CN208344210U - A kind of system that electric car is automatically parked - Google Patents
A kind of system that electric car is automatically parked Download PDFInfo
- Publication number
- CN208344210U CN208344210U CN201820983921.8U CN201820983921U CN208344210U CN 208344210 U CN208344210 U CN 208344210U CN 201820983921 U CN201820983921 U CN 201820983921U CN 208344210 U CN208344210 U CN 208344210U
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- parking
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- vehicle
- driver
- electric car
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- 238000004891 communication Methods 0.000 claims abstract description 10
- 230000003750 conditioning effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 23
- 230000000694 effects Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 239000000295 fuel oil Substances 0.000 description 2
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The utility model discloses a kind of systems that electric car is automatically parked, including the control unit APA that parks, park control unit APA and automatic parking on & off switch, full-vehicle control unit VCU, ultrasonic radar, power-assisted steering control unit EPS, vehicle body control unit BCM, vehicle body stability contorting unit ESP and the instrument communication connection, the full-vehicle control unit VCU are connect with motor control unit MCU, gas pedal, parking control unit EPB, selector and brake pedal respectively.The automatic parking process driver of the utility model is not required to participate in completely, effect of parking does not influence speed manipulation by driver, reduces and parks the requirement of technical ability to driver, is conducive to improve effect of parking, especially narrow parking stall is parked, and the safety for process of parking is promoted.
Description
Technical field
The utility model belongs to technical field, and in particular to a kind of system that electric car is automatically parked.
Background technique
With the continuous improvement of people's living standards, private vehicle is popularized energetically, and available parking space is fewer and fewer,
For many people, it is therefore a problem, is parked for fresh driver that parking stall is found in limited parking stall
Problem is increasingly paid close attention to by people.The appearance of automated parking system provides a kind of effective solution means for car owner.With
The fast development of electric car, electric car similarly face the demand of automatic parking.
Seen automatic parking majority needs driver's subparticipation currently on the market, and effect of parking is limited by driver couple
The manipulation of speed or gear increases the uncertain factor for control of parking, and influences effect of parking.In addition, having full-automatic
The vehicle for function of parking is mostly conventional fuel oil car, different from the control principle of electric car；Especially slow down to process of parking and makes
Dynamic control, conventional fuel oil car are completed often through ESP, and electric vehicle can be controlled by the revolving speed to motor and be completed, compared with
Fuel vehicle has better speed control precision.
Utility model content
The purpose of this utility model is that: above-mentioned deficiency in the prior art is solved, it is full-automatic to provide a kind of electric car
The system parked participates in after opening function of automatically parking without driver, and vehicle can be completed to turn according to planning path
To, traveling and braking, finally realizes automatic parking, improve safety and the comfort of process of parking.
To achieve the goals above, the technical solution adopted in the utility model are as follows:
A kind of system that electric car is automatically parked, including the control unit APA that parks, the control unit APA that parks
With automatic parking on & off switch, full-vehicle control unit VCU, ultrasonic radar, power-assisted steering control unit EPS, vehicle body control unit
BCM, vehicle body stability contorting unit ESP and instrument communication connection, the full-vehicle control unit VCU respectively with motor control unit
MCU, gas pedal, parking control unit EPB, selector are connected with brake pedal.
Further, above-mentioned control unit of parking also shields communication connection with middle control, and the middle control screen is automatic for opening
Park and select parking space direction.
Further, it is above-mentioned park control unit also with air bag communication connection.
Further, it is above-mentioned park control unit also with conditioning control unit communication connection, the airconditioning control list
Member is for acquiring environment temperature and feeding back to control unit of parking.
In the present invention, APA completes the lookup of automatic parking parking stall, and parking path is planned, and process speed of parking,
Gear, steering and the control of braking；VCU acquires gas pedal, brake pedal and gear information, executes APA's in process of parking
Speed instruction, gear instruction, parking instruction, and emergency braking is executed when parking abnormal exit；MCU is executed from VCU's
Rotary speed instruction；EPS executes the steering order of APA, and acquires the human intervention signal from steering wheel；EPB is executed from VCU's
Parking and parking are released order, and acquire the human intervention signal from EPB on & off switch；SRS is for acquiring operating seat letter
Number and belt signal；In automatic parking process, BCM is used to acquire the switch state of four car doors and rear-box, and passes through
Left and right turn signal selects direction of parking, and executes the control instruction of Brake lamp and turn signal from APA in process of parking；AC is adopted
Collect environment temperature, the temperature correction for ultrasonic radar；ESP sends wheel speed pulse signal to APA, is used for vehicle location；Oil
Door pedal, brake pedal are used as APA to forbid into the demand condition exited if gas pedal or brake pedal are effective
Into automatic parking, if park process gas pedal or brake pedal it is effective, exit automatic parking；Into automatic parking,
It needs selector to be located at R gear to set；Instrument is for park process and the display exited extremely of parking；Automatic parking on & off switch or
MP5 is used to control the entrance of automatic parking or exits.
By adopting the above-described technical solution, the beneficial effects of the utility model are:
The automatic parking process driver of the utility model is not required to participate in completely, and effect of parking is not grasped speed by driver
The influence of control reduces and parks the requirement of technical ability to driver, is conducive to improve effect of parking, and especially narrow parking stall is parked,
Promote the safety for process of parking.
Acceleration and deceleration, the parking of process of parking vehicle, are controlled by motor speed ring and are realized, be not necessarily to vehicle body stability contorting unit
Or parking control unit participates in, and improves the comfort for the process of parking.
The automated parking system that the utility model uses is versatile, can be widely applied to electric car.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the automated parking system structure connection diagram of the utility model.
Fig. 2 is the automatic parking control flow schematic diagram of the utility model.
Fig. 3 is the left vertical parking stall automatic parking schematic diagram of the utility model.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here in attached drawing description and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the range of the utility model protection.
As shown in Figure 1, a kind of system that electric car is automatically parked, including the control unit APA that parks, the control of parking
Unit AP A processed and automatic parking on & off switch, full-vehicle control unit VCU, ultrasonic radar, power-assisted steering control unit EPS, vehicle body
Control unit BCM, vehicle body stability contorting unit ESP and instrument communication connection, the full-vehicle control unit VCU respectively with motor
Control unit MCU, gas pedal, parking control unit EPB, selector are connected with brake pedal.
Further, above-mentioned control unit of parking also shields MP5, air bag SRS and airconditioning control list with middle control respectively
First AC connection.
In the present invention, APA completes the lookup of automatic parking parking stall, and parking path is planned, and process speed of parking,
Gear, steering and the control of braking；VCU acquires gas pedal, brake pedal and gear information, executes APA's in process of parking
Speed instruction, gear instruction, EPB instruction, and emergency braking is executed when parking abnormal exit；MCU is executed to be turned from VCU
Speed instruction；EPS executes the steering order of APA, and acquires the human intervention signal from steering wheel；EPB executes staying from VCU
Vehicle and parking are released order, and acquire the human intervention signal from EPB on & off switch；SRS is for acquiring operating seat signal
And belt signal；In automatic parking process, BCM is used to acquire the switch state of four car doors and rear-box, and passes through a left side
Right turn lamp selects direction of parking, and executes the control instruction of Brake lamp and turn signal from APA in process of parking；AC acquisition
Environment temperature, the temperature correction for ultrasonic radar；ESP sends wheel speed pulse signal to APA, is used for vehicle location；Throttle
Pedal, brake pedal are used as APA to enter a demand condition exiting, if gas pedal or brake pedal are effective, forbid into
Enter automatic parking, if park process gas pedal or brake pedal it is effective, exit automatic parking；Into automatic parking, need
It wants selector to be located at R gear to set；Instrument is for park process and the display exited extremely of parking；Automatic parking on & off switch or MP5
For controlling the entrance of automatic parking or exiting.
A kind of method as shown in Fig. 2, electric car is automatically parked is using what above-mentioned electric car was automatically parked
System, comprising the following steps:
Step 1: driver opens automatic parking on & off switch, and control unit of parking judges whether vehicle meets automatic parking
Entry condition, if satisfied, executing step 2；
Step 2: control unit of parking enters waiting and enters automatic parking (Standy) state, and driver by mooring automatically
Speed is simultaneously reduced to vehicle velocity V of parking by stopping switch key selection parking space directionfindHereinafter, parking space direction includes horizontal pool
Vehicle is vertically parked, and control unit of then parking controls ultrasonic radar starting parking stall scanning, and control unit of parking default is searched
Right side parking stall；If driver wants to search left side parking stall, left steering lamp can be opened, control unit of parking collects vehicle body control unit
Left steering modulating signal, then start left side parking stall search.
When ultrasonic radar scanning is to suitable parking stall, releasing of brake after prompting driver to hang R grade by instrument, if driving
Member continues to travel, and is more than certain distance (generally 15 meters), and APA will restart parking stall scanning.；
Step 3: after control unit of parking detects driver's releasing of brake, coordinate full-vehicle control unit, power-assisted steering control
Unit and vehicle body control unit processed complete automatic parking.
Further, in above-mentioned step three, coordinate full-vehicle control unit, power-assisted steering control unit and Body Control list
Member complete automatic parking specifically includes the following steps:
Step 101: control unit of parking send demand adapter tube order to full-vehicle control unit, power-assisted steering control unit and
Vehicle body control unit, then demand adapter tube instruction is forwarded to parking control unit by the full-vehicle control unit, if the vehicle
Control unit, power-assisted steering control unit, parking control unit and vehicle body control unit self-test fault-free are then replied adapter tube and are approved
It instructs to control unit of parking；
Step 102: control unit of parking is requested and is stayed according to planning parking route transmission speed information request, gear information
Vehicle is requested to full-vehicle control unit, and then parking request is forwarded to parking control unit and passes through motor control by full-vehicle control unit
Unit processed controls motor, while control unit sending direction disk angular signal of parking is requested to power-assisted steering control unit；
Step 103: full-vehicle control unit, parking control unit, power-assisted steering control unit and vehicle body control unit execute
The instruction automatic parking for control unit of parking；
Step 104: after automatic parking success, parking control unit transmission parking request instruction to full-vehicle control unit, so
Parking request instruction is forwarded to parking control unit by full-vehicle control unit afterwards, and parking control unit executes parking；
Step 105: after the success parking of control unit of parking readback parking control unit, control being returned to full-vehicle control
Unit, parking control unit, power-assisted steering control unit and vehicle body control unit are completed automatic parking, and are notified by instrument
Driver's automatic parking is completed.
Further, in above-mentioned step three, if coordinating full-vehicle control unit, power-assisted steering control unit and Body Control
Unit is completed to break down or detect full-vehicle control unit, parking control unit, power-assisted steering control unit in automatic parking
And/or there are human intervention behaviors for vehicle body control unit, then corresponding control unit feedback exits adapter tube instruction to control of parking
Unit, control unit of parking, which receives, exits adapter tube instruction backed off after random automatic parking, and informs that driver moors automatically by instrument
The reason of vehicle exits.
Further, control unit of parking in above-mentioned step one judges whether vehicle meets automatic parking entry condition tool
Body are as follows: control unit of parking receives vehicle body control unit and acquires all car doors and boot state；It control unit of parking while connecing
Receive air bag, ultrasonic radar and full-vehicle control location mode；If meet all car doors and boot close, air bag
Safety belt buckled well and driver onboard, ultrasonic radar is normal, is ready for without complete vehicle fault state feedback and vehicle, then
Judge that vehicle meets automatic parking entry condition.
Further, in above-mentioned step one and step 2, driver can also by middle control shield open automatic parking and
Select parking space direction.
Further, driver passes through long-pressing or short-press automatic parking on & off switch selection parking space in above-mentioned step two
Direction.
Further, above-mentioned step one further includes control unit reception conditioning control unit acquisition environment temperature of parking,
Then the precision of ultrasonic radar is corrected according to environment temperature.
Further, while full-vehicle control unit controls motor by motor control unit in above-mentioned step 102, pool
Vehicle control unit controls turn signal and Brake lamp according to vehicle acceleration and deceleration and steering wheel angle by vehicle body control unit.
As shown in figure 3, by taking certain electronic vehicle is once vertically parked as an example, in the utility model automated parking system and
Method is described in detail, and automated parking system block diagram is shown in Fig. 1.It is left to prepare selection vehicle in the parking of parking factory by certain driver
The vertical parking stall in side carries out automatic parking.Based on the present embodiment, steps are as follows for the specific execution of automated parking system:
A. automatic parking on & off switch is first turned on, this is instrument prompt " please choose parking stall direction ", and driver passes through short-press
Automatic parking on & off switch, APA selection are vertically parked；Instrument prompts driver " speed is please reduced to 30km/h or less ".It drives
Member's regulation speed is to 30km/h hereinafter, and opening left steering lamp, ultrasonic radar unlatching left vertical parking stall scanning.
B. instrument prompt driver " searching parking stall ", ultrasonic wave class is scanned to a suitable parking stall, instrument after 2 minutes
Table prompts driver " finding a parking stall ", and reminds driver " R gear please be hung, into automatic parking "；Driver is according to instrument
R gear is hung in prompt, and instrument text prompt becomes " releasing of brake being asked, into automatic parking ".
C. driver's releasing of brake, APA send demand adapter tube order and give VCU, EPS, BCM control unit, and VCU connects forwarding
Pipe, which instructs, gives EPB control unit, and then, each control unit sends adapter tube and approves instruction to APA；
D.APA plans parking route according to ultrasonic radar scanning result and current vehicle position, then sends request speed
Degree, request gear demand are to VCU；Request steering wheel angular signal is sent to EPS；Send Brake lamp and turn signal request signal to
BCM.VCU is instructed according to the speed of APA, controls motor speed by MCU；EPS is according to APA steering wheel angle (left positive right negative) control
Steering wheel rotation processed；BCM executes Brake lamp and the turn signal instruction of APA, and instrument shows the state of parking in real time of APA feedback.
E. after automatic parking success, APA transmission request parking is instructed forwards the instruction to execute to EPB, EPB to VCU, VCU
Parking after the successful parking of APA readback EPB, releases the control power, and instrument shows " automatic parking completion ".
Claims (4)
1. a kind of system that electric car is automatically parked, it is characterised in that: including control unit of parking, described park controls list
Member and automatic parking on & off switch, full-vehicle control unit, ultrasonic radar, power-assisted steering control unit, vehicle body control unit, vehicle body
Stability contorting unit and instrument communication connection, the full-vehicle control unit respectively with motor control unit, gas pedal, parking
Control unit, selector are connected with brake pedal.
2. the system that a kind of electric car according to claim 1 is automatically parked, it is characterised in that: the control of parking
Unit processed also shields communication connection with middle control, and the middle control screen is for opening automatic parking and selection parking space direction.
3. the system that a kind of electric car according to claim 1 is automatically parked, it is characterised in that: the control of parking
Unit processed also with air bag communication connection.
4. the system that a kind of electric car according to claim 1 is automatically parked, it is characterised in that: the control of parking
Unit processed also with conditioning control unit communication connection, park for acquiring environment temperature and feed back to by the conditioning control unit
Control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820983921.8U CN208344210U (en) | 2018-06-25 | 2018-06-25 | A kind of system that electric car is automatically parked |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820983921.8U CN208344210U (en) | 2018-06-25 | 2018-06-25 | A kind of system that electric car is automatically parked |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208344210U true CN208344210U (en) | 2019-01-08 |
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ID=64880858
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820983921.8U Expired - Fee Related CN208344210U (en) | 2018-06-25 | 2018-06-25 | A kind of system that electric car is automatically parked |
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| Country | Link |
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| CN (1) | CN208344210U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108556841A (en) * | 2018-06-25 | 2018-09-21 | 四川野马汽车股份有限公司 | A kind of system and its working method that electric vehicle is automatically parked |
| CN111795138A (en) * | 2020-06-12 | 2020-10-20 | 北京汽车股份有限公司 | Gear shifting control method and system and vehicle |
| CN115352420A (en) * | 2022-08-24 | 2022-11-18 | 四川野马汽车股份有限公司 | EPB control system and method of drum brake parking brake device |
-
2018
- 2018-06-25 CN CN201820983921.8U patent/CN208344210U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108556841A (en) * | 2018-06-25 | 2018-09-21 | 四川野马汽车股份有限公司 | A kind of system and its working method that electric vehicle is automatically parked |
| CN111795138A (en) * | 2020-06-12 | 2020-10-20 | 北京汽车股份有限公司 | Gear shifting control method and system and vehicle |
| CN111795138B (en) * | 2020-06-12 | 2022-04-29 | 北京汽车股份有限公司 | Gear shifting control method and system and vehicle |
| CN115352420A (en) * | 2022-08-24 | 2022-11-18 | 四川野马汽车股份有限公司 | EPB control system and method of drum brake parking brake device |
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Granted publication date: 20190108 |