CN102632837B - Auxiliary parking system and controlling method thereof - Google Patents
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Abstract
The invention discloses an auxiliary parking system and a controlling method thereof. The auxiliary parking system comprises a parking controller, wherein the parking controller acquires signals of a steering wheel corner sensor, a brake controller and an electric spray controller through a CAN (Controller Area Network) bus, acquires signals of a radar controller and a front radar controller through a serial interface, acquires signals of a side surface ultrasonic wave sensor and a wheel speed sensor through wire harnesses and is connected with a parking mode selecting button through wire harness; and the parking controller controls to start processing the acquired signals through the parking mode selecting button and outputs commands to a buzzer, a voice device and a display in the parking controller so as to assist a driver to park. According to the auxiliary parking system disclosed by the invention, the utilized signals are from an original resource of a vehicle so as to save cost, a parking control manner can be selected by a user as required, a control method assisting to park is also simple and reasonable, data processing amount of a controller can be reduced, the cost of the controller is reduced, the system has higher reliability and effectively assists a driver to park in a garage.
Description
Technical field
The present invention relates to vehicle electric field, in particular, relate to a kind of automobile auxiliary parking system and control method thereof.
Background technology
Along with the increase of domestic automobile recoverable amount, the parking position day of road both sides is becoming tight, necessary with regard to what show for the space utilization of parking position.Aid parking technology is ripe at present, radar mode before and after most of vehicle all possesses, although there is Reverse Sensor auxiliary, for the narrow and small space of parking, and not familiar roadcraft, make fresh driver reversing put very headache in storage.And advanced automatic parking technology only has minority luxury car to be just equipped with, and whole system component devices is more, control complexity and not easy-maintaining.The half auxiliary technology of parking is arisen at the historic moment thus, and half auxiliary parking produces on the basis of automatic parking, also claims auxiliary parking.Chaufeur is parked according to the prompting of the half auxiliary controller of parking, and within the short time, can effectively stop.
In the prior art, published patent name: " a kind of parking assistance system and control method thereof " only mention in (CN201010533850.X.A) stop auxiliary before and after radar function pattern and system architecture, belong at present typical assistant parking device, but auxiliaring effect is not good, can not actv. guarantee the chaufeur warehouse-in of parking.Published patent name: " a kind of parking assist apparatus " is (CN201010292305.6) a kind of auxiliary parking system.In this patent, display system is separated with control system, emphasizes the application of front and back and side ultrasonic transduter, and system is not with gear on car, the speed of a motor vehicle, the signals such as corner, thereby system does not possess automated closed-loop function, the handoff functionality that does not possess the function of parking and aid parking function, result of use is general.
Summary of the invention
Technical matters to be solved by this invention is to realize a kind of low cost of manufacture, and it is convenient to install, and can independently become product, auxiliary park effective auxiliary parking system and control method thereof.
To achieve these goals, the technical solution used in the present invention is: a kind of auxiliary parking system, system is provided with the controller of parking, by CAN bus, obtain steering wheel angle sensor, the signal of brake controller and EFI controller, the signal of radar controller and front radar controller after obtaining by serial interface, by wire harness, obtain side ultrasonic transduter and wheel speed sensors signal, and be connected with the model selection button of parking by wire harness, the described controller of parking is started and is processed the signal obtaining by the model selection push button control of parking, and output command is to the buzzer phone of the controller inside of parking, voice device and telltale driver assistance are parked.
The described controller of parking comprises main control module and display module, the imput output circuit that described main control module contains buzzer phone, voice device, MCU and matches, the pass imput output circuit that described display module contains telltale, display driver and matches.
The MCU of described main control module adopts Freescale 9S08dz64 chip, SPI function and the speech chip ZY1730 of described MCU carry out communication, play phonetic function, the parallel port of described MCU is controlled LED and is driven chip ST2225A, provide output cue prompting, carry out the bright function of LED lamp, the PWM function of described MCU is controlled buzzer phone, output buzzing warning function.
The display driver of described display module contains driving chip ST2225A.
Described main control module and display module are levels structure.
Control method based on auxiliary parking system, comprises
(1) auxiliary parking system electrifying startup, radar mode before and after optionally entering by car model selection button, auxiliary park pattern or default mode;
(2) when gear is hung into reverse gear, if do not enter default mode by the model selection button of getting off, radar controller after now starting, the controller of parking receives rear radar signal and gives chaufeur rear obstacle distance prompt;
(3) radar mode before and after entering by the model selection button of getting off, now according to the controller of parking, gather gear signal, if vehicle starts rear radar controller in reverse, if vehicle is radar controller before not starting into shelves in moveing backward, and gives the obstacle distance prompting of chaufeur front and back according to radar signal;
(4) when enter the auxiliary pattern of parking by the model selection button of getting off, side ultrasonic transduter work is delivered to by signal the controller of parking, the gear signal that the controller of simultaneously parking gathers, if vehicle is radar controller after reverse starts simultaneously, if vehicle is radar controller before not starting into shelves in moveing backward, and gives the obstacle distance prompting of chaufeur front and back according to radar and sensor signal simultaneously.
Described front and back radar mode and default mode give chaufeur rear obstacle distance prompt and comprise that telltale provides the range finding distance prompt of front and back radar, by voice device, read concrete distance value, buzzer phone sends along with distance approaches the chimes of doom that frequency is higher.
Described step 4 gives the chaufeur guidance of parking simultaneously, is followed successively by that critical area 1 instructs, critical area 2 instructs and adjusts parking stall and instruct;
Described critical area 1 instructs: side ultrasonic transduter 8 is found range, it is 1-1.5m that there is obstacle distance scope side, when row flanking obstacle disappear and running distance 1.5-2 doubly the interscan of this car bodywork length scope to there being obstacle existence, or when running distance surpasses still clear of 2 times of bodywork lengths, determine that current parking stall is critical area 1, voice device stop prompting, right play bearing circle prompting, change reverse and point out, vehicle laggard critical area 2 positions that enter that start to move backward;
Described critical area 2 instructs: the voice device prompting of stopping, leftly play bearing circle prompting, and then continue the prompting that extension reverse is moveed backward, vehicle enters adjustment position, parking stall after starting to move backward;
Described adjustment parking stall is instructed: side ultrasonic transduter is closed, and rear radar controller and front radar controller, according to reversing or the gear that the advances controller signals of parking, give the condition of road surface of vehicle forward direction.
The signal that the invention has the advantages that this system utilization mostly comes from the original resource of vehicle, saved cost, and system wire harness cabling is clearly demarcated, controller small volume, quick for installation, the mode of parking self-service selection as required, auxiliary control method of parking is advantages of simple also, can reduce the data processing amount of controller, reduces controller cost, also can make system reliability higher, the actv. driver assistance warehouse-in of parking.
Accompanying drawing explanation
Below the content of every width accompanying drawing expression in specification sheets of the present invention and the mark in figure are briefly described:
Fig. 1 auxiliary parking system block diagram;
Fig. 2 auxiliary parking system controller principle figure that parks;
Fig. 3 auxiliary parking system controller telltale differential plot;
Fig. 4 parking system software flow pattern;
Fig. 5 finds parking position system flowchart;
Fig. 6 key area schematic diagram of parking;
Fig. 7 key area switching flow figure that parks
Mark in above-mentioned figure is: 1, steering wheel angle sensor; 2, brake controller; 3, EFI controller; 4, the model selection button of parking; 5, the controller of parking; 6, rear radar controller; 7, front radar controller; 8, side ultrasonic transduter; 9; Wheel speed sensors.
The specific embodiment
Known referring to Fig. 1, auxiliary parking system comprises the controller 5 of parking, steering wheel angle sensor 1, brake controller 2, EFI controller 3, the model selection button 4 of parking, rear radar controller 6, front radar controller 7, side ultrasonic transduter 8 and wheel speed sensors 9, wherein the auxiliary controller 5 of parking is by CAN bus and steering wheel angle sensor 1, brake controller 2 and EFI controller 3 connect, thereby from steering wheel angle sensor 1, obtain wheel steering angle signal by CAN, from brake controller 2, obtain vehicle speed signal and speed-slackening signal, from EFI controller 3, obtain gear signal, the auxiliary controller 5 of parking is connected with rear radar controller 6 and front radar controller 7 by serial interface, thereby from rear radar controller 6, obtains rear radar ranging signal by serial interface, by front radar controller 7, obtains front radar ranging signal, the auxiliary controller 5 of parking is connected with the Pattern Select Switch 4 of parking, side ultrasonic transduter 8 and wheel speed sensors 9 by wire harness, thereby Pattern Select Switch 4 signal acquisitions are aid parking patterns by parking, to the auxiliary controller 5 of parking, send the auxiliary mode signal of parking, ultrasonic transduter 8 obtains side distance measuring signal from the side, by wheel speed sensors 9, obtains wheel speed signal.Said structure makes full use of existing car upper sensor and CAN Internet resources signal, as system input, realizes the auxiliary function of parking.Effectively save system cost and relevant wire harness, realize quick cabling, reduce vehicle body space utilization and weight.
Known referring to Fig. 2, the controller 5 of parking comprises main control module and display module, the imput output circuit that wherein main control module contains buzzer phone, voice device, MCU and matches, the pass imput output circuit that display module contains telltale, display driver and matches.The controller 5 of parking is realized telltale and the two-in-one function of controller, by voice device information to chaufeur with voice guidance, by buzzer phone, provide and report to the police and information, before and after by display module to chaufeur with image graphics information being, radar ranging shows in real time, and parking instructions signal shows.
Known referring to Fig. 3, the main control module of the controller 5 of parking contains MCU and correlated inputs output circuit, is mainly used in receiving incoming signal, carries out signal processing, provides output cue.Main control module adopts Freescale 9S08dz64 chip as MCU.CAN module and outside CAN bus by MCU are carried out information exchange.SPI function and speech chip ZY1730 by MCU carry out communication, play phonetic function.By the parallel port function of MCU, control LED and drive chip ST2225A, provide output cue prompting, carry out the bright function of LED lamp, be also graph image prompting.PWM function by MCU is controlled buzzer phone, output buzzing warning function.In output signal, graph image is in display module, and voice and buzzing are in main control module.Display module contains display driver ST2225A, and the digital demonstration of front and back radar and the information number prompting figure of parking.Main control module and display module are levels structure, main control module is arranged at the telltale back side and becomes one with it specifically, with wire harness, do not connect, be convenient to direct control, save parking system cost, effectively save installing space in car, telltale and controller are levels circuit card, in the time of integrated, be placed in a shell, route between controller and telltale transmits by inner wire harness, MCU by controller gives an order, by its parallel port, control Display Driver ST2225A, the demonstration that system is sent according to strategy so that telltale upgrades in time and figure signal.
Known referring to Fig. 4, the control method of parking based on above-mentioned parking system comprises:
1, auxiliary parking system electrifying startup, radar mode before and after optionally entering by car model selection button 4, auxiliary park pattern or default mode;
2, when gear is hung into reverse gear, if do not enter default mode by 4, the model selection button of getting off, radar controller 6 after now starting, the controller 5 of parking receives rear radar signal and gives chaufeur rear obstacle distance prompt;
3, radar mode before and after entering by the model selection button 4 of getting off, now according to the controller 5 of parking, gather gear signal, if vehicle starts rear radar controller 6 in reverse, if vehicle is radar controller 7 before not starting into shelves in moveing backward, and gives the obstacle distance prompting of chaufeur front and back according to radar signal;
4 when enter the auxiliary pattern of parking by the model selection button 4 of getting off, ultrasonic transduter 8 work in side are delivered to by signal the controller 5 of parking, the gear signal that the controller 5 of simultaneously parking gathers, if vehicle is radar controller 6 after reverse starts simultaneously, if vehicle is radar controller 7 before not starting into shelves in moveing backward, and gives the obstacle distance prompting of chaufeur front and back according to radar and sensor signal simultaneously.
Wherein radar mode and default mode give chaufeur rear obstacle distance prompt comprise telltale provide before and after the range finding distance prompt of radar, by voice device, read concrete distance value, buzzer phone sends along with distance approaches the chimes of doom that frequency is higher.
Referring to Fig. 5,6 known, the auxiliary pattern of parking can give chaufeur guidances of parking, and specifically, this pattern is following tutorial program successively: critical area 1 instructs, critical area 2 instructs and adjust parking stall and instruct, thereby driver assistance reversing is put in storage.
Wherein critical area 1 instructs: side ultrasonic transduter 8 is found range, it is 0.5-1.5m that there is obstacle distance scope side, when row flanking obstacle disappear and running distance 1.5-2 doubly the interscan of this car bodywork length (being generally 6.5-8m) scope to there being obstacle existence, or record current driving distance, determine parking position length, when running distance surpasses still clear of 2 times of this car bodywork lengths (being generally 8m) side, determine that current parking stall is critical area 1, the voice device prompting of stopping, the right bearing circle of beating is pointed out, change reverse prompting, vehicle laggard critical area 2 positions that enter that start to move backward, for new hand, critical area 1 and critical area 2 generally can not settle at one go, system can set critical area 1 and critical area 2 maximums back and forth number of times be 3 (setting values arbitrarily), when in stipulated number, driving does not reach key area, will abandon the function of parking,
Wherein critical area 2 instructs: the voice device prompting of stopping, leftly play bearing circle prompting, and then continue the prompting that extension reverse is moveed backward, vehicle enters adjustment position, parking stall after starting to move backward;
Described adjustment parking stall is instructed: side ultrasonic transduter 8 is closed, and rear radar controller 6 and front radar controller 7, according to reversing or the gear that advances controller 5 signals of parking, give the condition of road surface of vehicle forward direction.When car enters parking stall and enter Reverse Sensor viewing area, rear radar controller 6 starts and the controller 5 of parking carries out communication specifically, and the controller 5 of parking provides the picture cues of Ben Che and rear car distance.When car enter parking stall and adjusting parking stall enter before during radar viewing area, front radar controller 7 starts and the controller 5 of parking carries out communication, the controller 5 of parking provides the picture cues of front car and leading vehicle distance.When the auxiliary parking of parking finishes, system provides park successful voice and graphical cues.
In two step critical areas 1 and critical area 2, the auxiliary controller 5 of parking provides voice message by voice module, display module provides the promptings such as graph image prompting, and according to steering wheel angle sensor 1, brake controller 2, EFI controller 3, car speed sensor 9 incoming signals such as grade carry out closed loop control; Chaufeur, according to pointing out and operate braking, brakes, the behaviors such as reversing.
Above-mentioned master mode can need to select according to chaufeur, and system flow is simple, so reliability is strong, avoids too numerous and diverse operation and control, has also saved manufacturing cost, by adding side ultrasonic transduter 8, can be widely used in low and middle-grade automobiles.
The computing formula of critical area 1 is as follows:
Point1_min＝SYS_PARA+side_dis(slot_len-Lmin)
Point1_max＝SYS_PARA+side_dis
In formula:
Point1_min is critical area 1 minimum value, and point1_max is critical area 1 maxim.
SYS_PARA is system parameter;
When side_dis >=1m, SYS_PARA=VECHILLE_LEN-side_cali_max;
When side_dis < 1m, SYS_PARA=VECHILE_LEN-side_cali_min;
Side_dis is side radar ranging distance; S1ot_len is the distance of car straight-line travelling from entering the auxiliary function of parking; Lmin is the minimum value that car meets parking position length; VECHILE_LEN is long height degree; Side_cali_max is side radar maximum measure distance real vehicle calibration value; Side_cali_min is the minimum range finding of side radar real vehicle calibration value;
The calculating of critical area 2
In formula: Rmin is hind axle center turn radius; WHEEL_DIS is wheel tracks; PI is constant 3.14159; Side_dis is the distance of side radar ranging.
When this flow process is carried out, need real-time update from the wheel speed signal of wheel speed sensors, the steering wheel angle signal of steering wheel angle sensor, brake signal from brake controller, from the gear signal of EFI controller, in real time system is pointed out, chaufeur operates according to prompting.
" EFI controller 3, car speed sensor 9 incoming signals such as grade carry out closed loop control for steering wheel angle sensor 1, brake controller 2 " its idiographic flow is described below:
When system finds after parking position, real-time update wheel speed, according to wheel speed, radius of wheel and running time calculate operating range.As being greater than minimum parking position length, operating range according to correlation parameter, calculates key area 1.Real-time update correlated inputs signal now, and calculate when entering parking position operating range now, the interval position of judgement key area, car place 1.
Flow process stresses key area 1, and the moving process of key area 2 is not re-used as emphasis to the automatic moving of key area 1 and describes.In flow process, system makes to chaufeur the sound of parking, graphical cues, if chaufeur does not carry out associative operation within the set time, or illegal associative operation, can exit parking system.
As car has sailed the point1_min of key area 1 into, and between point1_max.According to live signal, judge whether car stops.As Che Weiting provides auditory tone cues and graphical cues, inform chaufeur brake.As chaufeur brakes according to operation, judge whether to move backward.As not reversing, point out chaufeur to move backward.When chaufeur is moveed backward, point out low-reverse.When the nominal time of moveing backward is during as 1S, prompting chaufeur carries out the right side and makes bearing circle.As chaufeur carries out the right side, make bearing circle, according to relevant real-time parameter, start to calculate the second key area, and write down current driving distance.System provides the right side and makes bearing circle, keeps the prompting of low-reverse.And calculate in real time operating range according to wheel speed signal.When operating range is greater than point2_min, as car does not stop, provide the prompting of brake.As chaufeur brakes, carry out gear whether in the judgement of reverse.If current gear is not in reverse, system prompt chaufeur is moveed backward.If current gear is in reverse, system prompt chaufeur, continues to keep low-reverse 1S.System can provide the prompting that direction is faced left and made subsequently, if system is made on a left side, provides a left side and makes the prompting that bearing circle continues low-reverse.Now car, through the adjustment of two large key areas, has entered parking position, and radar mode before and after entering, and adjusts parking stall instructional model.
By reference to the accompanying drawings the present invention is exemplarily described above; obviously specific implementation of the present invention is not subject to the restrictions described above; as long as adopted the improvement of the various unsubstantialities that method of the present invention design and technical scheme carry out; or without improving, design of the present invention and technical scheme are directly applied to other occasion, all within protection scope of the present invention.
Claims (3)
1. a control method for auxiliary parking system, is characterized in that:
Auxiliary parking system is provided with the controller of parking (5), by CAN bus, obtain steering wheel angle sensor (1), the signal of brake controller (2) and EFI controller (3), the signal of radar controller (6) and front radar controller (7) after obtaining by serial interface, by wire harness, obtain side ultrasonic transduter (8) and wheel speed sensors (9) signal, and be connected with the model selection button (4) of parking by wire harness, the described controller of parking (5) is controlled to start by the model selection button (4) of parking and is processed the signal obtaining, and output command is to the inner buzzer phone of the controller of parking (5), voice device and telltale driver assistance are parked,
The control method of said system:
(1) auxiliary parking system electrifying startup, radar mode before and after optionally entering by the model selection button (4) of parking, auxiliary park pattern or default mode;
(2), when gear is hung into reverse gear, the model selection button (4) of parking if do not press enters default mode, radar controller (6) after now starting, and the controller of parking (5) receives rear radar signal and gives chaufeur rear obstacle distance prompt;
(3) when pressing the model selection button (4) of parking, enter front and back radar mode, now according to the controller (5) of parking, gather gear signal, if vehicle starts rear radar controller (6) in reverse, if vehicle is radar controller (7) before not starting into shelves in moveing backward, and gives the obstacle distance prompting of chaufeur front and back according to radar signal;
(4) when pressing the model selection button (4) of parking, enter the auxiliary pattern of parking, side ultrasonic transduter (8) work is delivered to the controller of parking (5) by signal, the controller (5) of simultaneously parking gathers gear signal, if vehicle is radar controller (6) after reverse starts simultaneously, if vehicle is radar controller (7) before not starting into shelves in moveing backward, and gives the obstacle distance prompting of chaufeur front and back according to radar and sensor signal simultaneously.
2. control method according to claim 1, it is characterized in that: described front and back radar mode and default mode give chaufeur rear obstacle distance prompt and comprise that telltale provides the range finding distance prompt of front and back radar, by voice device, read concrete distance value, buzzer phone sends along with distance approaches the chimes of doom that frequency is higher.
3. control method according to claim 1, is characterized in that: described (4) give the chaufeur guidance of parking simultaneously, is followed successively by that critical area 1 instructs, critical area 2 instructs and adjusts parking stall and instruct;
Described critical area 1 instructs: side ultrasonic transduter (8) is found range, it is 0.5-1.5m that there is obstacle distance scope side, when row flanking obstacle disappear and running distance 1.5-2 doubly the interscan of this car bodywork length scope to there being obstacle existence, or when running distance surpasses still clear of 2 times of bodywork lengths, determine that current parking stall is critical area 1, stop prompting, the right bearing circle of beating of voice device pointed out, change reverse prompting, vehicle laggard critical area 2 positions that enter that start to move backward;
Described critical area 2 instructs: the voice device prompting of stopping, leftly play bearing circle prompting, and then continue the prompting that extension reverse is moveed backward, vehicle enters adjustment position, parking stall after starting to move backward;
Described adjustment parking stall is instructed: side ultrasonic transduter (8) is closed, and rear radar controller (6) and front radar controller (7), according to moveing backward or the gear that advances controller (5) signal of parking, give the condition of road surface of vehicle forward direction.
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| DE102014200661A1 (en) * | 2014-01-16 | 2015-07-16 | Ford Global Technologies, Llc | Detection of a parking operation of a motor vehicle |
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| CN104401324B (en) * | 2014-11-05 | 2017-06-27 | 江苏大学 | A kind of auxiliary parking system and method based on multiple-objection optimization |
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| CN107235077A (en) * | 2016-03-29 | 2017-10-10 | 长城汽车股份有限公司 | Parking assistance method, system and the vehicle of vehicle |
| CN110316182B (en) * | 2018-03-29 | 2021-07-06 | 深圳市航盛电子股份有限公司 | Automatic parking system and method |
| CN109910737A (en) * | 2019-03-14 | 2019-06-21 | 上海擎感智能科技有限公司 | A kind of method, apparatus and vehicle of automatic detection barrier |
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