CN207955627U - A kind of vehicle automatic parking control system - Google Patents
A kind of vehicle automatic parking control system Download PDFInfo
- Publication number
- CN207955627U CN207955627U CN201820066051.8U CN201820066051U CN207955627U CN 207955627 U CN207955627 U CN 207955627U CN 201820066051 U CN201820066051 U CN 201820066051U CN 207955627 U CN207955627 U CN 207955627U
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- China
- Prior art keywords
- vehicle
- control unit
- central control
- infrared sensor
- voltage comparator
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Abstract
The utility model provides a kind of vehicle automatic parking control system, including：Infrared sensor, the safe distance for detecting the vehicle periphery；Wheel speed detection unit, the travel speed for measuring the vehicle and operating range data；Drive module, the steering assist motor of power motor and Vehicular turn for driving vehicle traveling；Central control unit is electrically connected with infrared sensor, wheel speed detection unit and drive module respectively, for according to the safe distance, travel speed and operating range data, control drive module to drive the power motor and steering assist motor operation.By the utility model, the environmental information of vehicle periphery is detected and is acquired, gathered data is transmitted to central control unit, judge suitable parking position position through analyzing processing, and controls the power motor and steering assist motor realization automatic parking of vehicle.
Description
Technical field
The utility model is related to automotive field, more particularly to a kind of vehicle automatic parking control system.
Background technology
As automobile construction constantly changes, automobile is gradually to intelligent development, auto navigation, radar for backing car, auxiliary of parking
Etc. functions generate in succession, and automatic parking auxiliary system is also concerned in recent years.Parking system is a kind of driving assistance system,
Allow driver to experience the safety and comfort of driving, but existing automated parking system is there are many defect, it is currently used from
Dynamic parking system can not achieve automatically, and parking system only controls steering wheel, and there are still need to drive in parking process
In place of the deficiencies of member's control control stick and gas pedal.
Therefore, existing technology of parking largely continues to rely upon the operation of driver, can not accomplish completely
Automation, intelligence.
Utility model content
In view of this, the main purpose of the utility model is to provide a kind of vehicle automatic parking control systems, by right
The environmental information of vehicle periphery is detected and acquires, and gathered data is transmitted to central control unit, is judged through analyzing processing
Go out suitable parking position position, and control the power motor and steering assist motor realization automatic parking of vehicle, is not necessarily to driver
Operation bidirectional is carried out to control stick and gas pedal etc. again.
The scheme that the utility model uses is a kind of vehicle automatic parking control system, for judging parking position position simultaneously
Control vehicle realization is automatically parked, including：
Infrared sensor, the safe distance for detecting the vehicle periphery；
Wheel speed detection unit, the travel speed for measuring the vehicle and operating range data；
Drive module, the steering assist motor of power motor and Vehicular turn for driving vehicle traveling；
Central control unit is electrically connected with infrared sensor, wheel speed detection unit and drive module respectively, is used for basis
The safe distance, travel speed and operating range data, control drive module drive the power motor and power steering electricity
Machine is run.
By upper, after the instruction of automatic parking is sent out, central control unit checks the working condition of each sensor, starts
It parks program, the traveling speed that the safe distance and wheel speed detection unit of the vehicle periphery detected according to infrared sensor measure
Degree and range data find suitable parking space, and control drive module drives the steering assist motor and power motor of vehicle,
So that vehicle low speed is entered parking position, and be parallel to curb, completes to park.
It is further improved, the system also includes AD conversion units, are electrically connected the infrared sensor and center
Control unit.
By upper, the voltage signal that AD conversion unit can be used for exporting infrared sensor is transmitted by the simultaneously mouth line of vehicle
To central control unit.
It is further improved, the wheel speed detection unit includes：
Sensor circuit, including with the concatenated resistance of power input and light-emitting component；With the concatenated electricity of power input
Resistance and phototriode, the emitter of the phototriode connect ground terminal with the cathode of the light-emitting component；
Comparator circuit, including voltage comparator, the negative-phase input of the voltage comparator and the phototriode
Collector connection, the in-phase input end of the voltage comparator is connected with variable resistance, and the variable resistance is connected on power supply
Between input terminal and ground connection；Output end one indicator light of series connection and resistance of the voltage comparator are connected to power input；Institute
State in-phase input end and an output end resistance in parallel；
The output end of the voltage comparator connects the central control unit.
By upper, the light-emitting component sends out infrared signal, and when vehicle wheel rotation, the phototriode induction is reflected back
The infrared light come, when the light intensity of reflected light reaches a certain level, the phototriode conducting, the same phase of the voltage comparator
Input terminal is connected with reference voltage, reference voltage is adjusted according to actual conditions, when the voltage of the negative-phase input of voltage comparator
Constantly variation when, output end output pulse signal, indicator light flicker, and output pulse signal is to central control unit, by place
Manage and can be calculated the speed of wheel.
It is further improved, the system also includes the remote controlers being wirelessly connected with the central control unit.
By upper, realized by wireless connection and carried out certainly by remote control control vehicle after instruction transmission, driver can get off
It is dynamic to park, it is easy to operate, it is further ensured that driver safety, while the situation of parking of vehicle can be can be visually seen, ensures peace of parking
Entirely.
It is further improved, the central control unit includes built-in radio receiving transmitting module.
It by upper, can be wirelessly connected with remote control equipment, carry out remote control.
It is further improved, the system also includes the alarm modules being electrically connected with the central control unit.
By upper, central control unit passes through the distance of vehicle periphery barrier acquired in real time and the traveling of vehicle itself
Speed and operating range control vehicle automatic parking, when excessively close or when travel speed is too fast apart from obstacle distance, can pass through
Alarm module is alarmed, using emergency braking scheme.
It is further improved, the infrared sensor is arranged in the front, side and rear of the vehicle.
By upper, when the infrared sensor of front and back is parked for detecting, the safe distance with fore-aft vehicle.Side
Infrared sensor is for searching suitable parking space and curb position.
It is further improved, the system also includes what several were electrically connected with the central control unit to be arranged in vehicle week
The radar probe of body.
By upper, infrared sensor selection installation can be coordinated, it can be detected from all angles of vehicle in all directions
The information of the barrier of surrounding, acquires and synthesizes vehicle periphery image, the accuracy parked and safety is effectively ensured.
Description of the drawings
Fig. 1 is the principle schematic of the utility model vehicle automatic parking control system.
Fig. 2 is the circuit diagram of the utility model wheel speed detection unit.
The work flow diagram of the control of automatically parking for realizing vehicle of Fig. 3 the utility model one embodiment.
Symbol description
Infrared sensor 100；Wheel speed detection unit 200；Sensor circuit 201；Comparator circuit 202；AD conversion unit
300；Central control unit 400；Drive module 500；Power motor 600；Steering assist motor 700；Remote controler 800.
Specific implementation mode
The main purpose of the utility model is to provide a kind of vehicle automatic parking control systems, by vehicle periphery
Environmental information is detected, and judges suitable parking position position, and controls power motor and the steering assist motor realization of vehicle
Automatic parking.
In the following, with reference to the utility model is described in detail with Fig. 3 as shown in Figure 1, Figure 2.
Fig. 1 is the principle schematic of vehicle automatic parking control system, which includes：
Infrared sensor 100 is divided into front, and the distance measurement of side and rear, front and back sensor is for examining
When survey is parked, the safe distance with fore-aft vehicle, side sensor is for searching suitable parking space；
Wheel speed detection unit 200, travel speed and range data for measuring the vehicle；
AD conversion unit 300 is electrically connected with the infrared sensor 100, for export infrared sensor 100
Voltage signal is transmitted by the simultaneously mouth line of vehicle；
Central control unit 400 is electrically connected with AD conversion unit 300 and wheel speed detection unit 200 respectively, according to described red
The traveling speed that the safe distance for the vehicle periphery that outside line sensor 100 detects and the wheel speed detection unit 200 measure
Degree and range data calculate suitable parking space position, generate automatic parking control command；
Drive module 500 is electrically connected with central control unit 400, power motor 600 and steering assist motor 700 respectively,
Control command for receiving central control unit 400 drives the power motor 600 and steering assist motor 700 of vehicle, carries out
It parks；
The system also includes the remote controlers 800 being wirelessly connected with the central control unit 400, for starting or closing
Full-automatic parking system.
Preferably, the system also includes the alarm modules being electrically connected with the central control unit 400.
Preferably, 100 quantity of the infrared sensor is multiple, be arranged in the front of the vehicle, side and
Rear, the safe distance for the vehicle detect.
Preferably, the system also includes several to be arranged in being electrically connected with the central control unit 400 for the vehicle whole body
The radar probe connect.
Fig. 2 is the circuit diagram of wheel speed detection unit, and the wheel speed detection unit 200 includes 201 He of sensor circuit
Comparator circuit 202；
The sensor circuit 201, including with power input concatenated resistance R1 and light-emitting component D1；With power input
Concatenated resistance R2 and phototriode Q1, the emitter of the phototriode Q1 and the cathode of the light-emitting component D1 is held to connect
Connect ground terminal；
The comparator circuit 202, including voltage comparator U1, the negative-phase input of the voltage comparator U1 with it is described
The collector of phototriode Q1 connects, and the in-phase input end of the voltage comparator U1 is connected with variable resistance R6, it is described can
Become resistance R6 to be connected between power input and ground connection；The output end of the voltage comparator U1 connect an indicator light LED1 and
Resistance R5 is connected to power input；One resistance R3 of the positive input and output end parallel connection；
The output end of the voltage comparator U1 connects central control unit 400；
When vehicle in the process of moving, vehicle wheel rotation, the infrared emitting end of light-emitting component D1 sends out optical signal, photosensitive three
When the light intensity that pole pipe Q1 receives reflected light reaches a certain level, the collector of triode ON, phototriode is connected to voltage ratio
Compared with the negative-phase input of device U1, the in-phase input end of voltage comparator U1 is connected to reference voltage, when bearing for voltage comparator U1
When the voltage of phase input terminal changes, by the voltage of input terminal compared with reference voltage, output end exports voltage comparator U1
Pulse signal, indicator light LED1 flickers, and pulse signal is sent to central control unit 400 by processing and can be calculated vehicle
The speed of wheel.
Fig. 3 is the work flow diagram of the control of automatically parking for realizing vehicle of the utility model one embodiment, packet
Include following steps：
S100 detects vehicle periphery safe distance, wherein and the vehicle periphery safe distance includes the distance of parking position,
And the distance of vehicle periphery barrier；
S200 obtains the transport condition of vehicle；
S300 is cooked up and is suitably parked according to the travel speed of the safe distance of the vehicle periphery and the vehicle
Path controls the power motor 600 and steering assist motor 700 of vehicle, automatically parks according to parking path completion.
Specifically, in one embodiment of the utility model, before step S100, the vehicle automatic parking control
System further includes after opening full-automatic parking system, and driver can manually select the mode of parking, specifically, driver is in vehicle
Internal display screen human-computer interaction interface uses the manually opened full-automatic parking system of remote controler, according to parking position position,
Selection is parked mode, the mode of parking include side coil moor into or vertically moor into.
Further, before system control vehicle is automatically parked, further include that driver is stopped manually, discharge vehicle
Clutch and throttle, unclamp steering wheel.
After the central control unit 400 receives the order of parking that vehicle is sent out, first with vehicle body surrounding arrangement
Infrared sensor 100 incudes vehicle periphery safe distance, while control radar probe cooperation infrared sensor 100
Parking position information is searched for, the central control unit 400 passes through driving according to the parking position information planning parking path of acquisition
Module 500 controls the power motor 600 of vehicle and 700 low speed of steering assist motor drives into parking position, during parking, institute
It states wheel speed detection unit 200 to detect the travel speed of vehicle in real time always and calculate the distance that vehicle has travelled, coordinates infrared ray
Sensor 100 and each radar probe detect vehicle running state in real time, until stopping traveling after driving into parking position completely, drive
Member closes full-automatic parking system, and good hand is drawn to stop after vehicle completion is parked, and extinguishes vehicle.
In addition, during vehicle is automatically parked, when to detect vehicle periphery unexpected for infrared sensor 100
When there is barrier, the central control unit 400 can control emergency brake of vehicle system to realize emergency braking.
Further, in one embodiment of the utility model, the system also includes alarm modules, when vehicle and barrier
When hindering object hypotelorism, the central control unit 400 can control alarm module emergency alarm, remind driver and people around
Group.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection domain within.
Claims (8)
1. a kind of vehicle automatic parking control system, which is characterized in that including：
Infrared sensor (100), the safe distance for detecting the vehicle periphery；
Wheel speed detection unit (200), the travel speed for measuring the vehicle and operating range data；
Drive module (500), the steering assist motor of power motor (600) and Vehicular turn for driving vehicle traveling
(700)；
Central control unit (400), respectively with infrared sensor (100), wheel speed detection unit (200) and drive module
(500) it is electrically connected, for according to the safe distance, travel speed and operating range data, control drive module (500) to drive
The power motor (600) and steering assist motor (700) operation.
2. system according to claim 1, which is characterized in that further include AD conversion unit (300), be electrically connected described
Infrared sensor (100) and central control unit (400).
3. system according to claim 1, which is characterized in that the wheel speed detection unit (200) includes：
Sensor circuit (201), including with the concatenated resistance of power input and light-emitting component；With the concatenated electricity of power input
Resistance and phototriode, the emitter of the phototriode connect ground terminal with the cathode of the light-emitting component；
Comparator circuit (202), including voltage comparator, the negative-phase input of the voltage comparator and the phototriode
Collector connection, the in-phase input end of the voltage comparator is connected with variable resistance, and the variable resistance is connected on power supply
Between input terminal and ground connection；Output end one indicator light of series connection and resistance of the voltage comparator are connected to power input；Institute
State in-phase input end and an output end resistance in parallel；
The output end of the voltage comparator connects the central control unit (400).
4. system according to claim 3, which is characterized in that further include wirelessly connecting with the central control unit (400)
The remote controler (800) connect.
5. system according to claim 4, which is characterized in that the central control unit (400) includes built-in wireless
Transceiver module.
6. system according to claim 5, which is characterized in that further include being electrically connected with the central control unit (400)
Alarm module.
7. system according to claim 1, which is characterized in that the infrared sensor (100) is arranged in institute
State the front, side and rear of vehicle.
8. system according to claim 1, which is characterized in that further include several and the central control unit (400)
The radar probe for being arranged in the vehicle whole body of electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820066051.8U CN207955627U (en) | 2018-01-15 | 2018-01-15 | A kind of vehicle automatic parking control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820066051.8U CN207955627U (en) | 2018-01-15 | 2018-01-15 | A kind of vehicle automatic parking control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207955627U true CN207955627U (en) | 2018-10-12 |
Family
ID=63733412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820066051.8U Expired - Fee Related CN207955627U (en) | 2018-01-15 | 2018-01-15 | A kind of vehicle automatic parking control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207955627U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896149A (en) * | 2021-01-23 | 2021-06-04 | 行云智能(深圳)技术有限公司 | Automatic parking system based on computer vision |
-
2018
- 2018-01-15 CN CN201820066051.8U patent/CN207955627U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896149A (en) * | 2021-01-23 | 2021-06-04 | 行云智能(深圳)技术有限公司 | Automatic parking system based on computer vision |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181012 Termination date: 20210115 |