CN204821553U - Speed of a motor vehicle control system of full -automatic in -process of parking of electric automobile - Google Patents
Speed of a motor vehicle control system of full -automatic in -process of parking of electric automobile Download PDFInfo
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- CN204821553U CN204821553U CN201520549964.1U CN201520549964U CN204821553U CN 204821553 U CN204821553 U CN 204821553U CN 201520549964 U CN201520549964 U CN 201520549964U CN 204821553 U CN204821553 U CN 204821553U
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Abstract
The utility model provides a speed of a motor vehicle control system of full -automatic in -process of parking of electric automobile, including parking controller, driving motor controller, analog voltage signal generator, sensor unit, brake pedal actuator. The controller of parking passes through the CAN bus with the driving motor controller and realizes the communication, the current ideal speed of a motor vehicle is constantly confirmed to current environment and vehicle information that the controller reading sensor module of parking was gathered to with ideal speed of a motor vehicle signal transmission to driving motor controller, the analog voltage signal generator is used for simulating accelerator pedal voltage signal, the brake pedal actuator is used for automatic car brakeing of parking after accomplishing, the driving motor controller is received the fast signal of wheel that the fast sensor of wheel gathered and is calculated the current actual speed of a motor vehicle constantly, contrasts and regulates and control received ideal speed of a motor vehicle signal and current actual speed of a motor vehicle signal, makes the actual speed of a motor vehicle approach the ideal speed of a motor vehicle, improves the effect of parking, improves the security and the travelling comfort of the process of parking.
Description
Technical field
The invention belongs to field of automobile control, particularly relate to the vehicle speed control system that a kind of electronlmobil full automaticity is parked in process.
Background technology
Along with the development of economic level and improving constantly of living standards of the people, car owning amount constantly increases, available parking space is fewer and feweri, road traffic accident quantity also more increases, a difficult problem of parking and highway traffic safety are more and more subject to people and pay close attention to, and the appearance of automated parking system solves the difficult problem of parking day by day perplexing car owner.Along with the fast development of electronlmobil, electronlmobil also will face the demand of automatic parking equally.
Automatic parking seen by existing market needs chaufeur regulation speed, and effect of parking is limited by the manipulation of chaufeur to the speed of a motor vehicle, adds the uncertain factor of parking and controlling, and affects effect of parking.In addition, current only orthodox car is confined to the research that full automaticity is parked, and due to orthodox car different from the speed of a motor vehicle control principle of electronlmobil, so the full automaticity parking system of orthodox car can not directly apply to electronlmobil.
Summary of the invention
In order to overcome the deficiency that prior art exists, the present invention proposes the vehicle speed control system that a kind of electronlmobil full automaticity is parked in process.Electronlmobil is parked after function at unlatching full automaticity, and without the need to chaufeur regulation speed, vehicle can complete according to path planning and turn to, travels and brake, and finally realizes automatic parking, is conducive to improvement and parks effect, improve safety and the traveling comfort of process of parking.
In order to solve the problems of the technologies described above, the object of the invention is to be achieved through the following technical solutions:
Electronlmobil full automaticity is parked the vehicle speed control system in process, it is characterized in that, comprises controller of parking, drive motor controller, analog voltage signal producer, sensor unit, brake pedal actuator;
Described sensor unit comprises steering wheel angle sensor, ultrasonic radar sensor and wheel speed sensors, described steering wheel angle sensor is arranged in the steering column below bearing circle, described ultrasonic radar sensor totally 4, front bumper, rear bumper are separately installed with 2, described wheel speed sensors totally 4, be arranged on four wheel places respectively, steering wheel angle sensor, ultrasonic radar sensor are connected with controller of parking, drive motor controller by CAN respectively with wheel speed sensors; Described controller and the drive motor controller of parking realizes communication by CAN; Described analog voltage signal producer respectively with controller of parking, drive motor controller, described brake pedal actuator is connected with controller of parking;
Described steering wheel angle sensor is for gathering steering wheel angle and dtc signal; Described ultrasonic radar sensor is for gathering the range information of this car and front and back obstacle; Described wheel speed sensors is for gathering each vehicle wheel rotational speed information; Described steering wheel angle sensor, ultrasonic radar sensor and wheel speed sensors send the information gathered separately to park controller and drive motor controller respectively;
Described controller of parking exports the desirable speed of a motor vehicle of current driving operating mode for the Current vehicle that gathers according to sensor assembly and peripheral obstacle range information, steering wheel angle information and wheel speed pulse information, and controls process of parking;
Described drive motor controller is used for the conversion of actual vehicle speed and regulates and controls current actual vehicle speed and constantly approach the desirable speed of a motor vehicle;
Described analog voltage signal producer is used for the actual voltage signal simulation Das Gaspedal voltage signal corresponding according to this moment desirable speed of a motor vehicle, analog voltage signal is directly sent to drive motor controller and produces terminal voltage, control running car with this;
Described brake pedal actuator is used for the car brakeing after automatic parking completes.
Preferably, described drive motor controller comprises data processing unit and algorithm regulation and control unit; Each vehicle wheel rotational speed information that described data processing unit is used for gathering according to wheel speed sensors calculates the actual vehicle speed of vehicle, described actual vehicle speed method of calculating is that each vehicle wheel rotational speed sum is multiplied by radius of wheel again divided by 4, in addition, data processing unit also processes output vehicle speed signal, show that corresponding dtc signal controls the Driving Torque of drive motor; Described algorithm regulation and control unit is used for the regulation and control of the speed of a motor vehicle, makes the actual vehicle speed in the process of parking constantly approach the real-time desirable speed of a motor vehicle.
Preferably, described brake pedal actuator adopts automatically controlled servoactuator.
Compared with existing scheme, the present invention has following technique effect:
1, in process of parking, chaufeur does not need regulation speed, chaufeur is obtained and liberates completely, improve the traveling comfort of the process of parking.
2, system can replace chaufeur to complete parking manoeuvres completely, the impact that effect of parking manipulate the speed of a motor vehicle by chaufeur, decreases the uncertain factor of parking and controlling, and is conducive to improvement and parks effect, and raising is parked the safety of process.
3, the equipment of the present invention's use is simple, and highly versatile, is being widely used in motor automobile.
Accompanying drawing explanation
Fig. 1 is the constructional drawing of the preferred embodiment of the present invention.
Fig. 2 is the workflow diagram of the preferred embodiment of the present invention.
Fig. 3 is the algorithm control unit control principle drawing of the preferred embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, the present invention is further illustrated, but protection scope of the present invention is not limited to this.
To know that beans electronlmobil is described as test carrier in the present embodiment, brake pedal actuator adopts automatically controlled servoactuator, and method for controlling driving speed adopts Fuzzy PID.As shown in Figure 1, the vehicle speed control system that electronlmobil full automaticity of the present invention is parked in process, comprises controller of parking, drive motor controller, analog voltage signal producer, sensor unit, brake pedal actuator.Described sensor unit comprises steering wheel angle sensor, ultrasonic radar sensor and wheel speed sensors, described steering wheel angle sensor is arranged in the steering column below bearing circle, described ultrasonic radar sensor totally 4, front bumper, rear bumper is separately installed with 2.Described wheel speed sensors totally 4, is arranged on four wheel places respectively, and steering wheel angle sensor, ultrasonic radar sensor are connected with controller of parking, drive motor controller by CAN respectively with wheel speed sensors.Described controller and the drive motor controller of parking realizes communication by CAN.Described analog voltage signal producer respectively with controller of parking, drive motor controller, described brake pedal actuator is connected with controller of parking; Described controller of parking exports the desirable speed of a motor vehicle of current driving operating mode for the Current vehicle that gathers according to sensor assembly and peripheral obstacle range information, steering wheel angle information and wheel speed pulse information.Described drive motor controller be used for actual vehicle speed conversion and between current actual vehicle speed and the desirable speed of a motor vehicle real-time regulation and control approach.Described analog voltage signal producer is used for the actual voltage signal simulation Das Gaspedal voltage signal corresponding according to this moment desirable speed of a motor vehicle, analog voltage signal is directly sent to drive motor controller and produces terminal voltage, control running car with this.Described steering wheel angle sensor is for gathering steering wheel angle and dtc signal; Described ultrasonic radar sensor is for gathering the range information of this car and front and back obstacle; Described for gathering each vehicle wheel rotational speed information; Described steering wheel angle sensor, ultrasonic radar sensor and wheel speed sensors send the information gathered separately to park controller and drive motor controller respectively.Described brake pedal actuator is used for the car brakeing after automatic parking completes.Concrete, described drive motor controller comprises data processing unit and algorithm regulation and control unit; Each vehicle wheel rotational speed information that described data processing unit is used for gathering according to wheel speed sensors calculates the actual vehicle speed of vehicle, described actual vehicle speed method of calculating is that each vehicle wheel rotational speed sum is multiplied by radius of wheel again divided by 4, in addition, data processing unit also processes output vehicle speed signal, show that corresponding dtc signal controls the Driving Torque of drive motor; Described algorithm regulation and control unit is used for the regulation and control of the speed of a motor vehicle, utilizes built-in closed loop control algorithm to make the actual vehicle speed in the process of parking constantly approach the real-time desirable speed of a motor vehicle.Preferably, the desirable speed of a motor vehicle vi acquisition methods of described current time, all set a best to each step of the process of parking in vehicle controller MCU on the berth to park the speed of a motor vehicle (i.e. current desirable speed of a motor vehicle vi), actually park in process, the signal that controller of parking is transmitted by receive direction dish rotary angle transmitter, ultrasonic radar sensor and wheel speed sensors, determine the current operation process of vehicle parking, by calling data and exportable current desirable speed of a motor vehicle vi in MCU.
A kind of electronlmobil full automaticity of the present invention park the vehicle speed control system in process workflow as shown in Figure 2.
Automobile driver opens automated parking system, and this method for controlling driving speed is started working.Wheel speed sensors detects the tach signal of four current wheels respectively, and this signal is sent to the data processing unit of driving governor, and data processing unit processes to it actual vehicle speed drawing current time
wherein, v
fl, v
fr, v
ll, v
lrbe respectively the rotating speed of front left wheel, the rotating speed of front right wheel, the rotating speed of rear revolver, the rotating speed of rear right wheel, r is radius of wheel, then actual vehicle speed signal va is sent to the algorithm control unit of drive motor controller.Park controller receive direction dish rotary angle transmitter, ultrasonic radar sensor and wheel speed sensors transmit signal, determine the operation process that Current vehicle is parked to draw the desirable speed of a motor vehicle v in this moment in current process thus with this
i, and desirable vehicle speed signal is sent to algorithm control unit and the analog voltage signal producer of drive motor controller.
Analog voltage signal producer receives the desirable vehicle speed signal of current time, and produces the voltage signal U of corresponding size according to the desirable vehicle speed signal of current time, and voltage signal U is sent to drive motor controller, and electrode produces terminal voltage U
d, drive motor work, electronlmobil produces the speed of a motor vehicle.
The algorithm regulation and control unit application Fuzzy PID that drive motor controller is built-in, as shown in Figure 3, to the current desirable speed of a motor vehicle v received
iwith actual vehicle speed v
acarry out contrast process and regulation and control, make actual vehicle speed v
aconstantly approach desirable speed of a motor vehicle v
i, thus the speed of a motor vehicle v that will park controls in ideal range.Such as, when automatic parking program just starts, vehicle stops, and current vehicle speed is 0km/h, the desirable speed of a motor vehicle v of first step process of supposing to park
i=10m/h, then now analog signal generator produces the drive motor terminal voltage U corresponding to the 10km/h speed of a motor vehicle
d, stimulate drive motor work to produce actual vehicle speed v
a, but this speed of a motor vehicle v
amay be greater than or less than 10km/h, the algorithm control unit now in driving governor starts effect, and its built-in Fuzzy PID makes this speed of a motor vehicle v
aconstantly approach 10km/h, thus automobile is produced close to the desirable speed of a motor vehicle, the speed of a motor vehicle v that parks is controlled in the ideal range of 9km/h ~ 11km/h.
The speed of a motor vehicle drawn is sent to data processing unit by algorithm regulation and control unit, and data processing unit is converted into dtc signal to this vehicle speed signal, and controls the Driving Torque T of drive motor with dtc signal, and then produces the speed of a motor vehicle v that parks in corresponding ideal range.
Controller of parking calls according to the information of sensor die block transfer controller MCU plug-in of parking, determine whether this car arrives appointment parking place, parking place A is specified if arrive, controller of parking sends work order to brake pedal actuator, actuator pressure brake pedal, stopping-down, has parked.
Make chaufeur park process without the need to regulation speed at whole electronlmobil full automaticity by above step, and the speed of a motor vehicle of parking controls within ideal range, improve effect of parking, improve safety and the traveling comfort of process of parking.
Described embodiment is preferred embodiment of the present invention; but the present invention is not limited to above-mentioned embodiment; when not deviating from flesh and blood of the present invention, any apparent improvement that those skilled in the art can make, replacement or modification all belong to protection scope of the present invention.
Claims (3)
1. electronlmobil full automaticity is parked the vehicle speed control system in process, it is characterized in that, comprises controller of parking, drive motor controller, analog voltage signal producer, sensor unit, brake pedal actuator;
Described sensor unit comprises steering wheel angle sensor, ultrasonic radar sensor and wheel speed sensors, described steering wheel angle sensor is arranged in the steering column below bearing circle, described ultrasonic radar sensor totally 4, front bumper, rear bumper are separately installed with 2, described wheel speed sensors totally 4, be arranged on four wheel places respectively, steering wheel angle sensor, ultrasonic radar sensor are connected with controller of parking, drive motor controller by CAN respectively with wheel speed sensors; Described controller and the drive motor controller of parking realizes communication by CAN; Described analog voltage signal producer respectively with controller of parking, drive motor controller, described brake pedal actuator is connected with controller of parking;
Described steering wheel angle sensor is for gathering steering wheel angle and dtc signal; Described ultrasonic radar sensor is for gathering the range information of this car and front and back obstacle; Described wheel speed sensors is for gathering each vehicle wheel rotational speed information; Described steering wheel angle sensor, ultrasonic radar sensor and wheel speed sensors send the information gathered separately to park controller and drive motor controller respectively;
Described controller of parking exports the desirable speed of a motor vehicle of current driving operating mode for the Current vehicle that gathers according to sensor assembly and peripheral obstacle range information, steering wheel angle information and wheel speed pulse information, and controls process of parking;
Described drive motor controller is used for the conversion of actual vehicle speed and regulates and controls current actual vehicle speed and constantly approach the desirable speed of a motor vehicle;
Described analog voltage signal producer is used for the actual voltage signal simulation Das Gaspedal voltage signal corresponding according to this moment desirable speed of a motor vehicle, analog voltage signal is directly sent to drive motor controller and produces terminal voltage, control running car with this;
Described brake pedal actuator is used for the car brakeing after automatic parking completes.
2. vehicle speed control system according to claim 1, is characterized in that, described drive motor controller comprises data processing unit and algorithm regulation and control unit; Each vehicle wheel rotational speed information that described data processing unit is used for gathering according to wheel speed sensors calculates the actual vehicle speed of vehicle, described actual vehicle speed method of calculating is that each vehicle wheel rotational speed sum is multiplied by radius of wheel again divided by 4, in addition, data processing unit also processes output vehicle speed signal, show that corresponding dtc signal controls the Driving Torque of drive motor; Described algorithm regulation and control unit is used for the regulation and control of the speed of a motor vehicle, makes the actual vehicle speed in the process of parking constantly approach the real-time desirable speed of a motor vehicle.
3. vehicle speed control system according to claim 1, is characterized in that, brake pedal actuator adopts automatically controlled servoactuator.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520549964.1U CN204821553U (en) | 2015-07-27 | 2015-07-27 | Speed of a motor vehicle control system of full -automatic in -process of parking of electric automobile |
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| CN201520549964.1U CN204821553U (en) | 2015-07-27 | 2015-07-27 | Speed of a motor vehicle control system of full -automatic in -process of parking of electric automobile |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105015544A (en) * | 2015-07-27 | 2015-11-04 | 江苏大学 | Vehicle speed control system and method for full-automatic parking of electric car |
| CN106004515A (en) * | 2016-05-12 | 2016-10-12 | 广州橙行智动汽车科技有限公司 | Automobile speed control method and system used for automatic parking of electric automobile |
| CN108146424A (en) * | 2016-12-02 | 2018-06-12 | 比亚迪股份有限公司 | Automatic parking controlling of path thereof and control system and vehicle |
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2015
- 2015-07-27 CN CN201520549964.1U patent/CN204821553U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105015544A (en) * | 2015-07-27 | 2015-11-04 | 江苏大学 | Vehicle speed control system and method for full-automatic parking of electric car |
| CN106004515A (en) * | 2016-05-12 | 2016-10-12 | 广州橙行智动汽车科技有限公司 | Automobile speed control method and system used for automatic parking of electric automobile |
| CN106004515B (en) * | 2016-05-12 | 2018-04-10 | 广州橙行智动汽车科技有限公司 | Method for controlling driving speed and system for electric automobile automatic parking |
| CN108146424A (en) * | 2016-12-02 | 2018-06-12 | 比亚迪股份有限公司 | Automatic parking controlling of path thereof and control system and vehicle |
| CN108146424B (en) * | 2016-12-02 | 2020-06-19 | 比亚迪股份有限公司 | Automatic parking path control method and system and vehicle |
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| C14 | Grant of patent or utility model | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20190510 Address after: 212000 No. 868 Xinggang Road, Dalu Town, Zhenjiang New District, Jiangsu Province Patentee after: Jiangsu Zhonghu Automobile Intelligent System Co., Ltd. Address before: No. 301, Xuefu Road, Jingkou District, Zhenjiang, Jiangsu Province Patentee before: Jiangsu University |