CN111873987A - Control method for automatic parking - Google Patents
Control method for automatic parking Download PDFInfo
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- CN111873987A CN111873987A CN202010736002.2A CN202010736002A CN111873987A CN 111873987 A CN111873987 A CN 111873987A CN 202010736002 A CN202010736002 A CN 202010736002A CN 111873987 A CN111873987 A CN 111873987A
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
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Abstract
The invention discloses a control method for automatic parking, which comprises the following steps: when parking in the parking space, judging whether the relation between the parking depth DR and the parking space depth DL meets the following conditions:
if yes, then judge whether the contained angle that automobile body and the long limit of parking stall formed satisfies: alpha is less than or equal to 6 degrees, if so, the vehicle is controlled to be at a second vehicle speed V2Continuing parking until parking is finished, otherwise, controlling the vehicle to be at the first vehicle speed V1Continuing parking until the parking is finished; otherwise, controlling the vehicle to be at the first vehicle speed V1Continuing to park and continuously judging whether the relation between the parking depth DR and the parking space depth DL meets the following conditions:
until it meets
Wherein the second vehicle speed V2Greater than a first vehicle speed V1. By adopting the control method, the obstacles on the parking space parking path can be fully identified at a lower speed in the initial stage of parking the vehicle in the parking space, the situations of error detection and missing detection are avoided, and the parking safety is ensured.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a control method for automatic parking.
Background
Under the rapid development of the automobile field, the intelligent assistant driving system is widely applied to various automobile models. An automatic parking assist system, which is one of the intelligent driving assist systems, also becomes a standard for high-class or high-end models of all models. With the widespread use of automated parking assist systems, the challenges they face from a complex and diverse parking environment are becoming more and more severe. In the automatic parking process, the existing automatic parking technology has the following defects: the automatic parking system based on the arrangement of the ultrasonic probes has limited real-time detection and identification of obstacles on a parking path, and is easy to cause the situations of false detection and missed detection; based on the limitation of ultrasonic detection performance, when the current automatic parking system detects an obstacle which is missed to be detected on a parking path at a short distance, a larger emergency brake can be generated to prevent the obstacle from being scratched, so that uncomfortable experience brought to a user is brought, and the obstacle is difficult to avoid; the system can cause the risk of scratching and hanging when the vehicle is not stopped in time for the suddenly-intruding obstacles on the parking path.
Disclosure of Invention
The invention aims to provide a control method for automatic parking, which can fully identify obstacles on a parking space parking path at a lower speed in the initial stage of parking a vehicle in the parking space, avoid the situations of false detection and missed detection and ensure the parking safety.
In order to achieve the above object, the present invention provides a control method for automatic parking, comprising the steps of:
(S1) starting the automatic parking system and performing the step (S2);
(S2) driving the vehicle to search for an effective parking space, if the effective parking space is searched, displaying a prompt to select the parking space, after a target parking space is selected, displaying a prompt to stop the vehicle until the vehicle stops, and then executing the step (S3); otherwise, continuing to execute the step (S2);
(S3) displaying whether to prompt whether to activate parking, if so, starting parking in the parking space and executing the step (S4), otherwise, continuing to execute the step (S3);
(S4) judging whether the relation between the parking depth DR and the parking space depth DL satisfies:
if yes, executing step (S5); otherwise, controlling the vehicle to be at the first vehicle speed V1Continuing parking, and continuing to execute the step (S4);
(S5) judging whether the included angle alpha formed by the vehicle body and the long edge of the parking space meets the following requirements: alpha is less than or equal to 6 degrees, if so, the vehicle is controlled to be at a second vehicle speed V2Continuing parking until the parking is finished; otherwise, controlling the vehicle to be at the first vehicle speed V1Continuing parking until the parking is finished; wherein the second vehicle speed V2Greater than a first vehicle speed V1。
Further, before the step (S1), the method further includes: starting the vehicle self-checking to judge whether a fault exists, and if so, sending a fault alarm signal; otherwise, the step (S1) is executed.
Further, the first vehicle speed V1The value range of (A) is more than 0km/h and less than V1≤1km/h。
Further, the second vehicle speed V2The value range of (1.5 km/h) is less than or equal to V2≤2.5km/h。
Further, the second vehicle speed V2Is 2 km/h.
Further, the automatic parking system comprises a control module, an ultrasonic radar and a high-definition camera, wherein the ultrasonic radar and the high-definition camera are used for detecting a parking environment and searching parking space information; the control module is used for sending an automatic parking signal of the vehicle, judging whether an effective parking space exists or not and positioning the relative position of the vehicle and the target parking space.
Further, the parking space information comprises a parking space width DW and a parking space depth DL; the relative position of the vehicle and the target parking space is located, wherein the relative position comprises a vehicle parking depth DR, and an included angle between a central axis of the vehicle body and a long edge of the target parking space is alpha.
Further, in the step (S2), in the process of searching for an effective parking space, the automatic parking system obtains the parking environment and the parking space information and determines whether there is an effective parking space, where the effective parking space, that is, the parking space, has no obstacle and the parking space width DW and the parking space depth DL of the parking space can accommodate the vehicle.
Further, in step (S3), the automatic parking system creates a coordinate system with the apex of the target parking space as the origin according to the detected parking environment to determine the relative position of the host vehicle and the target parking space.
Compared with the prior art, the invention has the following advantages:
according to the control method for automatic parking, the vehicle speed in the parking process is controlled in a segmented mode, and in the initial stage of parking the vehicle into the parking space, obstacles on the parking space parking path can be fully identified at a low vehicle speed, so that the situations of false detection and missed detection are avoided, and the safety is guaranteed; by means of subsection control of the vehicle speed in the parking process, when the vehicle is parked deeply, the vehicle can be parked after the vehicle is parked at a higher vehicle speed, and therefore parking efficiency is improved; by controlling the vehicle speed in the parking process in a segmented manner, a user can subjectively feel more comfortable parking experience, and can safely brake the vehicle with smaller brake feeling even when encountering an obstacle, so that the occurrence of larger sudden brake and hanging is avoided; the method is simple and effective, does not need to make excessive and complex modification and change on the system, and does not need to increase the cost.
Drawings
FIG. 1 is a logic flow diagram of a control method for automatic parking according to the present invention;
fig. 2 is a schematic configuration diagram of a control system for automatic parking according to the present invention;
fig. 3 is a schematic structural diagram of parking according to the control method of automatic parking.
In the figure:
the method comprises the following steps of 1-an automatic parking system, 2-a control module, 3-an ultrasonic radar, 4-a high-definition camera, 5-an automatic parking system switch, 6-a gateway, 7-an intelligent key, 8-an intelligent vehicle body controller, 9-a meter, 10-a vehicle-mounted display, 11-an electric power steering system, 12-an electronic gear shifting system, 13-an engine management system, 14-a vehicle body stabilizing system, 15-a transmission system, 16-a corner sensor, 17-a vehicle starting position, 18-a parking space releasing position, 19-a vehicle parking position, 21-a reference vehicle, 20-a target parking space and 22-an empty parking space.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1 to 3, the present embodiment discloses a control method for automatic parking, including the following steps:
(S1) starting the automatic parking system 1 and performing the step (S2);
(S2) driving the vehicle to search whether an effective parking space exists, if the effective parking space is searched, displaying a prompt to select the parking space, after the target parking space 20 is selected, displaying the prompt to park until the parking space is stopped, and then executing the step (S3); otherwise, continuing to execute the step (S2);
(S3) displaying whether to prompt whether to activate parking, if so, starting parking in the parking space and executing the step (S4), otherwise, continuing to execute the step (S3);
(S4) judging whether the relation between the parking depth DR and the parking space depth DL satisfies:
if yes, executing step (S5); otherwise, controlling the vehicle to be at the first vehicle speed V1Continuing parking, and continuing to execute the step (S4);
(S5) judging whether the included angle alpha formed by the vehicle body and the long edge of the parking space meets the following requirements: alpha is less than or equal to 6 degrees, if so, the vehicle is controlled to be at a second vehicle speed V2Continuing parking until the parking is finished; otherwise, controlling the vehicle to be at the first vehicle speed V1Continuing parking until the parking is finished; wherein the second vehicle speed V2Greater than a first vehicle speed V1. The automatic parking system 1 determines whether the vehicle body of the vehicle enters a half parking space and whether the relative included angle between the vehicle body angle and the parking space meets the requirement of the parking posture of the vehicle according to the relative coordinate position of the vehicle and the target parking space 20, so as to control the vehicle to park at different parking speeds.
In this embodiment, before the step (S1), the method further includes: starting the vehicle self-checking to judge whether a fault exists, and if so, sending a fault alarm signal; otherwise, the step (S1) is executed.
In the present embodiment, the first vehicle speed V1The value range of (A) is more than 0km/h and less than V1≤1km/h。
In the present embodiment, the second vehicle speed V2The value range of (1.5 km/h) is less than or equal to V2Less than or equal to 2.5 km/h. Optionally, the second vehicle speed V2Is 2 km/h.
In the present embodiment, in the step (S2), in the process of searching for an available parking space, the automatic parking system 1 obtains the parking environment and the parking space information and determines whether there is an available parking space, where the available parking space, that is, the parking space, has no obstacle and the parking space width DW and the parking space depth DL of the parking space can accommodate the vehicle.
In the present embodiment, in step (S3), the automatic parking system 1 formulates a coordinate system with the apex of the target parking space 20 as the origin according to the detected parking environment to determine the relative position of the host vehicle and the target parking space 20.
Referring to fig. 2, the automatic parking system 1 includes a control module 2, an ultrasonic radar 3 and a high-definition camera 4, where the ultrasonic radar 3 and the high-definition camera 4 are used to detect a parking environment and search parking space information; the control module 2 is configured to send an automatic parking signal of the vehicle, and determine whether there is an effective parking space and position the vehicle relative to the target parking space 20. The parking space information comprises a parking space width DW and a parking space depth DL; further, the parking space information comprises a parking space width DW and a parking space depth DL; the relative position of the vehicle and the target parking space is determined by the parking depth DR of the vehicle and the included angle alpha between the central axis of the vehicle body and the long edge of the target parking space 20.
The automatic parking system 1 is in communication connection with the POWERCAN and the BODYCAN through a gateway, and the POWERCAN is connected with a corner sensor 16(SAS), a transmission system 15(TCU), a vehicle body stabilizing system 14(EPBi), an engine management system 13(EMS), an electronic gear shifting system 12(ESL) and an electric power steering system 11 (EPS); the BODYCAN is connected with a vehicle-mounted display 10(HU), an instrument 9(IP) and an intelligent vehicle body controller 8(iBCM), wherein the intelligent key 7 is in communication connection with the intelligent vehicle body controller 8.
The automatic parking system 1 is controlled by the above method. The whole vehicle starts to activate the automatic parking function, and the system is activated by pressing the automatic parking system switch 5. The method comprises the steps that a vehicle moves forwards to search a parking space, the searched parking space information is sent to a control module 2 by an ultrasonic radar 3 and a high-definition camera 4, the parking space information is released to a vehicle-mounted display 10 for a driver to select the parking space after the parking space is judged to be an effective parking space by the control module 2, after the parking space is selected, parking is activated and starts to park, and the automatic parking system 1 sends out request signals of a target traveling distance DistToHint (DTH), a target gear APA _ TransPRNDShifReququust, acceleration and the like and forwards the request signals to an intelligent vehicle body controller 8, an engine management system 13, a vehicle body stabilizing system 14, a transmission system 15 and other electronic control units to control the vehicle to automatically run under the instruction sent by the automatic parking system, so that the automatic parking function is achieved. The vehicle starts parking by operating the smart key 7 or activating the parking function on the in-vehicle display 10. The automatic parking system 1 determines that the parking space information of the target parking space comprises a parking space width DW and a parking space depth DL and the parking space coordinate of the target parking space relative to the vehicle by judging the detection sensing result of the acoustic radar 3 and the high-definition camera 4 of the automatic parking system on the surrounding environment in the parking space searching process. The control module is, for example, an automatic parking system ECU, and in other embodiments, may be another type of control module.
The system integrates the high-definition camera 4 and the ultrasonic sensor 3 to detect sensing information in real time to monitor and judge the environment in the parking process in real time, identifies and judges the detectable obstacles on the parking path, and makes certain avoiding or early braking actions so as to achieve the aim of safe parking. The system adopts the central control screen to display the surrounding conditions of the vehicle in real time through the panoramic image, and in the parking space finding process, the system integrates the real-time detection information of the high-definition camera 4 and the ultrasonic sensor 3 to judge the parking space conditions, so that the detection of various parking spaces such as a parking space on a parking line and a parking space on an obstacle can be realized. After finding the parking space, the system marks and displays the parking space on the panoramic image live-action picture in a picture frame mode, and a user can see the condition of the parking space at a glance. When the vehicle starts to park in the parking space after the target parking space is selected, the system controls the vehicle speed in a segmented manner according to the parking space depth of the vehicle so as to achieve the aim of safe and efficient parking. When the system detects that the depth of the vehicle parking into the parking space is shallow, the speed of the vehicle is controlled to be lower so as to make up for the performance limitation of the ultrasonic probe, and the ultrasonic probe can fully detect and identify the obstacles on the parking path in the parking process; when the system judges that the depth of the vehicle parking into the parking space is deeper, the vehicle speed is increased to the maximum parking speed, and therefore efficient parking is achieved.
Referring to fig. 3, a reference car 21 and an empty car 22 are respectively located at both sides of the target car 20. Before the parking space search is started, the vehicle is located at the vehicle starting position 18, and the vehicle is parked after driving to the parking space release position 19 in the forward search parking space, and parking is activated and parked. And activating a parking system to judge the relative position of the vehicle and the target parking space 20, namely the parking depth DR of the vehicle and the included angle between the central axis of the vehicle body and the long edge of the target parking space 20 is alpha, and the position of the vehicle after parking is the target parking space 20.
According to the control method for automatic parking, the vehicle speed in the parking process is controlled in a segmented mode, and in the initial stage of parking the vehicle into the parking space, obstacles on the parking space parking path can be fully identified at a low vehicle speed, so that the situations of false detection and missed detection are avoided, and the safety is guaranteed; by means of subsection control of the vehicle speed in the parking process, when the vehicle is parked deeply, the vehicle can be parked after the vehicle is parked at a higher vehicle speed, and therefore parking efficiency is improved; by controlling the vehicle speed in the parking process in a segmented manner, a user can subjectively feel more comfortable parking experience, and can safely brake the vehicle with smaller brake feeling even when encountering an obstacle, so that the occurrence of larger sudden brake and hanging is avoided; the method is simple and effective, does not need to make excessive and complex modification and change on the system, and does not need to increase the cost.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (9)
1. A control method for automatic parking, characterized by comprising the steps of:
(S1) starting the automatic parking system (1) and performing the step (S2);
(S2) driving the vehicle to search for an effective parking space, if the effective parking space is searched, displaying a prompt to select the parking space, after the target parking space (20) is selected, displaying the prompt to park until the parking space is stopped, and then executing the step (S3); otherwise, continuing to execute the step (S2);
(S3) displaying whether to prompt whether to activate parking, if so, starting parking in the parking space and executing the step (S4), otherwise, continuing to execute the step (S3);
(S4) judging whether the relation between the parking depth DR and the parking space depth DL satisfies:
if yes, executing step (S5); otherwise, controlling the vehicle to be at the first vehicle speed V1Continuing parking, and continuing to execute the step (S4);
(S5) judging whether the included angle alpha formed by the vehicle body and the long edge of the parking space meets the following requirements: alpha is less than or equal to 6 degrees, if so, the vehicle is controlled to be at a second vehicle speed V2Continuing parking until the parking is finished; otherwise, controlling the vehicle to be at the first vehicle speed V1Continuing parking until the parking is finished; wherein the second vehicle speed V2Greater than a first vehicle speed V1。
2. The control method for automatic parking according to claim 1, further comprising, before the step (S1): starting the vehicle self-checking to judge whether a fault exists, and if so, sending a fault alarm signal; otherwise, the step (S1) is executed.
3. The control method for automatic parking according to claim 1 or 2, wherein the first vehicle speed V1Has a value range of 0km/h & ltV1≤1km/h。
4. The method for controlling automatic parking according to claim 1 or 2, wherein the second vehicle speed V2The value range of (1.5 km/h) is less than or equal to V2≤2.5km/h。
5. The method for controlling automatic parking according to claim 4, wherein the second vehicle speed V2Is 2 km/h.
6. The control method for automatic parking according to claim 1, characterized in that the automatic parking system (1) comprises a control module (2), an ultrasonic radar (3) and a high-definition camera (4), wherein the ultrasonic radar (3) and the high-definition camera (4) are used for detecting a parking environment and searching parking space information; the control module (2) is used for sending an automatic parking signal of the vehicle, judging whether an effective parking space exists or not and positioning the relative position of the vehicle and the target parking space (20).
7. The method according to claim 6, wherein the slot information includes a slot width DW and a slot depth DL; the relative position of the vehicle and the target parking space (20) comprises the vehicle parking depth DR and the included angle alpha between the central axis of the vehicle body and the long edge of the target parking space (20).
8. The method for controlling automatic parking according to claim 1, 2, 5, 6 or 7, wherein in the step (S2), in the process of searching for the available parking space, the automatic parking system (1) obtains the parking environment and the parking space information and determines whether there is an available parking space, i.e. the parking space has no obstacle and the parking space width DW and the parking space depth DL of the parking space can accommodate the vehicle.
9. The method for controlling automatic parking according to claim 1, 2, 5, 6 or 7, wherein in step (S3), the automatic parking system (1) determines the relative position of the host vehicle and the target space by formulating a coordinate system with the apex of the target space (20) as the origin based on the detected parking environment.
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| CN115214627A (en) * | 2022-05-10 | 2022-10-21 | 广州汽车集团股份有限公司 | Parking prompting method and device, electronic equipment and storage medium |
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