CN112172795B - Vehicle parking control method, device, equipment and storage medium - Google Patents
Vehicle parking control method, device, equipment and storage medium Download PDFInfo
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- CN112172795B CN112172795B CN202010973844.XA CN202010973844A CN112172795B CN 112172795 B CN112172795 B CN 112172795B CN 202010973844 A CN202010973844 A CN 202010973844A CN 112172795 B CN112172795 B CN 112172795B
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a vehicle parking control method, which comprises the following steps: responding to a vehicle parking operation, and acquiring a front wheel target corner and a rear wheel target corner of a vehicle; the target turning angle of the front wheels is the predicted rotation angle of a front wheel steering motor of the vehicle, and the target turning angle of the rear wheels is the predicted rotation angle of a rear wheel steering motor of the vehicle; controlling a front wheel steering motor to rotate according to the target rotation angle of the front wheel so as to drive the front wheel of the vehicle to rotate; converting the rear wheel target corner into a rear wheel target stroke; wherein the rear wheel target stroke is the predicted number of gears rotated by the rear wheel steering motor of the vehicle; and controlling the rear wheel steering motor to rotate according to the target stroke of the rear wheel so as to drive the rear wheel of the vehicle to rotate. The invention also discloses a vehicle parking control device, a vehicle parking control device and a computer readable storage medium. By adopting the embodiment of the invention, the two-wheel control is upgraded to the four-wheel control during the transverse control of the automatic parking system, and the automatic parking capacity of the vehicle is improved.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling vehicle parking.
Background
With the improvement of the social and economic level, the automobile becomes an indispensable vehicle in the life of people, and the functions of the automobile are more and more. For example, more and more automobiles are equipped with an automatic parking function to assist a driver in a parking process. In the traditional automobile, the automatic parking technology detects markers such as obstacles and parking lines by means of ultrasonic ranging radar, a camera and the like; calculating a vehicle state using a wheel speed sensor, a steering wheel angle sensor, and the like; the automatic parking function of a driver with only a small amount of intervention is realized by combining an identification algorithm, a path planning algorithm and the like formulated by developers, the requirement on the driving skill of the driver is reduced, and the comfort is improved. Although this method has been applied to mass production vehicles, its drawbacks are quite evident: only the front wheels are steering wheels, and the steering radius of the automobile is large, so that the strict requirement on the parking space is caused; the problem that the parking space cannot be small and the space resources of the parking lot are wasted also exists when the vehicle is driven out of the parking space.
Disclosure of Invention
The embodiment of the invention aims to provide a vehicle parking control method, a vehicle parking control device, vehicle parking control equipment and a storage medium, which can upgrade two-wheel control to four-wheel control during transverse control of an automatic parking system and improve automatic parking capacity of a vehicle.
In order to achieve the above object, an embodiment of the present invention provides a vehicle parking control method, apparatus, device and storage medium, including:
responding to a vehicle parking operation, and acquiring a front wheel target corner and a rear wheel target corner of a vehicle; wherein the front wheel target steering angle is a predicted rotation angle of a front wheel steering motor of the vehicle, and the rear wheel target steering angle is a predicted rotation angle of a rear wheel steering motor of the vehicle;
controlling the front wheel steering motor to rotate according to the front wheel target rotation angle so as to drive the front wheels of the vehicle to rotate;
converting the rear wheel target corner into a rear wheel target stroke; wherein the rear wheel target stroke is a predicted number of gears that the rear wheel steering motor of the vehicle rotates;
and controlling the rear wheel steering motor to rotate according to the rear wheel target stroke so as to drive the rear wheel of the vehicle to rotate.
As an improvement of the above aspect, before the controlling the rotation of the rear wheel steering motor according to the rear wheel target stroke, the method further includes:
determining a current vehicle speed of the vehicle;
when the current speed of the vehicle is greater than 0, controlling the rear wheel steering motor to rotate according to the target rear wheel travel;
when the current speed of the vehicle is 0, judging whether the current travel of the rear wheel steering motor is 0; the current stroke is the number of gears which are rotated relative to a preset initial position of a gear in the rear wheel steering motor;
and if the current stroke is 0, keeping the current stroke of the rear wheel steering motor unchanged.
As an improvement of the above, the method further comprises:
if the current travel is not 0, judging whether the target travel is smaller than the current travel;
if yes, controlling the rear wheel steering motor to rotate according to the rear wheel target stroke; and if not, keeping the current stroke of the rear wheel steering motor unchanged.
As an improvement of the above aspect, after the controlling the rotation of the front wheel steering motor according to the front wheel target steering angle, the method further includes:
and acquiring the actual turning angle of the front wheel.
As an improvement of the above, the method further comprises:
judging whether the actual turning angle of the front wheel is equal to the target turning angle of the front wheel or not;
if so, keeping the rotation angle of the front wheel steering motor unchanged; and if not, adjusting the rotation angle of the front wheel steering motor according to the front wheel steering angle difference value between the actual steering angle of the front wheel and the target steering angle of the front wheel.
As an improvement of the above aspect, after the controlling the rotation of the rear wheel steering motor according to the rear wheel target stroke, the method further includes:
acquiring the actual rear wheel travel of the rear wheel;
and converting the actual stroke of the rear wheel into an actual turning angle of the rear wheel.
As an improvement of the above, the method further comprises:
judging whether the actual turning angle of the rear wheel is equal to the target turning angle of the rear wheel or not;
if so, keeping the rotation angle of the rear wheel steering motor unchanged; if not, converting the rear wheel steering angle difference value of the actual steering angle of the rear wheel and the target steering angle of the rear wheel into a rear wheel stroke difference value, and adjusting the number of gears rotated by the rear wheel steering motor according to the rear wheel stroke difference value.
In order to achieve the above object, an embodiment of the present invention further provides a vehicle parking control apparatus, including:
the automatic parking auxiliary module is used for calculating a front wheel target corner and a rear wheel target corner of the vehicle; wherein the front wheel target steering angle is a predicted rotation angle of a front wheel steering motor of the vehicle, and the rear wheel target steering angle is a predicted rotation angle of a rear wheel steering motor of the vehicle;
the electronic power-assisted steering module is used for controlling the front wheel steering motor to rotate according to the target rotation angle of the front wheel so as to drive the front wheel of the vehicle to rotate;
the integrated vehicle control module is used for converting the rear wheel target corner into a rear wheel target travel; wherein the rear wheel target stroke is a predicted number of gears that the rear wheel steering motor of the vehicle rotates;
and the rear wheel steering control module is used for controlling the rear wheel steering motor to rotate according to the target travel of the rear wheel so as to drive the rear wheel of the vehicle to rotate.
To achieve the above object, an embodiment of the present invention further provides a vehicle parking control apparatus, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor, when executing the computer program, implements the vehicle parking control method according to any one of the above embodiments.
In order to achieve the above object, an embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, a device on which the computer-readable storage medium is located is controlled to execute the vehicle parking control method according to any one of the above embodiments.
Compared with the prior art, the vehicle parking control method, the device, the equipment and the storage medium disclosed by the embodiment of the invention have the advantages that firstly, the target turning angle of the front wheel and the target turning angle of the rear wheel of the vehicle are obtained by responding to the vehicle parking operation; then, controlling the front wheel steering motor to rotate according to the target steering angle of the front wheel so as to drive the front wheel of the vehicle to rotate; and finally, converting the rear wheel target rotation angle into a rear wheel target stroke, and controlling the rear wheel steering motor to rotate according to the rear wheel target stroke so as to drive the rear wheel of the vehicle to rotate. In the process of controlling the automatic parking of the vehicle, the target rotation angle of the rear wheel is converted into the target stroke of the rear wheel, so that the rotation of the rear wheel steering motor is controlled according to the target stroke of the rear wheel to drive the rear wheel of the vehicle to rotate, the purpose of driving the rear wheel simultaneously in the automatic parking process of the vehicle is further achieved, the two-wheel control is upgraded to the four-wheel control during the transverse control of the automatic parking system, and the automatic parking capacity of the vehicle is improved.
Drawings
Fig. 1 is a flowchart of a vehicle parking control method according to an embodiment of the present invention;
fig. 2 is a block diagram showing a configuration of a vehicle parking control apparatus according to an embodiment of the present invention;
fig. 3 is a block diagram showing the construction of another vehicle parking control apparatus according to the embodiment of the present invention;
fig. 4 is a block diagram of a configuration of a vehicle parking control apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a vehicle parking control method according to an embodiment of the present invention; the vehicle parking control method includes:
s1, responding to the parking operation of the vehicle, and acquiring a front wheel target corner and a rear wheel target corner of the vehicle;
s2, controlling the front wheel steering motor to rotate according to the target steering angle of the front wheels so as to drive the front wheels of the vehicle to rotate;
s3, converting the rear wheel target rotation angle into a rear wheel target travel;
and S4, controlling the rear wheel steering motor to rotate according to the rear wheel target stroke so as to drive the rear wheel of the vehicle to rotate.
It should be noted that the Vehicle Parking Control method according to the embodiment of the present invention may be implemented by a Vehicle Parking Control device installed in a Vehicle, and the Vehicle Parking Control device integrates an Automatic Parking Assist system (APA), a Central Gateway (CGW), an Electronic Power Steering (EPS), an Integrated Vehicle Control (IVC), and a Rear Wheel Steering Control (RWS).
Wherein, each module integrated in the vehicle parking control device is connected through wire/wireless to complete information interaction between each other. Illustratively, the automatic parking assist system is configured to obtain a front wheel target rotation angle and a rear wheel target rotation angle, the central gateway is configured to forward data, the electronic power steering system is configured to control a front wheel steering motor according to the front wheel target rotation angle, the integrated vehicle control module is configured to convert the rear wheel target rotation angle into a rear wheel target stroke, and the rear wheel steering control module is configured to control the rear wheel steering motor according to the rear wheel target stroke. Since the front-wheel steering motor and the rear-wheel steering motor are two independent actuators, two independent control mechanisms, EPS and RWS, are required as electronic control units for the two steering motors, the EPS being capable of directly responding to the steering angle, and the RWS being only capable of responding to the stroke (the number of gear rotations of the rear-wheel steering motor), and therefore the IVC is required to convert the rear-wheel target angle to the rear-wheel target stroke and send it to the RWS for response.
Specifically, in step S1, when the driver needs to park the vehicle, the automatic parking assist system is responsive to a vehicle parking operation, at which time the automatic parking assist system acquires a front wheel target steering angle of the vehicle, which is a predicted rotation angle of a front wheel steering motor of the vehicle, and a rear wheel target steering angle, which is a predicted rotation angle of a rear wheel steering motor of the vehicle. And after the automatic parking auxiliary system obtains the front wheel target corner and the rear wheel target corner, sending the front wheel target corner and the rear wheel target corner to a central gateway.
It should be noted that the automatic parking assist system plans a route according to a current trajectory of the vehicle through a vehicle dynamics model which is constructed in advance, so as to calculate the front wheel target rotation angle and the rear wheel target rotation angle. The specific manner of constructing the vehicle dynamics model may refer to a process of constructing the vehicle dynamics model by using an automatic parking assist system in the prior art, which is not described herein again. In addition, because the existing automatic parking assist system generally only calculates the target rotation angle of the front wheel, so as to control the front wheel of the vehicle, in the embodiment of the present invention, the automatic parking assist system may calculate the target rotation angle of the rear wheel in the same manner as the method for calculating the target rotation angle of the front wheel, except for calculating the target rotation angle of the front wheel, and thus, the detailed description is omitted here.
Specifically, in step S2, the central gateway sends the target steering angle of the front wheel to the electronic power steering system, and the electronic power steering system controls the front wheel steering motor to rotate according to the target steering angle of the front wheel in response to the target steering angle of the front wheel, so as to drive the front wheel of the vehicle to rotate.
Specifically, in step S3, the central gateway sends the rear wheel target rotation angle to the integrated vehicle control module, and the integrated vehicle control module converts the rear wheel target rotation angle into a rear wheel target travel; wherein the rear wheel target stroke is a predicted number of gears that the rear wheel steering motor of the vehicle rotates.
For example, the integrated vehicle control module stores a table of a corresponding relationship between a rotation angle and a stroke of the rear wheel rotating electrical machine in advance (for example, the rear wheel rotating electrical machine rotates by 30 °, and the number of corresponding rotating gears is 3), so that after the rear wheel target rotation angle is obtained, the rear wheel target rotation angle is converted by a table lookup method to obtain a rear wheel target stroke corresponding to the rear wheel target rotation angle.
Specifically, in step S4, the integrated vehicle control module sends the rear wheel target stroke to the rear wheel steering control module, which controls the rear wheel steering motor to rotate according to the rear wheel target stroke to drive the rear wheel of the vehicle to rotate.
Further, when the vehicle is at a standstill (the vehicle speed is 0), due to the limited performance of the rear wheel steering control module and the influence of the vehicle weight, the rear wheel steering control module is prone to enter a degraded state due to overload and excessive temperature caused by high load and frequent driving, and therefore, in the automatic parking process, the rear wheel steering control module needs to be combined with other determination conditions to confirm whether to respond to the rear wheel target travel when the vehicle is at a standstill, and to completely respond to the rear wheel target travel when the vehicle is not at standstill. In addition, the electronic power steering system is not influenced by the vehicle speed, and can respond to the target steering angle of the front wheels under the condition that the vehicle is static or not.
Optionally, in executing step S4, before the rear-wheel steering control module controls the rear-wheel steering motor to rotate according to the rear-wheel target stroke, the method further includes:
s401, determining the current speed of the vehicle;
s402, when the current speed of the vehicle is greater than 0, executing a step S4;
s403, when the current speed of the vehicle is 0, judging whether the current travel of the rear wheel steering motor is 0; the current stroke is the number of gears which are rotated relative to a preset initial position of a gear in the rear wheel steering motor;
and S404, if the current stroke is 0, keeping the current stroke of the rear wheel steering motor unchanged.
S405, if the current travel is not 0, judging whether the target travel is smaller than the current travel;
s406, if yes, executing the step S4; and if not, keeping the current stroke of the rear wheel steering motor unchanged.
It is to be understood that the preset initial position is any position where the flag of the gear can be marked, and ideally, the flag of the gear in the rear wheel steering motor is in the preset initial position.
Further, in the embodiment of the invention, the closed-loop control of the front wheels and the rear wheels can be realized in the automatic parking process of the vehicle, so that the automatic parking process of the vehicle can be accurately controlled. In this case, after the controlling the rotation of the front wheel steering motor according to the front wheel target steering angle in step S2, the method further includes:
s21, acquiring the actual turning angle of the front wheel;
s22, judging whether the actual turning angle of the front wheel is equal to the target turning angle of the front wheel or not;
s23, if yes, keeping the rotation angle of the front wheel steering motor unchanged; and if not, adjusting the rotation angle of the front wheel steering motor according to the front wheel steering angle difference value between the actual steering angle of the front wheel and the target steering angle of the front wheel.
Illustratively, the electronic power steering system obtains a front wheel actual turning angle of the front wheel steering motor, and sends the front wheel actual turning angle to the central gateway, the central gateway forwards the front wheel actual turning angle to the automatic parking assist system, and when the automatic parking assist system determines that the front wheel actual turning angle is not equal to the front wheel target turning angle, the automatic parking assist system calculates a front wheel turning angle difference value between the front wheel actual turning angle and the front wheel target turning angle, and sends the front wheel turning angle difference value to the electronic power steering system through the central gateway, so that the electronic power steering system controls the turning angle of the front wheel steering motor again according to the front wheel turning angle difference value until the front wheel actual turning angle is equal to the front wheel target turning angle, thereby completing front wheel closed-loop control.
Further, after the controlling the rotation of the rear wheel steering motor according to the rear wheel target stroke in step S4, the method further includes:
s51, acquiring the actual rear wheel travel of the rear wheel;
s52, converting the actual stroke of the rear wheel into an actual turning angle of the rear wheel;
s53, judging whether the actual turning angle of the rear wheel is equal to the target turning angle of the rear wheel or not;
s54, if yes, keeping the rotation angle of the rear wheel steering motor unchanged; if not, converting the rear wheel steering angle difference value of the actual steering angle of the rear wheel and the target steering angle of the rear wheel into a rear wheel stroke difference value, and adjusting the number of gears rotated by the rear wheel steering motor according to the rear wheel stroke difference value.
Illustratively, the rear wheel steering control module obtains a rear wheel actual stroke of the rear wheel steering motor and sends the rear wheel actual stroke to the integrated vehicle control module, the integrated vehicle control module converts the rear wheel actual stroke into a rear wheel actual turning angle by means of table lookup and sends the rear wheel actual turning angle to the central gateway, the central gateway forwards the rear wheel actual turning angle to the automatic parking assist system, the automatic parking assist system calculates a rear wheel turning angle difference value between the rear wheel actual turning angle and the rear wheel target turning angle when determining that the rear wheel actual turning angle is not equal to the rear wheel target turning angle and sends the rear wheel turning angle difference value to the integrated vehicle control module through the central gateway, so that the integrated vehicle control module converts the rear wheel turning angle difference value into a rear wheel stroke difference value, and the rear wheel steering control module controls the rotation stroke of the rear wheel steering motor again according to the rear wheel stroke difference until the actual rotation angle of the rear wheel is equal to the target rotation angle of the rear wheel, and the closed-loop control of the rear wheel is completed.
In the embodiment of the invention, the closed-loop control of the front wheels and the rear wheels of the vehicle can be realized by monitoring the actual turning angles of the front wheels and the actual turning angles of the rear wheels of the vehicle, so that the vehicle can be parked according to the target turning angles of the front wheels and the target turning angles of the rear wheels which are preset by the automatic parking auxiliary system, and the accuracy and the precision of automatic parking of the vehicle are improved.
Compared with the prior art, the vehicle parking control method disclosed by the embodiment of the invention comprises the steps of firstly, responding to a vehicle parking operation to obtain a front wheel target corner and a rear wheel target corner of a vehicle; then, controlling the front wheel steering motor to rotate according to the target steering angle of the front wheel so as to drive the front wheel of the vehicle to rotate; and finally, converting the rear wheel target rotation angle into a rear wheel target stroke, and controlling the rear wheel steering motor to rotate according to the rear wheel target stroke so as to drive the rear wheel of the vehicle to rotate. In the process of controlling the automatic parking of the vehicle, the target rotation angle of the rear wheel is converted into the target stroke of the rear wheel, so that the rotation of the rear wheel steering motor is controlled according to the target stroke of the rear wheel to drive the rear wheel of the vehicle to rotate, the purpose of driving the rear wheel simultaneously in the automatic parking process of the vehicle is further achieved, the two-wheel control is upgraded to the four-wheel control during the transverse control of the automatic parking system, and the automatic parking capacity of the vehicle is improved.
Referring to fig. 2, fig. 2 is a block diagram illustrating a configuration of a vehicle parking control device 10 according to an embodiment of the present invention, where the vehicle parking control device 10 includes:
an automatic parking assist module 11, configured to calculate a front wheel target rotation angle and a rear wheel target rotation angle of the vehicle; wherein the front wheel target steering angle is a predicted rotation angle of a front wheel steering motor 101 of the vehicle, and the rear wheel target steering angle is a predicted rotation angle of a rear wheel steering motor 102 of the vehicle;
an electronic power steering module 12, configured to control the front wheel steering motor 101 to rotate according to the target front wheel steering angle, so as to drive a front wheel of the vehicle to rotate;
the integrated vehicle control module 13 is used for converting the rear wheel target rotation angle into a rear wheel target travel; wherein the rear wheel target stroke is a predicted number of gears that the rear wheel steering motor 102 of the vehicle rotates;
and a rear wheel steering control module 14 for controlling the rear wheel steering motor 102 to rotate according to the rear wheel target stroke so as to drive the rear wheel of the vehicle to rotate.
Further, referring to fig. 3, fig. 3 is a block diagram of another vehicle parking control device 10 according to an embodiment of the present invention, where the vehicle parking control device 10 further includes:
and the central gateway 15 is configured to forward the target turning angle of the front wheels to the electronic power steering module 12, and forward the target turning angle of the rear wheels to the integrated vehicle control module 13.
Optionally, the central gateway 15 is further configured to:
determining a current vehicle speed of the vehicle;
then, the rear-wheel steering control module 14 is further configured to:
when the current speed of the vehicle is greater than 0, controlling the rear wheel steering motor 102 to rotate according to the rear wheel target travel;
when the current speed of the vehicle is 0, judging whether the current travel of the rear wheel steering motor 102 is 0; wherein the current stroke is the number of gears rotated by the gear in the rear wheel steering motor 102 relative to the preset initial position;
if the current stroke is 0, keeping the current stroke of the rear wheel steering motor 102 unchanged;
if the current travel is not 0, judging whether the target travel is smaller than the current travel;
if yes, controlling the rear wheel steering motor 102 to rotate according to the rear wheel target stroke; if not, the current stroke of the rear wheel steering motor 102 is kept unchanged.
Optionally, the electronic power steering module 12 is further configured to:
acquiring a front wheel actual rotation angle of the front wheel, and sending the front wheel actual rotation angle to the automatic parking auxiliary module 11;
then, the automatic parking assist module 11 is further configured to determine whether the actual turning angle of the front wheel is equal to the target turning angle of the front wheel;
if the rotation angle is equal to the rotation angle of the front wheel steering motor 101, the electronic power steering module 12 keeps the rotation angle of the front wheel steering motor unchanged; if the actual turning angle of the front wheel is not equal to the target turning angle of the front wheel, the electronic power steering module 12 adjusts the turning angle of the front wheel steering motor 101 according to the front wheel turning angle difference value between the actual turning angle of the front wheel and the target turning angle of the front wheel.
Optionally, the rear-wheel steering control module 14 is further configured to:
acquiring the actual rear wheel travel of the rear wheel and sending the actual rear wheel travel to the integrated vehicle control module 13;
then, the integrated vehicle control module 13 is further configured to convert the actual rear wheel travel into an actual rear wheel steering angle;
the automatic parking assist module 11 is further configured to determine whether the actual turning angle of the rear wheel is equal to the target turning angle of the rear wheel;
if so, the rear-wheel steering control module 14 keeps the rotation angle of the rear-wheel steering motor 102 unchanged; if the actual turning angle of the rear wheel is different from the target turning angle of the rear wheel, the integrated vehicle control module 13 converts the rear wheel turning angle difference between the actual turning angle of the rear wheel and the target turning angle of the rear wheel into a rear wheel travel difference, and the rear wheel steering control module 14 adjusts the number of gears rotated by the rear wheel steering motor 102 according to the rear wheel travel difference.
It should be noted that, for a specific process of the vehicle parking control device 10, reference is made to the working process of the vehicle parking control method according to the foregoing embodiment, and details are not repeated here.
Compared with the prior art, the vehicle parking control device 10 disclosed in the embodiment of the invention first obtains the target rotation angle of the front wheels and the target rotation angle of the rear wheels of the vehicle by responding to the vehicle parking operation; then, controlling the front wheel steering motor to rotate according to the target steering angle of the front wheel so as to drive the front wheel of the vehicle to rotate; and finally, converting the rear wheel target rotation angle into a rear wheel target stroke, and controlling the rear wheel steering motor to rotate according to the rear wheel target stroke so as to drive the rear wheel of the vehicle to rotate. In the process of controlling the automatic parking of the vehicle, the target rotation angle of the rear wheel is converted into the target stroke of the rear wheel, so that the rotation of the rear wheel steering motor is controlled according to the target stroke of the rear wheel to drive the rear wheel of the vehicle to rotate, the purpose of driving the rear wheel simultaneously in the automatic parking process of the vehicle is further achieved, the two-wheel control is upgraded to the four-wheel control during the transverse control of the automatic parking system, and the automatic parking capacity of the vehicle is improved.
Referring to fig. 4, fig. 4 is a block diagram illustrating a configuration of a vehicle parking control apparatus 20 according to an embodiment of the present invention. The vehicle parking control apparatus 20 includes: a processor 21, a memory 22 and a computer program, such as a driving control program, stored in said memory and executable on said processor. The processor 21, when executing the computer program, implements the steps in the above-described embodiment of the vehicle parking control method, such as steps S1-S4 shown in fig. 1. Alternatively, the processor implements the functions of the modules in the device embodiments described above when executing the computer program, for example, the automatic parking assist module 11.
Illustratively, the computer program may be divided into one or more modules, which are stored in the memory 22 and executed by the processor 21 to accomplish the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions for describing the execution process of the computer program in the vehicle parking control apparatus 20. For example, the computer program may be divided into an automatic parking assist module 11, an electronic power steering module 12, an integrated vehicle control module 13, a rear wheel steering control module 14 and a central gateway 15. For the specific working process of each module, reference may be made to the working process of the vehicle parking control device 10 described in the foregoing embodiment, and details are not described herein again.
The vehicle parking control device 20 may be a computing device such as a desktop computer, a notebook computer, a palm computer, and a cloud server. The vehicle parking control apparatus 20 may include, but is not limited to, a processor 21, a memory 22. It will be understood by those skilled in the art that the schematic diagram is merely an example of an image enhancement device and does not constitute a limitation on the vehicle parking control device 20, and may include more or fewer components than shown, or some components in combination, or different components, for example, the vehicle parking control device 20 may also include an input-output device, a network access device, a bus, etc.
The Processor 21 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 21 is a control center of the vehicle parking control apparatus 20 and connects various portions of the overall vehicle parking control apparatus 20 using various interfaces and lines.
The memory 22 may be used to store the computer programs and/or modules, and the processor 21 may implement various functions of the vehicle parking control apparatus 20 by operating or executing the computer programs and/or modules stored in the memory 22 and invoking data stored in the memory 22. The memory 22 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, etc. In addition, the memory 22 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The integrated modules of the vehicle parking control device 20 may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments described above may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunications signal, and software distribution medium, etc.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (9)
1. A vehicle parking control method characterized by comprising:
responding to a vehicle parking operation, and acquiring a front wheel target corner and a rear wheel target corner of a vehicle; wherein the front wheel target steering angle is a predicted rotation angle of a front wheel steering motor of the vehicle, and the rear wheel target steering angle is a predicted rotation angle of a rear wheel steering motor of the vehicle;
controlling the front wheel steering motor to rotate according to the front wheel target rotation angle so as to drive the front wheels of the vehicle to rotate;
converting the rear wheel target corner into a rear wheel target stroke; wherein the rear wheel target stroke is a predicted number of gears that the rear wheel steering motor of the vehicle rotates;
controlling the rear wheel steering motor to rotate according to the rear wheel target stroke so as to drive the rear wheel of the vehicle to rotate;
wherein, before the control according to rear wheel target stroke the rear wheel steering motor is rotatory, still include:
determining a current vehicle speed of the vehicle;
when the current speed of the vehicle is greater than 0, controlling the rear wheel steering motor to rotate according to the target rear wheel travel;
when the current speed of the vehicle is 0, judging whether the current travel of the rear wheel steering motor is 0; the current stroke is the number of gears which are rotated relative to a preset initial position of a gear in the rear wheel steering motor;
and if the current stroke is 0, keeping the current stroke of the rear wheel steering motor unchanged.
2. The vehicle parking control method of claim 1, further comprising:
if the current travel is not 0, judging whether the target travel is smaller than the current travel;
if so, controlling the rear wheel steering motor to rotate according to the target travel of the rear wheel; and if not, keeping the current stroke of the rear wheel steering motor unchanged.
3. The vehicle parking control method according to claim 1, wherein after said controlling the rotation of the front-wheel steering motor in accordance with the front-wheel target steering angle, further comprising:
and acquiring the actual turning angle of the front wheel.
4. A vehicle parking control method as claimed in claim 3, further comprising:
judging whether the actual turning angle of the front wheel is equal to the target turning angle of the front wheel or not;
if so, keeping the rotation angle of the front wheel steering motor unchanged; and if not, adjusting the rotation angle of the front wheel steering motor according to the front wheel steering angle difference value between the actual steering angle of the front wheel and the target steering angle of the front wheel.
5. The vehicle parking control method according to claim 1, further comprising, after the controlling the rotation of the rear wheel steering motor in accordance with the rear wheel target stroke:
acquiring the actual rear wheel travel of the rear wheel;
and converting the actual stroke of the rear wheel into an actual turning angle of the rear wheel.
6. The vehicle parking control method of claim 5, further comprising:
judging whether the actual turning angle of the rear wheel is equal to the target turning angle of the rear wheel or not;
if so, keeping the rotation angle of the rear wheel steering motor unchanged; if not, converting the rear wheel steering angle difference value of the actual steering angle of the rear wheel and the target steering angle of the rear wheel into a rear wheel stroke difference value, and adjusting the number of gears rotated by the rear wheel steering motor according to the rear wheel stroke difference value.
7. A vehicle parking control apparatus characterized by comprising:
the automatic parking auxiliary module is used for calculating a front wheel target corner and a rear wheel target corner of the vehicle; wherein the front wheel target steering angle is a predicted rotation angle of a front wheel steering motor of the vehicle, and the rear wheel target steering angle is a predicted rotation angle of a rear wheel steering motor of the vehicle;
the electronic power-assisted steering module is used for controlling the front wheel steering motor to rotate according to the target rotation angle of the front wheel so as to drive the front wheel of the vehicle to rotate;
the integrated vehicle control module is used for converting the rear wheel target corner into a rear wheel target travel; wherein the rear wheel target stroke is a predicted number of gears that the rear wheel steering motor of the vehicle rotates;
the rear wheel steering control module is used for controlling the rear wheel steering motor to rotate according to the target rear wheel stroke so as to drive the rear wheel of the vehicle to rotate;
the central gateway is used for forwarding the front wheel target corner to the electronic power steering module and forwarding the rear wheel target corner to the integrated vehicle control module;
wherein the central gateway is further configured to:
determining a current vehicle speed of the vehicle;
then, the rear wheel steering control module is further configured to:
when the current speed of the vehicle is greater than 0, controlling the rear wheel steering motor to rotate according to the target travel of the rear wheel;
when the current speed of the vehicle is 0, judging whether the current travel of the rear wheel steering motor is 0; the current stroke is the number of gears which are rotated relative to a preset initial position of a gear in the rear wheel steering motor;
and if the current stroke is 0, keeping the current stroke of the rear wheel steering motor unchanged.
8. A vehicle parking control apparatus comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the vehicle parking control method according to any one of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program, wherein the computer program, when executed, controls an apparatus, in which the computer-readable storage medium is located, to perform the vehicle parking control method according to any one of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010973844.XA CN112172795B (en) | 2020-09-16 | 2020-09-16 | Vehicle parking control method, device, equipment and storage medium |
| PCT/CN2021/084041 WO2022057237A1 (en) | 2020-09-16 | 2021-03-30 | Vehicle parking control method, apparatus and device, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010973844.XA CN112172795B (en) | 2020-09-16 | 2020-09-16 | Vehicle parking control method, device, equipment and storage medium |
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| CN112172795A CN112172795A (en) | 2021-01-05 |
| CN112172795B true CN112172795B (en) | 2022-05-17 |
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| CN202010973844.XA Active CN112172795B (en) | 2020-09-16 | 2020-09-16 | Vehicle parking control method, device, equipment and storage medium |
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| WO (1) | WO2022057237A1 (en) |
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| CN112172795B (en) * | 2020-09-16 | 2022-05-17 | 华人运通(上海)自动驾驶科技有限公司 | Vehicle parking control method, device, equipment and storage medium |
| CN113246966B (en) * | 2021-06-03 | 2022-10-04 | 恒大新能源汽车投资控股集团有限公司 | Parking control method and device and electronic equipment |
| CN114313004B (en) * | 2022-01-05 | 2023-03-31 | 东风柳州汽车有限公司 | Automatic parking steering method, device, equipment and storage medium |
| CN114802433B (en) * | 2022-03-01 | 2023-09-26 | 奇瑞汽车股份有限公司 | Steering control method, device, equipment and storage medium of steer-by-wire system |
| CN114715264B (en) * | 2022-03-22 | 2023-04-25 | 浙江吉利控股集团有限公司 | Vehicle auxiliary steering control method and related equipment thereof |
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| WO2022057237A1 (en) | 2022-03-24 |
| CN112172795A (en) | 2021-01-05 |
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