts a fuzzy control algorithm; selecting the abscissa x of the point A at the left rear end of the automobileaAnd the ordinate y of the D point at the right rear end of the automobiledAnd the steering angle theta of the automobile body as the input of the controller, the amount of change of the steering angle of the center of the front wheel
Figure BDA0002520093850000053
Is an output; and making a fuzzy control rule for the three input quantities and the output quantity by using a fuzzy control algorithm so as to achieve the purpose of controlling the automobile to park in the parking space.
In the above technical solution, the fuzzy control rule in step S3 is as follows:
when theta is Z, Xa is S, and Yd is S, the direction angle or the front wheel center steering angle of the automobile body is zero, and the output is
Figure BDA0002520093850000054
Is zero: at the moment, the vehicle arrives at the parking space, the distance between the vehicle and the bottom and the side of the parking space is very close, the direction angle of the vehicle body is close to zero, and the vehicle needs to return to a positive steering wheel to adjust the vehicle posture; when Xa is VB and Yd is VB, the direction angle or the front wheel center steering angle of the automobile body is NB, and the automobile is in the parking waiting area, so that the driving needs to be carried out by increasing the direction angle or the front wheel center steering angle of the automobile body.
When the theta is P, the Xa is VB, and the Yd is VB, the direction angle of the automobile body or the center steering angle of the front wheel is NB, and the fact that the automobile enters a garage indicates that the turning driving angle needs to be increased; when Xa is B and Yd is B, the vehicle enters the garage and is in a reversing state, the reversing is continued with the direction angle of the vehicle body or the steering angle of the center of the front wheel unchanged, and the output is carried out
Figure BDA0002520093850000061
Is zero.
When theta is N, Xa is S, and Yd is S, this indicates that the automobile is close to the bottom and the side of the automobile, and the direction angle or the center of the front wheel of the automobile bodyThe steering angle is negative at this time, and the output
Figure BDA0002520093850000062
At this time, the vehicle body direction angle should be adjusted to be PB.
The sensors such as radar, a camera, an inertial navigator and a GPS used on the automobile are all automobile-level products, and can meet high accuracy and real-time performance. If the obtained data cannot meet the parking requirement after analysis, and if the parking cannot be finished in space and angle, the driver is prompted that the parking cannot be finished. The cloud server used in the method can enable an automobile manufacturer to build a self-built cloud platform and also can rent other large public cloud service platforms, and the cloud server should contain a parking corresponding algorithm, a parking library and a parking data big data system, so that the parking algorithm is continuously optimized on the basis of a large amount of parking data, and the automatic parking performance is improved.
Compared with the existing automatic parking method, the method mainly relates to data acquisition of the automobile, such as surrounding space information, position and body posture information of the automobile and the like, and the information is sent to the cloud server. The cloud server calculates parking space information by analyzing the data and applying a corresponding parking algorithm, and plans a reasonable parking driving path. After the parking driving path is calculated, the cloud server sends the calculation result to the running vehicle through the 5G network, and the automobile execution mechanism controls the automobile to finish the automatic parking process. Meanwhile, the invention also relates to 5G communication, and the real-time performance of data transmission during communication can be ensured due to the characteristic of high speed of 5G network communication. And the cloud server collects a large amount of parking information, so that the parking algorithm can be optimized to obtain an optimal parking path, and the accuracy can be ensured. And because the cloud server collects a large amount of parking information, the parking algorithm can be optimized, so that the vehicle can learn by itself, the parking path is continuously optimized in the later parking process, and a more appropriate path is planned.
Drawings
Fig. 1 is an architecture diagram of an automatic parking method of an automobile based on a conventional mode.
Fig. 2 is an architecture diagram of an automatic parking method for an automobile based on a 5G communication mode according to the present invention.
Fig. 3 is a flowchart of an automatic parking method of an automobile based on a 5G communication mode according to the present invention.
Fig. 4 is a model of a parked vehicle of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is described in further detail, and the following description specifically describes an automatic automobile parking method based on a 5G communication mode according to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 2 shows a schematic diagram of a system architecture based on the automatic parking method of an automobile in the 5G communication mode.
The method comprises the steps that firstly, an automobile collects data around the automobile body and data of the automobile through various sensors (radars, cameras, GPS and inertial navigator) arranged on the automobile body, and then the data are sent to a cloud server, wherein the cloud server comprises an automatic parking operation algorithm and various operation libraries related to automatic parking. The parking path information is obtained through calculation of the cloud server, then the parking path information is transmitted to the automobile through 5G communication by the cloud server, and the automobile is operated by the relevant executing mechanism to complete the automatic parking process.
The flow chart of the invention is shown in figure 3:
s1: firstly, a vehicle collects spatial information of information around the vehicle body and attitude information of the vehicle through sensors such as a radar, a camera, a GPS (global positioning system), an inertial navigator and the like which are arranged on the vehicle body, such as radar ranging, binocular camera imaging and the like;
s2: after the sensors arranged on the automobile collect the data, the automobile packs the automobile body information data through a 5G communication technology and sends the automobile body information data to a cloud server;
s3: after the automobile sends the data to the cloud server, the cloud server analyzes the data and judges whether the requirements for parking are met, if the requirements for parking cannot be finished due to considerable space and angle factors, a driver is prompted to stop parking; then judging whether the surrounding environment is dynamic or static, and if the surrounding environment is static, the cloud server analyzes the collected data through an algorithm to obtain an optimal parking path; the cloud server sends the optimal parking path instruction to the automobile through 5G communication; if the parking environment is dynamic, continuing to acquire data until the parking environment is static, and then generating a parking path to finish the parking process;
s4: and the automobile executing mechanism operates the automobile through the received optimal parking path instruction until the automobile completes the automatic parking process, and finally the parking process is finished.
The vehicle can be smoothly parked, and various performance parameters of the vehicle are not negligible while a system algorithm is reasonable. The algorithm can accurately calculate the size of the parking space and the relative positions of surrounding obstacles and the automobile, so that a reasonable parking path is planned. However, various performance parameters of the automobile determine the steering angle and the minimum turning radius of the automobile. According to the Ackerman steering principle, the vehicle is in a pure rolling state when running, and the phenomenon that the automobile tires slide on the ground does not exist. All wheels of the vehicle rotate around the instantaneous rotation center of the vehicle, and the instantaneous rotation center is positioned on the line of the rear axle.
The following relationship can be determined by ackermann's principle:
Figure BDA0002520093850000091
Figure BDA0002520093850000092
front wheel center steering angle
Figure BDA0002520093850000093
And the wheel base l is related to:
Figure BDA0002520093850000094
namely, the turning radius of the vehicle is:
Figure BDA0002520093850000095
wherein α is the front outer wheel corner of the automobile, β is the front inner wheel corner of the automobile,
Figure BDA0002520093850000096
The corner corresponding to the steering center at the center of the front wheel, namely the Ackerman corner, is a wheelbase, and R is a steering radius.
The path planning movement for automatic parking can be divided into 4 phases:
firstly, after an automobile finds a proper parking space, the automobile is driven to a proper parking starting point from a position where the side lines of the parking space are parallel, then the automobile starts to slam a steering wheel relative to one side of the parking space to keep the automobile driving backwards for a period of time, the automobile retreats to a certain position to enable the steering wheel to return to be positive and keep a period of time, finally the automobile drives the steering wheel to the maximum position in the opposite direction of the direction where the automobile is started to continue retreating to the parking space, and micro-automobile body posture adjustment is carried out in the parking space to enable an automobile body to be parallel to the side lines of the parking space.
The automobile is necessarily in a low-speed motion in the automatic parking process, and the lateral force of the automobile is not considered in the parking motion, as shown in fig. 4, the length of the front shaft of the automobile is set to be LaAnd the coordinate of the center point of the front axle is (x)f，yf) The speed of the center point of the front axle is v (assuming that the forward direction is positive and the reverse direction is negative), the direction angle of the automobile body (equivalently, the steering wheel angle) is theta, the coordinates of the center point of the automobile are (x, y), and the center steering angle of the front wheels of the automobile is theta
Figure BDA0002520093850000101
When backing a car, the coordinate (x) of the centre point of the rear axle of the car is not taken into accountr，yr) The axial speed of the rear axle is close to 0, the wheel base of the automobile is L, and the wheel base of the rear axle is Lr. The following relationship is given:
Figure BDA0002520093850000102
from the geometrical relationship of the automobile, the coordinates at the center points of the front and rear axles of the automobile have the following relationship:
Figure BDA0002520093850000103
derivation of the above equation yields:
Figure BDA0002520093850000104
for longitudinal speed of vehicles
Figure BDA0002520093850000105
The following relations are shown:
Figure BDA0002520093850000106
and the coordinates at the center point of the automobile have the following relational expression:
Figure BDA0002520093850000107
front axle center point velocity v and front wheel center steering angle
Figure BDA0002520093850000108
Yaw rate of vehicle
Figure BDA0002520093850000109
The following relations exist:
Figure BDA00025200938500001010
let the left rear wheel coordinate of the car be (x)a，ya) The right rear wheel coordinate is (x)d，yd) Of the rear wheel
The expression is as follows:
Figure BDA0002520093850000111
and finally, the path planning adopts a fuzzy control algorithm, the track of the vehicle is irrelevant to the vehicle speed when the vehicle moves at low speed, and only the track is relevant to the wheelbase, the wheelbase and the steering angle of the center of the front wheel
Figure BDA0002520093850000112
It is related. And whether the automobile is put in storage (NMPO parking space) is judged according to two standards, wherein one standard is whether the tail of the automobile is close to the left side of the garage and the bottom of the garage. Secondly, whether the direction angle of the automobile body of the automobile after the automobile is put in storage is zero or not, so that the automobile is conveniently analyzed and comprehensively considered, and the abscissa x of the point A at the left rear end of the automobile is selectedaAnd the ordinate y of the D point at the right rear end of the automobiledAnd the direction angle theta of the automobile body as the input of the controller, the variation of the automobile direction angle
Figure BDA0002520093850000113
Is the output.
And making a fuzzy control rule for the three input quantities and the output quantity by using a fuzzy control algorithm so as to achieve the purpose of controlling the automobile to park in the parking space.
The following table shows the fuzzy control table:
Figure BDA0002520093850000121
the rule meaning of the fuzzy control table is as follows:
when the direction angle theta of the automobile body is Z, xaIs S, ydWhen S is obtained, the steering wheel angle is zero and the output is
Figure BDA0002520093850000122
Is zero: at this time, it is shown that the vehicle will arrive at the parking space, the vehicle is already close to the bottom and the side of the parking space, and the direction angle of the vehicle bodyWhen the vehicle approaches zero, the vehicle needs to return to the positive direction disk to adjust the vehicle posture; when x isaIs VB, ydAnd when the value is VB, the steering wheel is NB, and the automobile is in the area to be parked at the moment, so that the steering wheel needs to be increased for driving.
When the direction angle theta of the automobile body is P, xaIs VB, ydWhen VB is obtained, the turning angle of the steering wheel is NB, and the turning driving angle needs to be increased when the vehicle enters the garage; when x isaIs B, ydWhen B is the state, the vehicle enters the garage and is in a reversing state, the reversing is continued with the steering wheel angle of the vehicle unchanged, and the vehicle is output
Figure BDA0002520093850000123
Is zero.
When the direction angle theta of the automobile body is N, xaIs S, ydS, which indicates that the vehicle is close to the bottom and the side of the vehicle, and the vehicle direction angle is negative, and the output
Figure BDA0002520093850000124
At this time, the vehicle body direction angle should be adjusted to be PB.
The vehicle can be well parked in the effective parking space according to the fuzzy control strategy.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims (8)

1. An automatic automobile parking method based on a 5G communication mode is characterized by comprising the following steps:
s1: firstly, collecting space information around a vehicle body and attitude information of the vehicle by a vehicle through a sensor which is arranged on the vehicle body and comprises a radar, a camera, a GPS (global positioning system) and an inertial navigator;
s2: after the sensors on the automobile collect the sensor data, the automobile packs the information data and sends the information data to the cloud server through a 5G communication technology;
s3: the cloud server firstly judges whether the obtained data meets the parking requirement, and if the parking requirement cannot be finished due to considerable space and angle, the cloud server prompts a driver that the parking cannot be finished; then, judging whether the surrounding environment is dynamic or static, if so, planning an optimal parking path through the collected data by the cloud server, and then sending an optimal parking path instruction and a parking instruction to the automobile by the cloud server through 5G communication; if the parking environment is dynamic, continuing to collect data until the parking environment is static, then planning a parking path and sending a parking instruction to the automobile;
s4: the automobile executing mechanism operates the automobile through the received command, so that the automobile finishes the automatic parking process.
2. The automatic parking method for the automobile based on the 5G communication mode as claimed in claim 1, wherein the information collected in the step S1 includes radar ranging and binocular camera imaging information.
3. The method for automatically parking in an automobile based on 5G communication mode as claimed in claim 1, wherein the ambient environment is static in step S3, which means that the ambient environment is static without other vehicles coming in and going out, and the dynamic scene means that there is a possibility that other vehicles may come in or pass through the ambient environment.
4. The automatic parking method for automobile based on 5G communication mode according to claim 1, wherein the parking path in step S3 is determined by the following equation:
Figure FDA0002520093840000021
Figure FDA0002520093840000022
radius R of vehicle turning and front axle center equivalent corner
Figure FDA0002520093840000023
And the wheel base l is related to:
Figure FDA0002520093840000024
wherein α is the front outer wheel corner of the automobile, β is the front inner wheel corner of the automobile,
Figure FDA0002520093840000025
The corner corresponding to the steering center at the center of the front wheel is the Ackerman corner or the steering angle of the center of the front wheel.
5. The automatic parking method for automobile based on 5G communication mode as claimed in claim 1, wherein the automatic parking process in step S3 is completed in 4 stages:
firstly, after an automobile finds a proper parking space, the automobile is driven to a proper parking starting point from an outer side position parallel to a side line of the parking space, then the automobile starts to slam a steering wheel relative to one side of the parking space to keep the automobile driving backwards for a period of time, the automobile retreats to a certain position to enable the steering wheel to return to a positive position and keep for a period of time, finally the automobile drives the steering wheel to the maximum position in the opposite direction of the initial driving of the steering wheel to continue retreating to the parking space, and micro-automobile body posture adjustment is carried out in the parking space to enable an automobile body to be parallel to the side line of the parking space from the.
6. The method for automatically parking an automobile according to claim 1, wherein the automobile does not consider the lateral force of the automobile during the automatic parking in step S3, and the path planning model is as follows:
let the length of the front axle of the automobile be LaAnd the coordinate of the center point of the front axle is (x)f，yf) The speed is v, the advancing direction is set to be a positive direction, and the vehicle is negative when the vehicle is reversed; the direction angle theta of the automobile body, the coordinates of the center point of the automobile are (x, y), and the steering angle of the center of the front wheel of the automobile is
Figure FDA0002520093840000031
When backing a car, the coordinate (x) of the centre point of the rear axle of the car is not taken into accountr，yr) The axial speed of the rear axle is close to 0, the wheel base is L, and the wheel base of the rear axle is Lr(ii) a The following relationship is given:
Figure FDA0002520093840000032
from the geometrical relationship of the automobile, the coordinates at the center points of the front and rear axles of the automobile have the following relationship:
Figure FDA0002520093840000033
for longitudinal speed of vehicles
Figure FDA0002520093840000034
And representing that the coordinate at the central point of the automobile has the following relation:
Figure FDA0002520093840000035
front axle center point velocity v and front wheel center steering angle
Figure FDA0002520093840000036
And the amount of change in the center steering angle of the front wheel
Figure FDA0002520093840000037
The following relations exist:
Figure FDA0002520093840000038
let the left rear wheel coordinate of the car be (x)a，ya) The right rear wheel coordinate is (x)d，yd) The expression for the rear wheel is:
Figure FDA0002520093840000039
that is, the path track of the vehicle moving at low speed is independent of the vehicle speed and only dependent on the wheelbase, wheelbase and the steering angle of the front wheel center
Figure FDA00025200938400000310
It is related.
7. The automatic parking method for the automobile based on the 5G communication mode as claimed in claim 1, wherein the path planning in step S3 adopts a fuzzy control algorithm; selecting the abscissa x of the point A at the left rear end of the automobileaAnd the ordinate y of the D point at the right rear end of the automobiledAnd the steering angle theta of the automobile body as the input of the controller, the amount of change of the steering angle of the center of the front wheel
Figure FDA0002520093840000041
Is an output; and making a fuzzy control rule for the three input quantities and the output quantity by using a fuzzy control algorithm so as to achieve the purpose of controlling the automobile to park in the parking space.
8. The automatic parking method for automobile based on 5G communication mode as claimed in claim 1, wherein the fuzzy control rule in step S3 is as follows:
when theta is Z, Xa is S, and Yd is S, the direction angle or the front wheel center steering angle of the automobile body is zero, and the output is
Figure FDA0002520093840000042
Is zero: at the moment, the vehicle arrives at the parking space, the distance between the vehicle and the bottom and the side of the parking space is very close, the direction angle of the vehicle body is close to zero, and the vehicle needs to return to a positive steering wheel to adjust the vehicle posture; when Xa is VB and Yd is VB, the direction angle or the front wheel center steering angle of the automobile body is NB, and the automobile is in the parking waiting area, so that the driving needs to be carried out by increasing the direction angle or the front wheel center steering angle of the automobile body.
When theta is PWhen Xa is VB and Yd is VB, the direction angle of the automobile body or the central steering angle of the front wheel is NB, and the fact that the automobile enters the garage at the moment indicates that the turning driving angle needs to be increased; when Xa is B and Yd is B, the vehicle enters the garage and is in a reversing state, the reversing is continued with the direction angle of the vehicle body or the steering angle of the center of the front wheel unchanged, and the output is carried out
Figure FDA0002520093840000043
Is zero.
When theta is N, Xa is S, and Yd is S, the direction angle of the automobile body or the steering angle of the front wheel center is negative when the direction angle or the steering angle is negative, and the output is
Figure FDA0002520093840000044
At this time, the vehicle body direction angle should be adjusted to be PB.
CN202010488761.1A 2020-06-02 2020-06-02 Automatic automobile parking method based on 5G communication mode Pending CN111762153A (en)

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