CN102398596B - Parking control device and system and parking control method - Google Patents
Parking control device and system and parking control method Download PDFInfo
- Publication number
- CN102398596B CN102398596B CN201010276285.3A CN201010276285A CN102398596B CN 102398596 B CN102398596 B CN 102398596B CN 201010276285 A CN201010276285 A CN 201010276285A CN 102398596 B CN102398596 B CN 102398596B
- Authority
- CN
- China
- Prior art keywords
- curve
- vehicle
- speed
- parking
- track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a parking control device, a parking control system and a parking control method for solving the problem of high error between a vehicle running locus and a designed locus during parking control in the prior art. The parking control device comprises an acquisition module and a calculation module, wherein the acquisition module is used for acquiring the starting position and the final position of a vehicle; the calculation module is used for calculating a parking locus at a preset speed according to constrained conditions, the starting position and the final position, wherein the constrained conditions comprise a highest allowed speed of the vehicle, a maximum turning speed of a front wheel of the vehicle and a maximum turning angle of the front wheel of the vehicle during parking; and the curvature of the parking locus is continuously changed, the parking locus comprises an arc and a curve connected with two ends of the arc, and the radius of the arc is the turning radius when the front wheel of the vehicle reaches the maximum turning angle. By using the technical scheme, the actual running locus of the vehicle accords with the designed locus during parking.
Description
Technical field
The present invention relates to one to park control setup and system and control method of parking.
Background technology
There is increasing vehicle to possess controlling functions of parking at present, vehicle can be controlled and enter parking position.Figure 1A controls the schematic diagram of track according to a kind of the parking of prior art.According to the S shape track 10 shown in Figure 1A, vehicle can realize lateral parking to the right.As lateral parking to the left, then drive a vehicle along the mirror curve with track 10 left-hand or dextrad, namely track of parking now is reverse-s shape.As shown in Figure 1A, the position relationship of known vehicle and parking position PA, the position U point that when can determine that vehicle parking stops, target is stopped, is generally rear axle mid point.
According to existing method, form this track of parking with two sections of circular arcs, as Figure 1A, being one section of circular arc from T → Q, is one section of circular arc from Q → U.The running condition being construed to automobile is, automobile is made to the right (namely rotating to end position) from T point bearing circle, travels to Q point, makes left and travels to U point, just stop at U point steering wheel return at Q point bearing circle.By description above, as shown in Figure 2, Fig. 2 is the schematic diagram of the change curve of steering wheel angle and position in the control method of parking according to prior art to the change curve of known steering wheel angle and position.
The bent curvature of a curve of existing Trajectory Design of parking all there occurs curvature mutation at T point and U point position, although T point does not change to Q point and Q point to the amount of curvature of U point, but T point is contrary to the direction of a curve of U point with Q point to the direction of a curve of Q point, also can think that curvature there occurs sudden change.The status requirement steering wheel angle of undergoing mutation when curvature is also undergone mutation, namely T point status requirement steering wheel angle should from middle change in location to limit on the right-right-hand limit position, Q point status requirement steering wheel angle is from limit on the right-right-hand limit change in location to left-limit position, U point status requirement steering wheel angle from left-limit change in location to midway location, namely drawn in Fig. 2 position of curve and the variation relation of steering wheel angle.If in the position that these curvature of curves suddenly change, the speed of a motor vehicle is not equal to zero, so just require steering wheel angle instantaneous mutation, this cannot realize in reality controls.
Figure 1B parks according to the another kind of prior art to control the schematic diagram of track.The vehicle vertical warehouse-in of parking position PB or oblique warehouse-in to the right can be realized according to the C shape track 11 shown in Figure 1B.As entered left parking position, then drive a vehicle along the mirror curve with track 11 left-hand or dextrad, namely track of parking now is reverse C-shape.T in figure
0and U
0vehicle start position and final position when parking respectively.The curvature mutation position being similar to above-mentioned situation is existed equally for the track of parking shown in Figure 1B, namely the T point in Figure 1B, required direction dish corner should from middle change in location to limit on the right-right-hand limit position, and the U point in Figure 1B, and required direction dish corner is from limit on the right-right-hand limit change in location to midway location.Be circular arc (center of circle is O point) between T point and U point, its radius is vehicle minimum turning radius.
The shortcoming of existing Trajectory Design is the T point of curve, Q point and U point, all exist curvature mutation namely when the speed of a motor vehicle is not equal to zero required direction dish corner also undergo mutation.This is not attainable in reality, therefore, when the track of parking drawn according to existing Trajectory Design mode carries out parking control, when the speed of a motor vehicle is non-vanishing, certain delay must be there is according to this TRAJECTORY CONTROL steering wheel angle, vehicle travels and just deviate from track, thus forms larger error.Therefore vehicle may collide with parking position fore-aft vehicle or collide with road serrated edge or mal-position after stopping.
Summary of the invention
Main purpose of the present invention proposes one to park control setup and system and control method of parking, and there is the problem compared with big error when parking control to solve in prior art between vehicle operating track and planned course.
For solving the problems of the technologies described above, according to an aspect of the present invention, propose one to park control setup.
Control setup of parking of the present invention comprises: acquisition module, for obtaining start position and the final position of vehicle; Computing module, for calculating the track of parking under preset vehicle speed according to constraint condition and described start position and final position, wherein, described constraint condition comprises the hard-over of vehicle the maximum permissible train speed when parking, the maximum turning velocity of vehicle front-wheel and vehicle front-wheel, described trajectory tortuosity consecutive variations of parking, the curve wherein comprising circular arc and be connected with circular arc two ends, the radius of described circular arc is the turn radius of vehicle when front-wheel arrives hard-over.
Further, described in park the S-shaped or reverse-s shape of track, be formed by connecting by the first curve, the first circular arc, the second curve, the 3rd curve, the second circular arc and the 4th curve successively head and the tail; Or, described in park the c-shaped or reverse C-shape of track, be formed by connecting by the first curve, circular arc and the second curve successively head and the tail.
Further, above-mentioned computing module is also for obtaining the functional relation of y and x in described first curve, the second curve, the 3rd curve or the 4th curve to the two ends integration of following formula:
wherein, x represents the displacement of horizontal direction, and y represents the displacement of vertical direction, and ψ represents yaw angle, and v represents described preset vehicle speed, and δ represents front wheel angle, and b represents the wheelbase of vehicle, and σ represents front wheel rotation speed, and integration time is δ/σ, v≤v
max, σ≤σ
max, δ≤δ
max, wherein, v
maxvehicle the maximum permissible train speed when expression is parked, σ
maxrepresent the maximum turning velocity of vehicle front-wheel, δ
maxrepresent front-wheel hard-over.
Further, above-mentioned control setup of parking also comprises tracking module, for then calculating the target direction dish corner making vehicle operating track and described track of parking substantially overlap in the process of parking according to the rotating speed of speed of a motor vehicle adjustment direction dish.
Further, above-mentioned tracking module comprises: comparison sub-module, for comparing present speed in vehicle parking process and described preset vehicle speed; Adjustment of rotational speed submodule, for the decreasing value of the outbound course dish rotating speed when described present speed is less than described preset vehicle speed, the boost value of outbound course dish rotating speed when described present speed is greater than described preset vehicle speed; Corner adjustment submodule, for the corner according to the decreasing value of described bearing circle rotating speed or the boost value calculated direction dish of bearing circle rotating speed.
For solving the problems of the technologies described above, according to a further aspect in the invention, proposing one and to park control system, comprising: preserving module, for preserving start position and the final position of vehicle; Computing module, for calculating the track of parking under preset vehicle speed according to constraint condition and described start position and final position; Then tracking module, for calculating the target direction dish corner making vehicle operating track and described track of parking substantially overlap in the process of parking according to the rotating speed of speed of a motor vehicle adjustment direction dish; Sending module, the bearing circle that the target direction dish corner for being drawn by tracking module is sent to vehicle performs steering hardware.
Further, above-mentioned tracking module comprises: comparison sub-module, for comparing present speed in vehicle parking process and described preset vehicle speed; Adjustment of rotational speed submodule, for the decreasing value of the outbound course dish rotating speed when described present speed is less than described preset vehicle speed, the boost value of outbound course dish rotating speed when described present speed is greater than described preset vehicle speed; Corner adjustment submodule, for the corner according to the decreasing value of described bearing circle rotating speed or the boost value calculated direction dish of bearing circle rotating speed.
For solving the problems of the technologies described above, according to another aspect of the invention, propose one and to park control method, comprising: the start position and the final position that obtain vehicle; According to the track of parking under constraint condition and described start position and final position calculating preset vehicle speed, wherein, described constraint condition comprises the hard-over of vehicle the maximum permissible train speed when parking, the maximum turning velocity of vehicle front-wheel and vehicle front-wheel, described trajectory tortuosity consecutive variations of parking, the curve wherein comprising circular arc and be connected with circular arc two ends, the radius of described circular arc is the turn radius of vehicle when front-wheel arrives hard-over.
Further, in said method, described in park the S-shaped or reverse-s shape of track, be formed by connecting by the first curve, the first circular arc, the second curve, the 3rd curve, the second circular arc and the 4th curve successively head and the tail; Or, described in park the c-shaped or reverse C-shape of track, be formed by connecting by the first curve, circular arc and the second curve successively head and the tail.
Further, in said method, also comprise after the track of parking under described calculating preset vehicle speed: then calculate the target direction dish corner that vehicle operating track and described track of parking are overlapped substantially according to the rotating speed of speed of a motor vehicle adjustment direction dish.
According to technical scheme of the present invention, by adding continual curvature curve near start position, the final position of the vehicle when parking and track mid point of parking thus making whole track of parking become the curve of continual curvature, this avoid the steering wheel angle instantaneous mutation of parking in control process, thus contribute to vehicle is run in strict accordance with the track of parking of design, reduce the error of parking when controlling between vehicle operating track and planned course.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, and form a application's part, schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Figure 1A controls the schematic diagram of track according to a kind of the parking of prior art;
Figure 1B parks according to the another kind of prior art to control the schematic diagram of track;
Fig. 2 is the schematic diagram of the change curve of steering wheel angle and position in the control method of parking according to prior art;
Fig. 3 is the schematic diagram of the control setup basic structure of parking according to the embodiment of the present invention;
Fig. 4 A is the schematic diagram of a kind of curve of parking according to the embodiment of the present invention;
Fig. 4 B is the schematic diagram of curve of parking according to the another kind of the embodiment of the present invention;
Fig. 5 is the schematic diagram according to the structure of ∑ curve in the embodiment of the present invention;
Fig. 6 be vehicle according to the embodiment of the present invention park curve motion time steering wheel angle and the schematic diagram of change of position;
Fig. 7 is the schematic diagram of the flow process of track following according to the embodiment of the present invention, and
Fig. 8 is the schematic diagram of the structure of control system of parking according to the embodiment of the present invention.
Detailed description of the invention
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the present invention in detail.
Fig. 3 is the schematic diagram of the control setup basic structure of parking according to the embodiment of the present invention.As shown in Figure 3, the control setup 30 of parking of the embodiment of the present invention comprises acquisition module 31 and computing module 32.Wherein acquisition module 31 is for obtaining start position and the final position of vehicle, and computing module 32 is mainly used in the track of parking calculated according to the start position of constraint condition and vehicle and final position under preset vehicle speed.
In the implementation, acquisition module 31 can obtain vehicle start position and final position according to various modes that are existing or that may occur in the future.Can using the position of the position of vehicle rear axle mid point as vehicle when calculating.
The one that computing module 32 calculates parks curve as shown in Figure 4 A.Fig. 4 A is the schematic diagram of a kind of curve of parking according to the embodiment of the present invention.The curve 40 of Fig. 4 A is overall S-shaped, and on the basis of the existing curve of parking be made up of two sections of circular arcs, add four sections of continual curvature curves, whole track of parking is made up of two sections of ∑ curves and TQ section and QU section, and every section of ∑ curvilinear structures is identical, it is all the form of CC (continual curvature curve)+Circle (circular arc)+CC, so curve 40 is formed by connecting by 6 sections of curve head and the tail, is that (center of circle is O to the first curve 41, first circular arc 42 respectively
1), the second curve 43, (center of fiqure is O to the 3rd curve 44, second circular arc 45
2) and the 4th curve 46 successively head and the tail be formed by connecting, wherein the radius of the first circular arc 42 and the second circular arc 45 is the turn radius of vehicle when front-wheel arrives hard-over, the i.e. minimum turning radius of vehicle, first curve 41, second curve 43, the 3rd curve 44 are identical with the shape of the 4th curve 46, and in Figure 4 A, first curve 41 is identical with the second curve 43 bending direction, and the 3rd curve 44 is identical with the bending direction of the 4th curve 46.And can find out and can determine curve 40 of parking after determining ∑ curve, in curve 40 of parking, the bending direction of two sections of ∑ curves is contrary.
The curve 40 of Fig. 4 A is the track of parking of the lateral parking of right, and the left-hand of curve 40 or the mirror curve of dextrad are the track of parking of the lateral parking of left, and this mirror curve is reverse-s shape, and the method for designing of its method of designing and curve 40 is similar.Below the design of ∑ curve is made an explanation.Fig. 5 is the schematic diagram according to the structure of ∑ curve in the embodiment of the present invention.As shown in Figure 5, ∑ curve is made up of three parts:
Q
sto q
isection: continual curvature curve, or be called CC curve (Continues Curve), curvature changes to maximum curvature k from zero
max;
Q
ito q
jsection: curvature invariant curve, or be called circular curve (Circle), curvature is maximum curvature k
max;
Q
jto q
fsection: continual curvature curve, or be called CC curve (continues curve), curvature is by maximum curvature k
maxchange to zero;
K
max -1for the turn radius of vehicle under maximum steering wheel angle (front wheel angle), the namely inverse of maximum curvature.
Below the specific design method of continuous curvature change curve CC is made an explanation.
From q
sto q
ior q
jto q
fcontinual curvature change curve be according under constraint condition vehicle operating parameters design curve, the form of this curve is that y=f (x), f represent that y is the function of x, by obtaining at formula (1) two ends integration.
Wherein: x represents the displacement of horizontal direction, y represents the displacement of vertical direction, ψ represents yaw angle, i.e. the tangent line of track and the angle of x-axis, the namely angle of vehicle body direction and x-axis, v represents preset vehicle speed, δ represents front wheel angle, and can be calculated by the relation of steering wheel angle and transmitting ratio, b represents the wheelbase of vehicle, σ represents front wheel rotation speed, and integration time is δ/σ.The physical property of constraint condition mainly vehicle, is specially: v≤v
max, σ≤σ
max, δ≤δ
max, wherein, v
maxvehicle the maximum permissible train speed when expression is parked, σ
maxrepresent the maximum turning velocity of vehicle front-wheel, δ
maxrepresent front-wheel hard-over.The shape of two sections of ∑ curves is identical as can be seen from Figure 4A, and bending direction is different, so the symbol of σ and δ in two sections of ∑ curves is one positive one negative, so can be expressed as again the constraint condition of two sections of ∑ curves simultaneously | σ | and≤σ
maxwith | δ |≤δ
max.
In Fig. 5, the starting point q of curve
swith terminal q
ito meet curvature be respectively zero-sum curvature is k
maxrequirement, and in the consecutive variations process of position, continual curvature changes.Simultaneously the attainable geometric locus of actual vehicle by known this section of curve of design process.So the method for designing of this section of CC curve meets design requirement above.
Make to use the same method and can obtain q
jto q
fthe CC curve of section, geometric locus of parking so whole, the situation of change of two sections of steering wheel angles and position as shown in Figure 6.Fig. 6 be vehicle according to the embodiment of the present invention park curve motion time steering wheel angle and the schematic diagram of change of position.S in Fig. 6
1, S
2, S
3and S
4corresponding position as shown in Figure 4 A.
The park method of curve 40 of design in the present embodiment may be used for the c-shaped curve of parking of design shape equally, and what now obtain parks track as shown in Figure 4 B.Fig. 4 B is the schematic diagram of curve of parking according to the another kind of the embodiment of the present invention.In figure 4b, track of parking is curve 49, and curve 49 contains the part of T point to Q point of the curve 40 in Fig. 4 A, according to vehicle actual position, can also comprise straight line 47 and straight line 48, and the two intersects at T point and Q point with curve 41, curve 43 respectively.Because be zero at the steering wheel angle of curve T point and Q point vehicle, so 47 in figure and 48 can remain straight line.
Track of parking in Fig. 4 B is for the vehicle vertical warehouse-in of parking position or the situation of oblique warehouse-in to the right.The left-hand of curve 49 or the mirror curve of dextrad are the vehicle vertical warehouse-in of parking position or the situation of oblique warehouse-in to the left, and this mirror curve is reverse C-shape, and the method for designing of its method of designing and curve 49 is similar.
For track following, what the track that the present invention designs needed tracing control is CC segment of curve, because in semiautomatic parking system, by chaufeur regulation speed, therefore there is inconsistent place in the speed of a motor vehicle and design speed, need the bearing circle rotating speed actual according to actual vehicle speed adjustment, make the CC curve co-insides or close of vehicle operating track and design.
In the embodiment of the present invention, adopt trace tracking method to realize vehicle and move by planned course, specifically carry out the speed of the velocity variations of adjustment direction dish corner according to actual vehicle speed, namely, during speed of a motor vehicle height, bearing circle rotating speed is fast, when the speed of a motor vehicle is low, bearing circle rotating speed is slow, and in the speed of a motor vehicle stopping time, bearing circle does not also move.For this reason; tracking module 33 can also be comprised in the control setup 30 of parking shown in Fig. 3; with shown in Figure 3, for then calculating the target direction dish corner making vehicle operating track and track of parking substantially overlap in the process of parking according to the rotating speed of speed of a motor vehicle adjustment direction dish.Tracking module 33 can realize track following according to the flow process shown in Fig. 7, and Fig. 7 is the schematic diagram of the flow process of track following according to the embodiment of the present invention.
A kind of structure of tracking module 33 comprises the adjustment of comparison sub-module, adjustment of rotational speed submodule and corner submodule, wherein comparison sub-module, for comparing present speed in vehicle parking process and described preset vehicle speed; Adjustment of rotational speed submodule, for the decreasing value of the outbound course dish rotating speed when described present speed is less than described preset vehicle speed, the boost value of outbound course dish rotating speed when described present speed is greater than described preset vehicle speed; Corner adjustment submodule, for the corner according to the decreasing value of described bearing circle rotating speed or the boost value calculated direction dish of bearing circle rotating speed.
Fig. 8 is the schematic diagram of the structure of control system of parking according to the embodiment of the present invention.As shown in Figure 8, control system of parking 80 comprises preserves module 81, for preserving start position and the final position of vehicle, and computing module 32 in Fig. 3 and tracking module 33, and sending module 83.The bearing circle that sending module 83 is sent to vehicle for the target direction dish corner drawn by tracking module 33 performs steering hardware.The operating mechanism of steering wheel for vehicle just can make bearing circle rotate by this corner after the signal obtaining steering wheel angle.
Control method of parking in the embodiment of the present invention mainly comprises the step obtaining the start position of vehicle and final position and the step calculating track of parking.Park in the step of track in calculating, according to the track of parking under constraint condition and described start position and final position calculating preset vehicle speed.After drawing track of parking, just can carry out track following enter parking position to control vehicle; in the step of track following, then calculate the target direction dish corner that vehicle operating track and described track of parking are overlapped substantially according to the rotating speed of speed of a motor vehicle adjustment direction dish.
According to the technical scheme of the embodiment of the present invention, by adding continual curvature curve near start position, the final position of the vehicle when parking and track mid point of parking thus making whole track of parking become the curve of continual curvature, this avoid the steering wheel angle instantaneous mutation of parking in control process, thus contribute to vehicle is run in strict accordance with the track of parking of design, reduce the error of parking when controlling between vehicle operating track and planned course.
Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each module or each step can realize with general computer device, they can concentrate on single computer device, or be distributed on network that multiple computer device forms, alternatively, they can realize with the executable program code of computer device, thus they storages can be performed by computer device in the storage device, and in some cases, step shown or described by can performing with the order be different from herein, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. to park a control setup, it is characterized in that, comprising:
Acquisition module, for obtaining start position and the final position of vehicle;
Computing module, for calculating the track of parking under preset vehicle speed according to constraint condition and described start position and final position, wherein,
Described constraint condition comprises the hard-over of vehicle the maximum permissible train speed when parking, the maximum turning velocity of vehicle front-wheel and vehicle front-wheel,
Described trajectory tortuosity consecutive variations of parking, the curve wherein comprising circular arc and be connected with circular arc two ends, the radius of described circular arc is the turn radius of vehicle when front-wheel arrives hard-over, wherein, described circular arc is curvature invariant curve, and the curve that described circular arc two ends connect is continual curvature curve;
Wherein, described in park the S-shaped or reverse-s shape of track, be formed by connecting by the first curve, the first circular arc, the second curve, the 3rd curve, the second circular arc and the 4th curve successively head and the tail; Or, described in park the c-shaped or reverse C-shape of track, be formed by connecting by the first curve, circular arc and the second curve successively head and the tail;
Wherein, described computing module is also for obtaining the functional relation of y and x in described first curve, the second curve, the 3rd curve or the 4th curve to the two ends integration of following formula:
X represents the displacement of horizontal direction, and y represents the displacement of vertical direction, and ψ represents yaw angle, and v represents described preset vehicle speed, and δ represents front wheel angle, and b represents the wheelbase of vehicle, and σ represents front wheel rotation speed, and integration time is δ/σ, v≤v
max, σ≤σ
max, δ≤δ
max, wherein, v
maxvehicle the maximum permissible train speed when expression is parked, σ
maxrepresent the maximum turning velocity of vehicle front-wheel, δ
maxrepresent front-wheel hard-over;
Wherein, also comprise tracking module, for then calculating the target direction dish corner making vehicle operating track and described track of parking substantially overlap in the process of parking according to the rotating speed of speed of a motor vehicle adjustment direction dish;
Wherein, described tracking module comprises: comparison sub-module, for comparing present speed in vehicle parking process and described preset vehicle speed; Adjustment of rotational speed submodule, for the decreasing value of the outbound course dish rotating speed when described present speed is less than described preset vehicle speed, the boost value of outbound course dish rotating speed when described present speed is greater than described preset vehicle speed; Corner adjustment submodule, for the corner according to the decreasing value of described bearing circle rotating speed or the boost value calculated direction dish of bearing circle rotating speed.
2. to park a control system, it is characterized in that, comprising:
Preserve module, for preserving start position and the final position of vehicle;
Computing module, for calculating the track of parking under preset vehicle speed according to constraint condition and described start position and final position;
Then tracking module, for calculating the target direction dish corner making vehicle operating track and described track of parking substantially overlap in the process of parking according to the rotating speed of speed of a motor vehicle adjustment direction dish;
Sending module, the bearing circle that the target direction dish corner for being drawn by tracking module is sent to vehicle performs steering hardware;
Wherein, described trajectory tortuosity consecutive variations of parking, the curve wherein comprising circular arc and be connected with circular arc two ends, the radius of described circular arc is the turn radius of vehicle when front-wheel arrives hard-over, wherein, described circular arc is curvature invariant curve, and the curve that described circular arc two ends connect is continual curvature curve;
Wherein, described in park the S-shaped or reverse-s shape of track, be formed by connecting by the first curve, the first circular arc, the second curve, the 3rd curve, the second circular arc and the 4th curve successively head and the tail; Or, described in park the c-shaped or reverse C-shape of track, be formed by connecting by the first curve, circular arc and the second curve successively head and the tail;
Wherein, described computing module is also for obtaining the functional relation of y and x in described first curve, the second curve, the 3rd curve or the 4th curve to the two ends integration of following formula:
X represents the displacement of horizontal direction, and y represents the displacement of vertical direction, and ψ represents yaw angle, and v represents described preset vehicle speed, and δ represents front wheel angle, and b represents the wheelbase of vehicle, and σ represents front wheel rotation speed, and integration time is δ/σ, v≤v
max, σ≤σ
max, δ≤δ
max, wherein, v
maxvehicle the maximum permissible train speed when expression is parked, σ
maxrepresent the maximum turning velocity of vehicle front-wheel, δ
maxrepresent front-wheel hard-over;
Wherein, described tracking module comprises: comparison sub-module, for comparing present speed in vehicle parking process and described preset vehicle speed; Adjustment of rotational speed submodule, for the decreasing value of the outbound course dish rotating speed when described present speed is less than described preset vehicle speed, the boost value of outbound course dish rotating speed when described present speed is greater than described preset vehicle speed; Corner adjustment submodule, for the corner according to the decreasing value of described bearing circle rotating speed or the boost value calculated direction dish of bearing circle rotating speed.
3. to park a control method, it is characterized in that, comprising:
Obtain start position and the final position of vehicle;
According to the track of parking under constraint condition and described start position and final position calculating preset vehicle speed, wherein,
Described constraint condition comprises the hard-over of vehicle the maximum permissible train speed when parking, the maximum turning velocity of vehicle front-wheel and vehicle front-wheel,
Described trajectory tortuosity consecutive variations of parking, the curve wherein comprising circular arc and be connected with circular arc two ends, the radius of described circular arc is the turn radius of vehicle when front-wheel arrives hard-over, wherein, described circular arc is curvature invariant curve, and the curve that described circular arc two ends connect is continual curvature curve;
Wherein, described in park the S-shaped or reverse-s shape of track, be formed by connecting by the first curve, the first circular arc, the second curve, the 3rd curve, the second circular arc and the 4th curve successively head and the tail; Or, described in park the c-shaped or reverse C-shape of track, be formed by connecting by the first curve, circular arc and the second curve successively head and the tail;
Wherein, the described track of parking calculated under preset vehicle speed according to constraint condition and described start position and final position comprises: the functional relation two ends integration of following formula being obtained to y and x in described first curve, the second curve, the 3rd curve or the 4th curve:
X represents the displacement of horizontal direction, and y represents the displacement of vertical direction, and ψ represents yaw angle, and v represents described preset vehicle speed, and δ represents front wheel angle, and b represents the wheelbase of vehicle, and σ represents front wheel rotation speed, and integration time is δ/σ, v≤v
max, σ≤σ
max, δ≤δ
max, wherein, v
maxvehicle the maximum permissible train speed when expression is parked, σ
maxrepresent the maximum turning velocity of vehicle front-wheel, δ
maxrepresent front-wheel hard-over;
Wherein, also comprise after the track of parking under described calculating preset vehicle speed: then calculate the target direction dish corner that vehicle operating track and described track of parking are overlapped substantially according to the rotating speed of speed of a motor vehicle adjustment direction dish;
Wherein, then the described rotating speed according to speed of a motor vehicle adjustment direction dish calculates the target direction dish corner that vehicle operating track and described track of parking are overlapped substantially and comprises: compare the present speed in vehicle parking process and described preset vehicle speed; The decreasing value of outbound course dish rotating speed when described present speed is less than described preset vehicle speed, the boost value of outbound course dish rotating speed when described present speed is greater than described preset vehicle speed; According to the corner of the decreasing value of described bearing circle rotating speed or the boost value calculated direction dish of bearing circle rotating speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010276285.3A CN102398596B (en) | 2010-09-07 | 2010-09-07 | Parking control device and system and parking control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010276285.3A CN102398596B (en) | 2010-09-07 | 2010-09-07 | Parking control device and system and parking control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102398596A CN102398596A (en) | 2012-04-04 |
| CN102398596B true CN102398596B (en) | 2015-04-22 |
Family
ID=45881371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010276285.3A Active CN102398596B (en) | 2010-09-07 | 2010-09-07 | Parking control device and system and parking control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102398596B (en) |
Families Citing this family (37)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9020757B2 (en) * | 2012-05-11 | 2015-04-28 | Trimble Navigation Limited | Path planning autopilot |
| KR101365498B1 (en) * | 2012-09-06 | 2014-03-13 | 주식회사 만도 | Smart parking assist system of vehicle and control method thereof |
| CN103158703B (en) * | 2013-03-26 | 2016-04-06 | 北京经纬恒润科技有限公司 | A kind of control method of Parallel parking |
| CN103950448B (en) * | 2014-04-21 | 2016-06-29 | 中国科学院深圳先进技术研究院 | Park track guidance method and system, park orbit generation method and system |
| JP6067634B2 (en) * | 2014-09-12 | 2017-01-25 | アイシン精機株式会社 | Parking assistance device and route determination method |
| CN104554257B (en) * | 2014-12-29 | 2017-01-18 | 江苏大学 | Parking scene recognition method for initial space searching stage of automatic parking |
| DE102015204359A1 (en) * | 2015-03-11 | 2016-09-15 | Robert Bosch Gmbh | Driving a motor vehicle in a parking lot |
| CN106696957A (en) * | 2015-11-18 | 2017-05-24 | 上海航天汽车机电股份有限公司 | Automatic parking control method for vehicle and system thereof |
| US10889294B2 (en) * | 2016-01-14 | 2021-01-12 | Ford Global Technologies, Llc | Assessing U-turn feasibility |
| US10144453B2 (en) * | 2016-04-13 | 2018-12-04 | Cnh Industrial America Llc | System and method for controlling a vehicle |
| US9925978B2 (en) * | 2016-07-19 | 2018-03-27 | Ford Global Technologies, Llc | Vehicle pivot technique |
| CN108275146A (en) * | 2017-01-05 | 2018-07-13 | 重庆长安汽车股份有限公司 | Full-automatic speed Discrete control system and method for parking |
| CN108423067A (en) * | 2017-02-15 | 2018-08-21 | 联创汽车电子有限公司 | Level is parked control method and control system |
| CN109109855B (en) * | 2017-06-22 | 2021-03-23 | 蔚来(安徽)控股有限公司 | Method and device for automatically driving a vehicle into a parking space |
| CN107618503B (en) * | 2017-08-29 | 2019-07-23 | 广州小鹏汽车科技有限公司 | A kind of automatic parking control method and system |
| CN107856668B (en) * | 2017-09-22 | 2020-09-22 | 江西博能上饶客车有限公司 | Automatic protection system and method for vehicle steering |
| CN107914773A (en) * | 2017-11-29 | 2018-04-17 | 深圳市路畅科技股份有限公司 | A kind of backing track implementation method, system, equipment and computer-readable storage medium |
| CN109959383A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | A kind of automatic parking paths planning method |
| CN110091918B (en) * | 2018-01-29 | 2021-12-31 | 杭州海康汽车软件有限公司 | Method and device for obtaining parking path |
| CN111936356B (en) * | 2018-03-30 | 2022-09-16 | 歌乐株式会社 | Parking assist apparatus |
| CN109703553B (en) * | 2019-01-30 | 2020-08-04 | 长安大学 | Automatic parking method based on traction point tracking |
| CN109927716B (en) * | 2019-03-11 | 2020-11-10 | 武汉环宇智行科技有限公司 | Autonomous vertical parking method based on high-precision map |
| CN111721309B (en) * | 2019-03-19 | 2023-01-03 | 上海汽车集团股份有限公司 | Path planning method and device |
| CN111731269B (en) * | 2019-03-22 | 2022-07-12 | 广州汽车集团股份有限公司 | Automatic parking path planning method and system |
| CN109927717B (en) * | 2019-03-22 | 2020-07-17 | 湖北亿咖通科技有限公司 | Parking track determination method and device and intelligent terminal |
| CN110077393B (en) * | 2019-03-31 | 2020-08-25 | 惠州市德赛西威汽车电子股份有限公司 | Automatic parking speed control method based on image vision |
| CN110228465A (en) * | 2019-05-31 | 2019-09-13 | 深圳市航盛电子股份有限公司 | A kind of semiautomatic parking system path planing method |
| CN110497913B (en) * | 2019-07-16 | 2020-09-15 | 深圳市航盛电子股份有限公司 | Gear shifting method for improving adaptability of semi-automatic parking system |
| CN110487285B (en) * | 2019-08-27 | 2021-01-29 | 湖北亿咖通科技有限公司 | Path planning control method and electronic equipment for low-speed turning of vehicle |
| JP7097866B2 (en) * | 2019-09-24 | 2022-07-08 | 本田技研工業株式会社 | Remote parking system |
| CN111016886B (en) * | 2019-12-19 | 2021-07-30 | 合达信科技集团有限公司 | Automatic parking path planning method based on B spline theory |
| DE102020105434A1 (en) * | 2020-03-02 | 2021-09-02 | Valeo Schalter Und Sensoren Gmbh | METHOD OF OPERATING A VEHICLE, PARKING ASSISTANCE SYSTEM AND VEHICLE |
| CN112061115B (en) * | 2020-08-18 | 2021-09-10 | 三一专用汽车有限责任公司 | Vehicle travel path acquisition method, apparatus and computer-readable storage medium |
| CN112172791B (en) * | 2020-09-14 | 2021-10-22 | 武汉乐庭软件技术有限公司 | Automatic parking speed planning method and device based on path curvature and storage device |
| CN112389421B (en) * | 2020-11-17 | 2022-02-18 | 湖南三一智能控制设备有限公司 | Control method and control system for parallel positioning of engineering vehicle and engineering vehicle |
| CN112937557B (en) * | 2021-03-09 | 2022-08-12 | 东风汽车集团股份有限公司 | Curvature control-based passenger-riding parking path planning method and system |
| CN113548041B (en) * | 2021-08-26 | 2022-12-13 | 广州小鹏自动驾驶科技有限公司 | Parking control method applied to vertical parking space, electronic equipment and vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009132205A (en) * | 2007-11-29 | 2009-06-18 | Aisin Seiki Co Ltd | Parking support device |
| CN101535115A (en) * | 2006-11-08 | 2009-09-16 | 大众汽车有限公司 | Parking steering assistant with improved transverse parking function |
| WO2009152977A1 (en) * | 2008-06-17 | 2009-12-23 | Valeo Schalter Und Sensoren Gmbh | Method and device for parking assistance for a vehicle |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3818653B2 (en) * | 2003-06-26 | 2006-09-06 | トヨタ自動車株式会社 | Vehicle travel support device |
| DE502006009366D1 (en) * | 2005-09-15 | 2011-06-01 | Continental Teves Ag & Co Ohg | METHOD AND DEVICE FOR PREDICTING A MOTION TRAJECTORY |
| US8538631B2 (en) * | 2007-01-23 | 2013-09-17 | GM Global Technology Operations LLC | Method and system for vehicle parking assistance |
| DE102007004972A1 (en) * | 2007-01-26 | 2008-07-31 | Valeo Schalter Und Sensoren Gmbh | Vehicle i.e. car, parking method, involves selecting inclination and curvature in starting point and end point, such that collision of vehicle with parking place limiting obstacles does not happen |
-
2010
- 2010-09-07 CN CN201010276285.3A patent/CN102398596B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101535115A (en) * | 2006-11-08 | 2009-09-16 | 大众汽车有限公司 | Parking steering assistant with improved transverse parking function |
| JP2009132205A (en) * | 2007-11-29 | 2009-06-18 | Aisin Seiki Co Ltd | Parking support device |
| WO2009152977A1 (en) * | 2008-06-17 | 2009-12-23 | Valeo Schalter Und Sensoren Gmbh | Method and device for parking assistance for a vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102398596A (en) | 2012-04-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102398596B (en) | Parking control device and system and parking control method | |
| CN109720342B (en) | Path planning design method for vertical parking | |
| CN103158703B (en) | A kind of control method of Parallel parking | |
| CN105197010A (en) | Auxiliary parking system and auxiliary parking control method | |
| CN109017975B (en) | Control method and control system of intelligent steering system | |
| CN110286671B (en) | Automatic driving vehicle path generation method based on clothoid curve | |
| US8788150B2 (en) | System and method for controlling a vehicle using in-wheel system | |
| CN106886215B (en) | Tracking system based on multi-axis trolley bus and trolley bus with tracking system | |
| CN108423067A (en) | Level is parked control method and control system | |
| CN112277931B (en) | Vertical parking trajectory generation method and device, vehicle and storage medium | |
| CN102666255B (en) | Determination of a center feeling for EPS steering systems | |
| JP2002104221A (en) | Traffic lane follow-up control device | |
| CN106741136A (en) | Electric boosting steering system with active steering function | |
| CN111016886A (en) | Automatic parking path planning method based on B spline theory | |
| CN112596521B (en) | Double-rudder-wheel magnetic navigation AGV deviation rectifying method and device | |
| CN109747706B (en) | Steering power-assisted compensation method and system and vehicle | |
| CN112462760A (en) | Double-steering-wheel AGV path tracking method | |
| CN116118725A (en) | Lane keeping control method based on multipoint pretightening | |
| CN112124418A (en) | Damping control method for vehicle electric power steering system | |
| US20220089218A1 (en) | Steering control device | |
| CN111169470B (en) | Automatic parking method and device and electronic equipment | |
| CN112874536B (en) | Intelligent vehicle deflector rod track changing method | |
| CN107010107B (en) | Hydraulic active steering system of motor bus and control method | |
| US20220089214A1 (en) | Steering control device | |
| CN104443027A (en) | Multi-axle vehicle steering method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 4 / F, building 1, No.14 Jiuxianqiao Road, Chaoyang District, Beijing 100020 Patentee after: Beijing Jingwei Hengrun Technology Co., Ltd Address before: 1-2 / F, commercial building, No. 23, anxiangli, Chaoyang District, Beijing 100101 Patentee before: Beijing Jingwei HiRain Technologies Co.,Ltd. |
|
| CP03 | Change of name, title or address |