CN114475782A - Automatic parking control optimization method and system - Google Patents
Automatic parking control optimization method and system Download PDFInfo
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- CN114475782A CN114475782A CN202210186513.0A CN202210186513A CN114475782A CN 114475782 A CN114475782 A CN 114475782A CN 202210186513 A CN202210186513 A CN 202210186513A CN 114475782 A CN114475782 A CN 114475782A
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- steering wheel
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- apa
- angle
- automatic parking
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005457 optimization Methods 0.000 title claims abstract description 18
- 230000008569 process Effects 0.000 claims abstract description 11
- 230000003993 interaction Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000009193 crawling Effects 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 2
- 230000005489 elastic deformation Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
Abstract
The invention provides an automatic parking control optimization method and system, which eliminate elastic deformation of wheels in the dynamic straight-going process of a vehicle through control logic optimization of an APA (advanced power amplifier) to an EPS (electric power steering), ensure that a steering wheel is stabilized at a middle position after automatic parking exits, and solve the problem that the steering wheel which is accidentally rebounded from the middle position for a certain angle after the automatic parking is finished. The invention ensures that the steering wheel is stabilized at the middle position after the automatic parking exits, and improves the final control effect and the customer experience of the whole parking process.
Description
Technical Field
The invention belongs to the technical field of automatic parking control, and particularly relates to an automatic parking control optimization method and system.
Background
The APA is a main control unit of the parking auxiliary system, can acquire distance information fed back by a radar, drive an instrument to interact with a driver, and send a corner instruction to the EPS, so that the whole parking auxiliary control is realized.
The EPS is a control unit for vehicle steering, receives a steering angle instruction of the APA in the parking process, and drives wheels to steer to realize parking and warehousing.
The ESC is a body electronic stability system that provides a vehicle speed signal to the APA.
The radar probe is a distance sensor, measures the size of a parking space before parking, and detects the distance between a vehicle body and a peripheral parked vehicle during parking.
The angle torque sensor has the function of detecting the angle and the torque of the steering wheel, and the APA receives signals of the angle torque sensor for calculating a parking instruction; the EPS receives the steering wheel angle signal as a feedback quantity for steering control and the torque signal as a judgment for driver intervention.
When the existing automatic parking system works, the EPS receives a target steering wheel turning angle instruction of the APA to realize the steering action of the steering wheel, and the EPS and the APA acquire the real-time turning angle position of the steering wheel through an angle torque sensor to realize the take-over and control of the steering wheel of the vehicle in the automatic parking process.
In the operation of the existing automatic parking system, when the steering wheel centering adjustment is finally carried out, if the vehicle speed is low or the vehicle is close to the parking condition, when a target steering wheel command sent to the EPS by the APA returns to the middle position from a large target turning angle position, the tire can generate a large deformation due to the inherent characteristics of a mechanical system because the steering is carried out in situ in real time.
The automatic parking system obtains feedback information of a steering wheel angle torque sensor SAS, finds that the steering wheel returns to a middle position area, considers that the parking is finished, and releases control over the EPS, at the moment, the EPS exits from an automatic parking controlled state, an active steering torque applied by an EPS electronic control system is cancelled, elastic deformation of tires can generate certain wheel position rebound (about 1-3 degrees) under the reaction force of ground friction, and the steering wheel can rebound at a certain angle (the steering wheel can have 10-50 degrees of residues according to conversion of a transmission ratio). After the automatic parking function is completed, the steering wheel rebounds from the middle position by a certain angle and does not stay at the middle position finally, so that bad experience is brought to customers.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the automatic parking control optimization method and system are provided for solving the problem that a steering wheel accidentally rebounds from a middle position for a certain angle after automatic parking.
The technical scheme adopted by the invention for solving the technical problems is as follows: an automatic parking control optimization method comprises the following steps:
s1: in the parking process of the vehicle, the APA continuously sends a target steering wheel angle request to the EPS;
s2: if the target turning angle request of the APA is gradually changed from a large angle to zero degree under the working condition of idling and crawling of the vehicle, and the vehicle runs for a period of time at a certain speed in the area close to the middle position of the steering wheel, the APA judges that the parking is finished and immediately releases the control of the EPS;
s3: if the vehicle is close to the parking space, the steering wheel is located in a position area deviating from the middle position by a large angle, the APA keeps the target rotation angle request to be 0 degree under the working condition of a certain vehicle speed, the vehicle is driven to move forwards and backwards and to move straight for a period of time, the steering wheel is driven to return to the middle position until the control of the EPS is released after the vehicle is completely parked in the parking space, and the parking is completed.
According to the scheme, in the step S1, the crawling vehicle speed is greater than the vehicle speed threshold value 1; the steering wheel angle in the area near the middle position is less than or equal to an angle threshold value 1; the speed of a certain speed is greater than a speed threshold value 2; a period of time satisfies time threshold 1.
According to the scheme, in the step S2, the steering wheel angle deviating from the middle large angle position area is greater than or equal to the angle threshold value 2; the speed of a certain speed is less than a speed threshold value 3; a period of time satisfies time threshold 2.
An automatic parking control optimization system comprises an automatic parking control module APA and a steering power-assisted output control module EPS which are connected through a signal interaction module; the automatic parking control module is used for deciding a target control request of the transverse and longitudinal movement of the vehicle based on the detection of the surrounding environment and the distance of the obstacle by the radar and the vehicle information; the signal interaction module comprises a CAN bus and is used for interacting signals of each module and transmitting vehicle information and APA (advanced peripheral access architecture) target control request information for the transverse and longitudinal movement of the vehicle to a corresponding execution system; the steering power-assisted output control module is used for controlling a target steering wheel angle request of the APA and real-time steering wheel position feedback information acquired by a steering wheel angle torque sensor SAS, and realizing the transverse control of the vehicle.
According to the scheme, the system further comprises a radar, a steering wheel angle torque sensor SAS, a motor position sensor, a brushless motor and a steering mechanism group, wherein the radar is connected to the automatic parking control module, and the steering wheel angle torque sensor SAS, the motor position sensor, the brushless motor and the steering mechanism group are respectively connected to the power-assisted steering output control module.
A computer storage medium having stored therein a computer program executable by a computer processor, the computer program executing an automatic parking control optimization method.
The invention has the beneficial effects that:
1. according to the automatic parking control optimization method and system, elastic deformation of wheels is eliminated in the dynamic straight-ahead process of the vehicle through control logic optimization of the EPS by the APA, the steering wheel is guaranteed to be stabilized at the middle position after automatic parking exits, and the problem that the steering wheel accidentally rebounds from the middle position for a certain angle after automatic parking is completed is solved.
2. The invention ensures that the steering wheel is stabilized at the middle position after the automatic parking exits.
3. The invention improves the final control effect and the customer experience of the whole parking process.
Drawings
FIG. 1 is a flow chart of an embodiment of the present invention.
Fig. 2 is a schematic block diagram of an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, an embodiment of the present invention includes an automatic parking control module and a power steering output control module connected through a signal interaction module, and further includes a radar, a steering wheel angle torque sensor SAS, a motor position sensor, a brushless motor, and a steering mechanism group, wherein the radar is connected to the automatic parking control module, and the steering wheel angle torque sensor SAS, the motor position sensor, the brushless motor, and the steering mechanism group are respectively connected to the power steering output control module;
1) the automatic parking control module is used for deciding a target control request of the transverse and longitudinal movement of the vehicle based on the detection of the surrounding environment and the distance of the obstacle by the radar and the vehicle information;
2) the signal interaction module is used for interacting signals of each module through a CAN bus and transmitting vehicle information and APA (advanced peripheral access architecture) target control request information for the transverse and longitudinal movement of the vehicle to a corresponding execution system;
3) the steering power-assisted output control module is used for controlling a target steering wheel turning angle request of the APA and real-time steering wheel position feedback information acquired by a steering wheel turning angle torque sensor SAS, so that transverse control over a vehicle is realized;
the automatic parking control optimization method provided by the embodiment of the invention comprises the following steps of:
s0: the APA requests to control the EPS and the handshake is successful;
s1: in the parking process of the vehicle, the APA continuously sends a target steering wheel angle request to the EPS;
s2: if the APA target turning angle request is gradually changed from a large angle to zero degree under the working condition of idle crawling (the vehicle speed is larger than the vehicle speed threshold value 1), the vehicle runs for a period of time (the time threshold value 1) at a certain speed (the vehicle speed is larger than the vehicle speed threshold value 2) in an area near the middle position (the steering wheel angle is smaller than or equal to the angle threshold value 1), and the conditions are met, the APA can be used for considering that the parking is finished and immediately releasing the control over the EPS.
S3: if the steering wheel is located in an area which is deviated from a middle position by a large angle (the angle of the steering wheel is more than or equal to an angle threshold value 2) when the vehicle is basically parked in the parking space, the APA needs to drive the steering wheel to return to the middle position under the working condition of a certain vehicle speed (the vehicle speed is less than a vehicle speed threshold value 3), the APA can not directly release the control on the EPS at the moment, the target turning angle request needs to be kept equal to 0 degree, and after the vehicle is driven to move forwards and backwards for a period of time (the time threshold value 2 is met) and is completely parked in the parking space, the control on the EPS is released again, and the parking is completed. Through the process of the dynamic straight-ahead running of the vehicle, the elastic deformation of the wheels is eliminated, and the steering wheel is ensured to be stabilized at the middle position after the automatic parking exits. And the final control effect of the whole parking process is improved.
It is considered within the scope of the present invention to optimize the lateral control before the parking exit, whether the logic is located in the APA or in the EPS or other controller.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (6)
1. An automatic parking control optimization method is characterized in that: the method comprises the following steps:
s0: the APA requests to control the EPS and the handshake is successful;
s1: in the parking process of the vehicle, the APA continuously sends a target steering wheel angle request to the EPS;
s2: if the target turning angle request of the APA is gradually changed from a large angle to zero degree under the working condition of idling and crawling of the vehicle, and the vehicle runs for a period of time at a certain speed in the area close to the middle position of the steering wheel, the APA judges that the parking is finished and immediately releases the control of the EPS;
s3: if the vehicle is close to the parking space, the steering wheel is located in a position area deviating from the middle position by a large angle, the APA keeps the target rotation angle request to be 0 degree under the working condition of a certain vehicle speed, the vehicle is driven to move forwards and backwards and to move straight for a period of time, the steering wheel is driven to return to the middle position until the control of the EPS is released after the vehicle is completely parked in the parking space, and the parking is completed.
2. The automatic parking control optimization method according to claim 1, characterized in that: in the step S2, the step of,
the crawling vehicle speed is greater than a vehicle speed threshold value 1;
the steering wheel angle in the area near the middle position is less than or equal to an angle threshold value 1;
the speed of a certain speed is greater than a speed threshold value 2;
a period of time satisfies time threshold 1.
3. The automatic parking control optimization method according to claim 1, characterized in that: in the above-mentioned step S3, the step,
the angle of the steering wheel deviating from the middle large angle position area is greater than or equal to an angle threshold value 2;
the speed of a certain speed is less than a speed threshold value 3;
a period of time satisfies time threshold 2.
4. A system for the automatic parking control optimization method according to any one of claims 1 to 3, characterized in that: the system comprises an automatic parking control module APA and a steering power-assisted output control module EPS which are connected through a signal interaction module;
the automatic parking control module is used for deciding a target control request of the transverse and longitudinal movement of the vehicle based on the detection of the surrounding environment and the distance of the obstacle by the radar and the vehicle information;
the signal interaction module comprises a CAN bus and is used for interacting signals of each module and transmitting vehicle information and APA (advanced peripheral access architecture) target control request information for the transverse and longitudinal movement of the vehicle to a corresponding execution system;
the steering power-assisted output control module is used for controlling a target steering wheel angle request of the APA and real-time steering wheel position feedback information acquired by a steering wheel angle torque sensor SAS, and realizing the transverse control of the vehicle.
5. The system for an automated parking control optimization method according to claim 1, characterized in that:
the system comprises a steering wheel angle torque sensor SAS, a motor position sensor, a brushless motor and a steering mechanism group, wherein the radar is connected to an automatic parking control module, and the steering wheel angle torque sensor SAS, the motor position sensor, the brushless motor and the steering mechanism group are respectively connected to a power steering output control module.
6. A computer storage medium, characterized in that: stored therein is a computer program executable by a computer processor, the computer program performing an automated parking control optimization method according to any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210186513.0A CN114475782A (en) | 2022-02-28 | 2022-02-28 | Automatic parking control optimization method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210186513.0A CN114475782A (en) | 2022-02-28 | 2022-02-28 | Automatic parking control optimization method and system |
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| CN202210186513.0A Pending CN114475782A (en) | 2022-02-28 | 2022-02-28 | Automatic parking control optimization method and system |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1690777A1 (en) * | 2005-02-10 | 2006-08-16 | Robert Bosch Gmbh | Method and system for supporting a semi-autonomous parking procedure of motor vehicles |
| CN102498027A (en) * | 2009-09-14 | 2012-06-13 | 罗伯特·博世有限公司 | Method for parking a vehicle |
| CN105416391A (en) * | 2014-09-17 | 2016-03-23 | 福特全球技术公司 | Autopark steering wheel snap reduction |
| CN108407803A (en) * | 2018-02-05 | 2018-08-17 | 华南理工大学 | A kind of automatic parking control algolithm based on driving experience |
| CN108422996A (en) * | 2018-05-10 | 2018-08-21 | 江铃汽车股份有限公司 | A kind of parking system and automatic parking control method of integrated BSD, SDG function |
| CN112172791A (en) * | 2020-09-14 | 2021-01-05 | 武汉乐庭软件技术有限公司 | Automatic parking speed planning method and device based on path curvature and storage device |
| CN113602258A (en) * | 2021-08-31 | 2021-11-05 | 奇瑞新能源汽车股份有限公司 | Parking method and device for vehicle and vehicle |
-
2022
- 2022-02-28 CN CN202210186513.0A patent/CN114475782A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1690777A1 (en) * | 2005-02-10 | 2006-08-16 | Robert Bosch Gmbh | Method and system for supporting a semi-autonomous parking procedure of motor vehicles |
| CN102498027A (en) * | 2009-09-14 | 2012-06-13 | 罗伯特·博世有限公司 | Method for parking a vehicle |
| CN105416391A (en) * | 2014-09-17 | 2016-03-23 | 福特全球技术公司 | Autopark steering wheel snap reduction |
| CN108407803A (en) * | 2018-02-05 | 2018-08-17 | 华南理工大学 | A kind of automatic parking control algolithm based on driving experience |
| CN108422996A (en) * | 2018-05-10 | 2018-08-21 | 江铃汽车股份有限公司 | A kind of parking system and automatic parking control method of integrated BSD, SDG function |
| CN112172791A (en) * | 2020-09-14 | 2021-01-05 | 武汉乐庭软件技术有限公司 | Automatic parking speed planning method and device based on path curvature and storage device |
| CN113602258A (en) * | 2021-08-31 | 2021-11-05 | 奇瑞新能源汽车股份有限公司 | Parking method and device for vehicle and vehicle |
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Application publication date: 20220513 |