CN117002481A - Vehicle gradient control method and device in passenger parking process - Google Patents
Vehicle gradient control method and device in passenger parking process Download PDFInfo
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- CN117002481A CN117002481A CN202210465310.5A CN202210465310A CN117002481A CN 117002481 A CN117002481 A CN 117002481A CN 202210465310 A CN202210465310 A CN 202210465310A CN 117002481 A CN117002481 A CN 117002481A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18118—Hill holding
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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
- B60W40/02—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 related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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Abstract
The invention relates to a vehicle gradient control method in a passenger parking process. The method comprises the following steps: a recording step of sequentially recording a longitudinal travel distance, an SAS angle and a gradient of each of n vehicle positions according to a parking route sequence of the vehicle parking passing positions; judging whether the gradient of the vehicle position at which the parking route is ended is smaller than or equal to a gradient threshold value, and taking the vehicle position as a final parking position when the gradient threshold value is smaller than or equal to the gradient threshold value, otherwise, executing the following backtracking control step; and backtracking control step, namely providing the longitudinal driving distance and the SAS angle of the vehicle position to the upper controller according to a reverse parking route sequence which is opposite to the parking route sequence, and controlling the vehicle to turn back in sequence according to the reverse parking route sequence by the upper controller until the gradient of the vehicle position is less than or equal to the gradient threshold value.
Description
Technical Field
The present invention relates to a vehicle control technique, and more particularly to a vehicle gradient control method and a vehicle gradient control device in a passenger parking process.
Background
Currently, in a passenger parking process (AVP), since the driver is not in the vehicle or near the vehicle, the vehicle may be parked on a slope beyond the parking capability (depending on the parking actuator), which is currently solved by functional safety requirements, such as ASIL B/C. For example, emergency braking is performed when a gradient that is too high is detected during running of the vehicle, and the driver is warned to take over if the vehicle is stopped at a gradient that is too high.
In particular, existing solutions typically take emergency braking when an excessive grade is detected. But on downhill grades, emergency braking does not ensure that the road ahead is not so steep, so the vehicle is likely to be stopped on a grade that is too high. Moreover, in automated passenger parking, the driver is typically too far apart to take over the vehicle. Thus, the warning concept is not a good solution either.
Moreover, in existing automatic passenger parking, the estimation of gradient during travel is not robust enough, if the gradient is too high, emergency braking and suspension of AVP maneuver may also result in too frequent termination of AVP function.
Disclosure of Invention
In view of the foregoing, the present invention aims to provide a vehicle gradient control method and a vehicle gradient control device in a proxy parking process that are more robust.
The vehicle gradient control method in the passenger parking process according to one aspect of the invention is characterized by comprising the following steps:
a recording step of sequentially recording a longitudinal travel distance, an SAS angle and a gradient of each of n vehicle positions according to a parking route sequence from the start of the valet parking process to the end of the valet parking process, wherein the parking route sequence is sequentially composed of a 1 st vehicle position, a 2 nd vehicle position, a … … n-1 st vehicle position and an n-th vehicle position, wherein the n-th vehicle position is a parking position at which the valet parking process is ended, and n is a natural number;
a determination step of determining whether the gradient of the nth vehicle position is equal to or less than a preset gradient threshold value, wherein the nth vehicle position is used as a final parking position when the gradient of the nth vehicle position is determined to be equal to or less than the gradient threshold value, and the vehicle is caused to execute a backtracking control step described below when the gradient of the vehicle is determined to be greater than the gradient threshold value; and
a backtracking control step of providing a longitudinal travel distance and a SAS angle of the vehicle position from an n-1 th vehicle position in a reverse parking route sequence reverse to the parking route sequence, controlling, by the upper controller, the vehicle to turn back in the reverse parking route sequence based on the provided longitudinal travel distance and SAS angle of the vehicle position until a gradient at the m-th vehicle position is equal to or less than the gradient threshold value, and taking the m-th vehicle position as a final parking position, wherein m is 1.ltoreq.m < n and m is a natural number.
Optionally, in the recording step, for each gradient of the vehicle position, the gradient of the vehicle position is compared with the gradient threshold value, and the vehicle position whose gradient is less than or equal to the gradient threshold value is marked as a gradient-eligible vehicle position, and the vehicle position whose gradient is greater than the gradient threshold value is marked as a gradient-ineligible vehicle position.
Optionally, in the backtracking control step, a longitudinal travel distance and a SAS angle of the vehicle position are provided to the host controller from the n-1 th vehicle position and bypassing the grade-failure vehicle position in a reverse parking route sequence that is reverse to the parking route sequence, and the vehicle is controlled to turn back in the reverse parking route sequence and based on the provided longitudinal travel distance and SAS angle of the vehicle position by the host controller.
Optionally, in the recording step, a vehicle speed, a SAS angle, and a gradient are recorded, and the longitudinal travel distance is obtained based on the vehicle speed and the SAS angle.
Optionally, in the recording step, it is determined whether the position should be recorded according to the vehicle speed and SAS angle.
Optionally, in the recording step, for each gradient of the vehicle position, comparing the gradient of the vehicle position with the gradient threshold value includes:
for a stationary vehicle, comparing a grade of a vehicle position to the grade threshold; and
for a traveling vehicle, the gradient of the vehicle position is compared with a gradient threshold above which a prescribed travel offset is added.
The vehicle gradient control device in a passenger parking process according to an aspect of the present invention is characterized by comprising:
the system comprises a recording processing module, a processing module and a processing module, wherein the recording processing module is used for sequentially recording the longitudinal running distance, the SAS angle and the gradient of each of n vehicle positions according to the sequence of a parking route from the start of the valet parking process to the end of the valet parking process from the vehicle parking process to the position where the vehicle parking process is finished, wherein the sequence of the parking route is sequentially composed of a 1 st vehicle position, a 2 nd vehicle position, a … … n-1 th vehicle position and an n vehicle position, wherein the n vehicle position is the parking position where the valet parking process is finished, and n is a natural number;
the vehicle control device comprises a judgment processing module, a backtracking control module and a backtracking control module, wherein the judgment processing module is used for judging whether the gradient of the nth vehicle position is smaller than or equal to a preset gradient threshold value, taking the nth vehicle position as a final parking position when the gradient of the nth vehicle position is smaller than or equal to the gradient threshold value, and enabling the vehicle to execute the following action of the backtracking control module when the gradient of the vehicle is larger than the gradient threshold value; and
and the backtracking control module is used for providing the longitudinal running distance and the SAS angle of the vehicle position from the n-1 vehicle position to the upper controller according to a reverse parking route sequence which is opposite to the parking route sequence, controlling the vehicle to turn back in the reverse parking route sequence by the upper controller based on the provided longitudinal running distance and the SAS angle of the vehicle position until the gradient of the m-th vehicle position is less than or equal to the gradient threshold value, and taking the m-th vehicle position as a final parking position, wherein m is greater than or equal to 1 and less than n and is a natural number.
Optionally, in the recording module, for each gradient of the vehicle position, the gradient of the vehicle position is compared with the gradient threshold value, and the vehicle position with the gradient less than or equal to the gradient threshold value is recorded as the gradient-qualified vehicle position, and the vehicle position with the gradient greater than the gradient threshold value is recorded as the gradient-unqualified vehicle position.
Optionally, in the backtracking control module, a longitudinal travel distance and a SAS angle of the vehicle position are provided to the upper controller from the n-1 th vehicle position and skipping the grade-failure vehicle position in a reverse parking route sequence reverse to the parking route sequence, and the vehicle is controlled to turn back in the reverse parking route sequence and based on the provided longitudinal travel distance and SAS angle of the vehicle position by the upper controller.
Optionally, in the recording module, a vehicle speed, a SAS angle, and a gradient are recorded, wherein the longitudinal travel distance is obtained based on the vehicle speed and the SAS angle.
Optionally, in the recording module, it is determined whether the position should be recorded according to the vehicle speed and SAS angle.
Optionally, in the recording module, for each gradient of the vehicle position, comparing the gradient of the vehicle position with the gradient threshold value includes: for a stationary vehicle, comparing a grade of a vehicle position to the grade threshold; for a traveling vehicle, the gradient of the vehicle position is compared to a gradient threshold that increases the travel offset above the gradient threshold.
A computer readable medium of an aspect of the present invention has stored thereon a computer program which, when executed by a processor, implements the vehicle gradient control method in the proxy parking process.
The computer equipment comprises a storage module, a processor and a computer program which is stored on the storage module and can run on the processor, wherein the processor realizes the vehicle gradient control method in the passenger parking process when executing the computer program.
Drawings
Fig. 1 is a flowchart of a vehicle gradient control method in a proxy parking process of the present invention.
Fig. 2 is a flowchart illustrating a vehicle gradient control method in a proxy parking process according to an embodiment of the present invention.
Fig. 3 shows a trajectory of a vehicle passing through a position.
Fig. 4 shows a schematic diagram of recording the position of the vehicle passing by.
Fig. 5 shows a schematic diagram of the vehicle position information of the reverse parking route sequence after the conversion recording.
Fig. 6 shows a schematic diagram of the vehicle position information recorded after conversion and supplied to the upper controller.
Fig. 7 is a block diagram showing the configuration of a vehicle gradient control device in the passenger parking process of the present invention.
Detailed Description
The following presents a simplified summary of the invention in order to provide a basic understanding of the invention. It is not intended to identify key or critical elements of the invention or to delineate the scope of the invention.
For the purposes of brevity and explanation, the principles of the present invention are described herein primarily with reference to exemplary embodiments thereof. However, those skilled in the art will readily recognize that the same principles are equally applicable to vehicle gradient control methods and vehicle gradient control devices in all types of passenger parking processes, and that these same principles may be implemented therein, and that any such variations do not depart from the true spirit and scope of the present patent application.
First, a vehicle gradient control method in a proxy parking process according to the present invention will be described.
The concept of the vehicle gradient control method in the passenger parking process of the present invention is to acquire the gradient, gradient threshold (calculated by the parking brake actuator), SAS angle (steering angle) and four-wheel speed of the vehicle, calculate and record the position where the vehicle has passed during the operation of the passenger parking process using these acquired signals, check the gradient of the vehicle when the vehicle reaches a final stop, try to return the vehicle to try to find a position where the gradient is appropriate (i.e., a position where the gradient is smaller than the gradient threshold) if the gradient of the vehicle exceeds the gradient threshold, send the gradient and SAS angle of the vehicle from near to far to the host controller, and control the vehicle to return to an appropriate gradient and park as in the normal passenger parking process if the host controller determines the appropriate position (i.e., a position where the gradient is smaller than the gradient threshold).
Fig. 1 is a flowchart of a vehicle gradient control method in a proxy parking process of the present invention.
As shown in fig. 1, the vehicle gradient control method in the proxy parking process of the present invention includes:
recording step S100: sequentially recording the longitudinal driving distance, the SAS angle and the gradient of each of n vehicle positions according to the parking route sequence from the start of the parking process of the vehicle to the end of the parking process of the vehicle, wherein the parking route sequence is sequentially composed of a 1 st vehicle position, a 2 nd vehicle position, a … … n-1 st vehicle position and an n-th vehicle position, n is a natural number, and the n-th vehicle position is the vehicle position representing the end of the parking process of the vehicle;
judgment step S200: judging whether the gradient of the nth vehicle position is smaller than or equal to a preset gradient threshold value, taking the nth vehicle position as a final parking position when the gradient of the nth vehicle position is smaller than or equal to the gradient threshold value, and enabling the vehicle to execute a backtracking control step S300 when the gradient of the vehicle is larger than the gradient threshold value; and
backtracking control step S300: providing a longitudinal travel distance and a SAS angle of the vehicle position from the n-1 th vehicle position to the host controller in a reverse parking route sequence (sequence of the n-1 th vehicle position, the n-2 nd vehicle position, the n-3 rd vehicle position … …) which is reverse to the parking route sequence, controlling the vehicle to turn back in the reverse parking route sequence by the host controller based on the provided longitudinal travel distance and SAS angle of the vehicle position until a gradient at the m-th vehicle position is equal to or less than the gradient threshold value, and taking the m-th vehicle position as a final parking position, wherein 1.ltoreq.m < n and m is a natural number.
Preferably, in the recording step S100, the gradient of each vehicle position is compared with the gradient threshold value, and the vehicle position with the gradient less than or equal to the gradient threshold value is marked as a gradient-qualified vehicle position, and the vehicle position with the gradient greater than the gradient threshold value is marked as a gradient-unqualified vehicle position.
Preferably, in the backtracking control step S300, the longitudinal travel distance and SAS angle of the vehicle position are provided to the host controller from the n-1 vehicle position and by skipping the off-grade vehicle position in the reverse parking route sequence that is the reverse of the parking route sequence, and the host controller controls the vehicle to return in the reverse parking route sequence based on the provided longitudinal travel distance and SAS angle of the vehicle position.
Wherein in the recording step, a vehicle speed, an SAS angle, and a gradient are recorded, and a longitudinal travel distance is obtained based on the vehicle speed and the SAS angle. As an example, for example, a correspondence table between the vehicle speed and the SAS angle and the longitudinal travel distance is previously established and stored, and the longitudinal travel distance corresponding thereto can be obtained from the vehicle speed and the SAS angle based on the correspondence table.
Further, considering the problem in the prior art that estimation of gradient during travel is often not robust enough, in the present invention, the comparison of gradient of a traveling vehicle and a stationary vehicle to a gradient threshold takes place in different ways: for a stationary vehicle, comparing a grade of a vehicle position to the grade threshold; for a traveling vehicle, the gradient of the vehicle position is compared with a gradient threshold above which a prescribed travel offset is added. Thus, the problem of inaccurate gradient estimation in the prior art can be eliminated.
Next, a specific embodiment of the vehicle gradient control method in the passenger parking process of the present invention will be described.
Fig. 2 is a flowchart illustrating a vehicle gradient control method in a proxy parking process according to an embodiment of the present invention.
In the present embodiment, NRCS (near range camera system, parking item in which an ultrasonic radar and a camera are integrated) is used as the upper controller. The far right (T0 to T4) in fig. 2 represents the related operation of NRCS, the middle (H1 to H8) in fig. 2 represents the related operation of the proxy parking process (AVP), and the far right represents the related operation of the vehicle gradient control method of the present invention.
As shown in fig. 2, the NRCS requests start of the proxy parking process (T0 in fig. 2), and at the start of the proxy parking process (H1 in fig. 2), the recording of the position of the vehicle (S1 in fig. 2) is started, specifically, the current vehicle position is recorded using the longitudinal travel distance (calculated from the wheel speed in the brake actuator), the SAS angle, and the gradient, for example, as: [ Dis (0), ang (0), slope (0) ], [ Dis (1), ang (1), slope (1) ], … …, [ Dis (n), ang (n), slope (n) ]. Here, dis represents a longitudinal form distance, ang represents a SAS angle, slope represents a gradient, and recording is performed in order from 0 to n (0 represents a vehicle position at which the valet parking process starts, n represents a vehicle position at which the valet parking process ends), that is, from a previously recorded position to a current position, or it may be understood that recording is performed sequentially in order of a parking route of a vehicle parking passing position.
Fig. 3 shows a trajectory of a vehicle passing through a position. In the present invention, the position is calculated and recorded based on the vehicle speed and SAS angle. Moreover, faster vehicle speeds and faster SAS angles facilitate more frequent recording. In the invention, the longitudinal running distance can be recorded according to the speed and the SAS angle, for example, the longitudinal running distance to be recorded can be obtained by setting a 3-D table according to the speed and the SAS angular point search. In addition, for special cases, if the SAS angle is changed in a stationary state of the vehicle, both the start and end angles should be recorded.
Next, during the proxy parking process (H2 in fig. 2), it is determined whether the position should be recorded according to the vehicle speed and the SAS angle (S2 in fig. 2).
Next, also during the course of the proxy parking process (H2 in fig. 2), it is determined whether the memory of the ECU is sufficiently stored, and if the memory capacity is insufficient, only a prescribed number of vehicle positions, for example, the last 50 vehicle positions may be selectively stored (S3 in fig. 2).
Next, still during the host parking process (H2 in fig. 2), it is determined whether the gradient of the stationary vehicle or the traveling vehicle is appropriate, that is, whether the gradient is equal to or less than the gradient threshold value (S4 in fig. 2). Wherein, the comparison of the gradient of the running vehicle and the stationary vehicle with the gradient threshold value takes different modes: for a stationary vehicle, comparing a grade of a vehicle position to the grade threshold; for a traveling vehicle, the gradient of the vehicle position is compared with a gradient threshold above which a prescribed travel offset is added.
Fig. 4 shows a schematic diagram of recording the position of the vehicle passing by. As shown in fig. 4, the longitudinal travel distance (calculated from the wheel speed in the brake actuator), SAS angle and gradient are used to record the current vehicle position, for example as: [ Dis (0), ang (0), slope (0) ], [ Dis (1), ang (1), slope (1) ], [ Dis (2), ang (2), slope (2) ], … …, [ Dis (n-1), ang (n-1), slope (n-1) ], [ Dis (n), ang (n), slope (n) ], and whether the gradient of the vehicle is appropriate is determined at each location.
By comparison with the gradient threshold values, [ Dis (0), ang (0), slope (0) ] and [ Dis (2), ang (2), slope (2) ] in fig. 4 are judged as being suitable for gradient and marked as a gradient-eligible vehicle position, whereas [ Dis (1), ang (1), slope (1) ], [ Dis (n-1), ang (n-1), slope (n-1) ], [ Dis (n), ang (n), slope (n) ] are judged as being unsuitable for gradient and marked as a non-eligible vehicle position. In fig. 4, the vehicle eventually stops on an excessively high slope.
In addition, between the start of the automatic parking process and the end of the valet parking process (H3 in fig. 2), if the upper controller requests the end or the emergency stop of the brake system (T1 in fig. 2), the end of the valet parking process is entered directly (H3 in fig. 2).
Then, at the end of the host parking process (H3 in fig. 2), when the vehicle finally stops, it is checked whether the current gradient of the vehicle is appropriate, that is, it is determined whether the current gradient of the vehicle is equal to or less than a gradient threshold value, and if it is equal to or less than the gradient threshold value, the final vehicle position is recorded (S5 in fig. 2) and the maneuver of the vehicle is ended (S6 in fig. 2).
If the grade exceeds the grade threshold, feedback is provided to an upper controller (e.g., NRCS) to initiate backtracking control (H4 in FIG. 2), and previously recorded vehicle positions such as [ Dis (0), ang (0), slope (0) ] [ Dis (n), ang (n), slope (n) ] are converted to [ Dis (k), ang (k), slope (k) ] [ TarDis (0), tarAng (0), tarSlope (0) ] (S7 in FIG. 2).
Next, the longitudinal travel distance and SAS angle are supplied to the upper controller (S7 in fig. 2) and waiting for confirmation (H5 in fig. 2) in the reverse parking route order from near to far, i.e., the order reverse to the parking route order, i.e., [ TarDis (0), tarAng (0), tarSlope (0) ], [ TarDis (1), tarAng (1), tarSlope (1) ] … … [ TarDis (k-2), tarAng (k-2) ], [ TarDis (k-1), tarAng (k-1), tarSlope (k) ]. Fig. 5 shows a schematic diagram of the vehicle position information of the reverse parking route sequence after the conversion recording.
As a preferred mode, the longitudinal travel distance and SAS angle of the vehicle position marked as grade-off may be provided to the host controller, bypassing the vehicle position marked as grade-off.
Fig. 6 shows a schematic diagram of the vehicle position information recorded after conversion and supplied to the upper controller.
As shown in fig. 6, the longitudinal travel distance and SAS angle of the vehicle position marked as grade-accepted ([ TarDis (k-2), tarAng (k-2), tarSlope (k-2) ], [ TarDis (k), tarAng (k), tarSlope (k) ]) are sequentially supplied to the host controller in reverse parking route order reverse to the parking route order and skip the vehicle positions marked as grade-failed (skip [ TarDis (0), tarAng (0), tarSlope (0) ], [ TarDis (1), tarAng (1), tarSlope (k) ],) and wait for confirmation.
After confirming the preferred position (H6 in fig. 2), for example [ TarDis (5), tarAngle (5), tarSlope (5) ], the upper controller transmits a control request such that the vehicle folds back to the position (H7 in fig. 2) like normal parking, checks again whether the gradient is appropriate, i.e., whether or not it is equal to or less than the gradient threshold value (H8 in fig. 2), if the gradient is equal to or less than the gradient threshold value, the host parking process operation ends (H9 in fig. 2), and if the gradient is still greater than the gradient threshold value, the longitudinal travel distance and SAS angle of the next vehicle position are supplied to the upper controller in the order of fig. 6, i.e., the above-described H4, H5, H6, H7, H8 are repeatedly performed (e.g., the longitudinal travel distance and SAS angle are transmitted to the NRCS through the ESP/IPB, the NRCS control/IPB folds back), until the gradient threshold value folded back to the vehicle position is equal to or less than the gradient threshold value, the host parking process operation ends (H9 in fig. 2).
Fig. 7 is a block diagram showing the configuration of a vehicle gradient control device in the passenger parking process of the present invention.
As shown in fig. 7, the vehicle gradient control device 100 in the proxy parking process of the present invention includes:
a record processing module 110, configured to record, sequentially, from a start of a valet parking process to an end of the valet parking process, a longitudinal travel distance, an SAS angle, and a gradient of each of n vehicle positions in a parking route sequence of the vehicle parking passing positions, where the parking route sequence is sequentially composed of a 1 st vehicle position, a 2 nd vehicle position, a … … n-1 st vehicle position, and an n-th vehicle position, and n is a natural number;
a determining and processing module 120, configured to determine whether the gradient of the nth vehicle position is equal to or less than a preset gradient threshold, and when determining that the gradient threshold is equal to or less, take the nth vehicle position as a final parking position, and when determining that the gradient of the vehicle is greater than the gradient threshold, cause the vehicle to execute the following operation of the backtracking control module; and
the backtracking control module 130 is configured to provide, to the host controller, a longitudinal travel distance and a SAS angle of the vehicle position from an nth vehicle position in a reverse parking route sequence opposite to the parking route sequence, control, by the host controller, the vehicle to turn back in the reverse parking route sequence based on the provided longitudinal travel distance and SAS angle of the vehicle position until a gradient at the mth vehicle position is equal to or less than the gradient threshold, and make the mth vehicle position be a final parking position, where 1.ltoreq.m < n and m is a natural number.
Wherein, in the recording module 110, for each gradient of the vehicle position, the gradient of the vehicle position is compared with the gradient threshold value, and the vehicle position with the gradient less than or equal to the gradient threshold value is recorded as the gradient-qualified vehicle position, and the vehicle position with the gradient greater than the gradient threshold value is recorded as the gradient-unqualified vehicle position.
Wherein in the backtracking control module 130, the longitudinal travel distance and SAS angle of the vehicle position are provided to the host controller from the n-1-th vehicle position and skipping the grade-failure vehicle position in a reverse parking route sequence that is reverse to the parking route sequence, and the vehicle is controlled to turn back in the reverse parking route sequence and based on the provided longitudinal travel distance and SAS angle of the vehicle position by the host controller.
In the recording module 110, a vehicle speed, a SAS angle, and a gradient are recorded, and the longitudinal travel distance is obtained based on the vehicle speed and the SAS angle.
And judging whether the position is to be recorded or not according to the vehicle speed and the SAS angle in the recording module. Specifically, assuming that the control period of the current algorithm is 20ms, the specific determination of whether or not recording should be performed may be as follows: when the change in the vehicle speed at the previous time of the vehicle speed ratio at this time exceeds a certain threshold, for example, 0.5kph (the vehicle speed at the previous time may also be defined as the average vehicle speed at the previous N times), and when the SAS angle at this time exceeds the SAS angle at the previous time by a certain threshold, for example, 3 ° (the SAS angle at the previous time may also be defined as the average SAS angle at the previous N times) it may be determined that recording is to be performed. Wherein, in the recording module 110, for each gradient of the vehicle position, comparing the gradient of the vehicle position with the gradient threshold value includes: for a stationary vehicle, comparing a grade of a vehicle position to the grade threshold; for a traveling vehicle, the gradient of the vehicle position is compared to a gradient threshold that increases the travel offset above the gradient threshold.
A computer-readable medium according to an aspect of the present invention has stored thereon a computer program, which when executed by a processor, implements the vehicle gradient control method in the proxy parking process.
The computer equipment comprises a storage module, a processor and a computer program which is stored on the storage module and can run on the processor, and is characterized in that the computer program is executed by the processor to realize the vehicle gradient control method in the passenger parking process.
According to the vehicle gradient control method and the vehicle gradient control device in the passenger parking process, the vehicle can be finally and automatically parked on a slope which is not too high, and the vehicle can be parked in a relatively safe position. Moreover, the gradient in the driving process can be estimated more accurately, unnecessary emergency stop is avoided, and a slope passing treatment strategy with better robustness is provided. Furthermore, the present invention can estimate the gradient through the acceleration and longitudinal acceleration sensors of the vehicle without an additional gradient observation device, thereby enabling cost reduction.
The above examples mainly explain the vehicle gradient control method and the vehicle gradient control device in the proxy parking process of the present invention. Although only a few specific embodiments of the present invention have been described, those skilled in the art will appreciate that the present invention may be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and the invention is intended to cover various modifications and substitutions without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (14)
1. A vehicle gradient control method in a proxy parking process, comprising:
a recording step of sequentially recording a longitudinal travel distance, an SAS angle and a gradient of each of n vehicle positions according to a parking route sequence of a vehicle parking passing position from the start of a vehicle parking process to the end of the vehicle parking process, wherein the parking route sequence is sequentially composed of a 1 st vehicle position, a 2 nd vehicle position, a … … n-1 st vehicle position and an n-th vehicle position, wherein the n-th vehicle position is a parking position at which the vehicle parking process is ended, and n is a natural number;
a determination step of determining whether the gradient of the nth vehicle position is equal to or less than a preset gradient threshold value, wherein the nth vehicle position is used as a final parking position when the gradient of the nth vehicle position is determined to be equal to or less than the gradient threshold value, and the vehicle is caused to execute a backtracking control step described below when the gradient of the vehicle is determined to be greater than the gradient threshold value; and
a backtracking control step of providing a longitudinal travel distance and a SAS angle of the vehicle position from an n-1 th vehicle position in a reverse parking route sequence reverse to the parking route sequence, controlling, by the upper controller, the vehicle to turn back in the reverse parking route sequence based on the provided longitudinal travel distance and SAS angle of the vehicle position until a gradient at the m-th vehicle position is equal to or less than the gradient threshold value, and taking the m-th vehicle position as a final parking position, wherein m is 1.ltoreq.m < n and m is a natural number.
2. The method for controlling a gradient of a vehicle in a proxy parking process according to claim 1, wherein,
in the recording step, for each gradient of the vehicle position, the gradient of the vehicle position is compared with the gradient threshold value, and the vehicle position whose gradient is less than or equal to the gradient threshold value is marked as a gradient-eligible vehicle position, and the vehicle position whose gradient is greater than the gradient threshold value is marked as a gradient-ineligible vehicle position.
3. The method for controlling a gradient of a vehicle in a proxy parking process according to claim 2, wherein,
in the backtracking control step, a longitudinal travel distance and a SAS angle of the vehicle position are provided to the host controller from the n-1-th vehicle position in a reverse parking route sequence reverse to the parking route sequence and skipping the grade-failure vehicle position, and the vehicle is controlled to return in the reverse parking route sequence and based on the provided longitudinal travel distance and SAS angle of the vehicle position by the host controller.
4. The method for controlling a gradient of a vehicle in a proxy parking process according to claim 1, wherein,
in the recording step, a vehicle speed, a SAS angle, and a gradient are recorded, and the longitudinal travel distance is obtained based on the vehicle speed and the SAS angle.
5. The method for controlling a gradient of a vehicle in a proxy parking process according to claim 1, wherein,
in the recording step, it is judged whether the position should be recorded or not based on the vehicle speed and the SAS angle.
6. The method for controlling a gradient of a vehicle in a proxy parking process according to claim 2, wherein,
in the recording step, for each gradient of the vehicle position, comparing the gradient of the vehicle position with the gradient threshold value, respectively, includes:
for a stationary vehicle, comparing a grade of a vehicle position to the grade threshold; and
for a traveling vehicle, the gradient of the vehicle position is compared with a gradient threshold above which a prescribed travel offset is added.
7. A vehicle gradient control device in a proxy parking process, characterized by comprising:
the system comprises a recording processing module, a processing module and a processing module, wherein the recording processing module is used for sequentially recording the longitudinal driving distance, the SAS angle and the gradient of each of n vehicle positions according to the sequence of a parking route from the start of the valet parking process to the end of the valet parking process from the vehicle parking process to the position where the vehicle is parked, wherein the sequence of the parking route is sequentially composed of a 1 st vehicle position, a 2 nd vehicle position, a … … n-1 th vehicle position and an n vehicle position, the n vehicle position is the parking position where the valet parking process is ended, and n is a natural number;
the vehicle control device comprises a judgment processing module, a backtracking control module and a backtracking control module, wherein the judgment processing module is used for judging whether the gradient of the nth vehicle position is smaller than or equal to a preset gradient threshold value, taking the nth vehicle position as a final parking position when the gradient of the nth vehicle position is smaller than or equal to the gradient threshold value, and enabling the vehicle to execute the following action of the backtracking control module when the gradient of the vehicle is larger than the gradient threshold value; and
and the backtracking control module is used for providing the longitudinal running distance and the SAS angle of the vehicle position from the n-1 vehicle position to the upper controller according to a reverse parking route sequence which is opposite to the parking route sequence, controlling the vehicle to turn back in the reverse parking route sequence by the upper controller based on the provided longitudinal running distance and the SAS angle of the vehicle position until the gradient of the m-th vehicle position is less than or equal to the gradient threshold value, and taking the m-th vehicle position as a final parking position, wherein m is greater than or equal to 1 and less than n and is a natural number.
8. The vehicle gradient control device in a proxy parking process according to claim 7, wherein,
in the recording module, for each gradient of the vehicle position, the gradient of the vehicle position is compared with the gradient threshold value, and the vehicle position with the gradient less than or equal to the gradient threshold value is recorded as a gradient-qualified vehicle position, and the vehicle position with the gradient greater than the gradient threshold value is recorded as a gradient-unqualified vehicle position.
9. The vehicle gradient control device in a proxy parking process according to claim 8, wherein,
in the backtracking control module, a longitudinal travel distance and a SAS angle of the vehicle position are provided to the host controller from the n-1-th vehicle position and skipping the grade-failure vehicle position in a reverse parking route sequence that is reverse to the parking route sequence, and the vehicle is controlled to turn back in the reverse parking route sequence and based on the provided longitudinal travel distance and SAS angle of the vehicle position by the host controller.
10. The vehicle gradient control device in a proxy parking process according to claim 7, wherein,
in the recording module, a vehicle speed, a SAS angle, and a gradient are recorded, wherein the longitudinal travel distance is obtained based on the vehicle speed and the SAS angle.
11. The vehicle gradient control device in a proxy parking process according to claim 7, wherein,
and judging whether the position is to be recorded or not according to the vehicle speed and the SAS angle in the recording module.
12. The vehicle gradient control device in a proxy parking process according to claim 8, wherein,
in the recording module, for each gradient of the vehicle position, comparing the gradient of the vehicle position with the gradient threshold value, respectively, includes: for a stationary vehicle, comparing a grade of a vehicle position to the grade threshold; for a traveling vehicle, the gradient of the vehicle position is compared to a gradient threshold that increases the travel offset above the gradient threshold.
13. A computer readable medium having a computer program stored thereon, characterized in that,
the computer program, when executed by a processor, implements the vehicle gradient control method in the proxy parking process according to any one of claims 1 to 7.
14. A computer device comprising a memory module, a processor and a computer program stored on the memory module and executable on the processor, characterized in that the processor implements the vehicle gradient control method in a passenger parking process according to any one of claims 1-7 when executing the computer program.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210465310.5A CN117002481A (en) | 2022-04-29 | 2022-04-29 | Vehicle gradient control method and device in passenger parking process |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210465310.5A CN117002481A (en) | 2022-04-29 | 2022-04-29 | Vehicle gradient control method and device in passenger parking process |
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| CN117002481A true CN117002481A (en) | 2023-11-07 |
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| CN202210465310.5A Pending CN117002481A (en) | 2022-04-29 | 2022-04-29 | Vehicle gradient control method and device in passenger parking process |
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