CN103332191A - EPS integrated intelligent parking control system and control method - Google Patents
EPS integrated intelligent parking control system and control method Download PDFInfo
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- CN103332191A CN103332191A CN2013100500987A CN201310050098A CN103332191A CN 103332191 A CN103332191 A CN 103332191A CN 2013100500987 A CN2013100500987 A CN 2013100500987A CN 201310050098 A CN201310050098 A CN 201310050098A CN 103332191 A CN103332191 A CN 103332191A
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Abstract
The invention discloses an EPS (Emergency Power Supply) integrated intelligent parking control system and an EPS intelligent parking control method. The control system comprises a data acquisition and processing module, a control module, a power-assisted steering module, a parking module, an error compensation module and a danger caution module, wherein the data acquisition and processing module is used for acquiring real-time data of an automobile, a parking space and a barrier at the periphery of the automobile, and transmitting the acquired data to the control module, the error compensation module and the danger caution module; the control module is used for judging an effective parking space, planning a parking path and transmitting path data to the parking module and the power-assisted steering module; the power-assisted steering module is used for controlling a steering power-assisted motor to work according to the path data; the parking module is used for prompting a driver to control the automobile according to the path data; the error compensation module is used for prejudging and compensating an error generated during a parking course according to real-time parking data; and the danger caution module is used for sending a caution signal when a distance between a body of the automobile and the barrier at the periphery is less than a preset value. The intelligent parking control system and the intelligent parking method can effectively ensure the parking accuracy and can solve the problem that parking in space is difficult under a complicated condition.
Description
Technical field
The present invention relates to the automotive safety technical field, in particular to the integrated intelligence of a kind of EPS park control system and control method, automotive safety can be parked on the suitable parking stall accurately.
Background technology
In recent years, along with Chinese economic development, also in progressively lifting, the recoverable amount of domestic automobile continues to increase living standards of the people, and the construction progress of urban infrastructure is slow, and the parking position in the city can not satisfy the growing demand of automobile.After searching out suitable parking stall, can successfully park and also perplex chaufeur.
In order to address the above problem, multiple automated parking system has appearred.Present existing automated parking system patent focuses mostly in the aspect such as arranging and communicate by letter with ultrasonic transduter with demonstration in path planning, the auxiliary image acquisition of parking, for the research of control system in the whole process of parking with use seldom.
Electric boosting steering system (EPS) is the power steering system that a kind of direct dependence motor provides auxiliary torque, because it can significantly reduce fuel oil consumption, road-holding property when the ease of steering in the time of can taking into account low speed and high speed, return performance is good, compact conformation, quality is light, and manufacturing line assembles, be easy to advantages such as maintaining, in recent years popularization and application.
Summary of the invention
The object of the invention is to provide the integrated intelligence of a kind of EPS park control system and control method, the problem of the difficulty that solves that VEHICLES MUST PARK WITHIN THE MARKED BAY under the complicated state.
For reaching above-mentioned purpose, the present invention proposes the integrated intelligence of a kind of EPS control system of parking, comprise digital sampling and processing, control module, servo-steering module, the module of parking, error compensation module and dangerous alarm module, wherein: digital sampling and processing, be used for to gather the real time data of automobile, parking stall and peripheral vehicle obstacle, and with the data transmission of gathering to control module, error compensation module and dangerous alarm module; Control module is used for judging effective parking stall and planning the path of parking according to the data of auto body parameter and collection, and path data is transferred to park module and servo-steering module; The servo-steering module is used for according to aforesaid paths Data Control power steering machine operation; The module of parking is used for according to the aforesaid paths Notes of Key Data chaufeur automobile being controlled; The error compensation module is used for the error that park in real time data anticipation and the compensation process of parking according to automobile produce; Dangerous alarm module is used for sending alarm signal when auto body and peripheral obstacle distance during less than predetermined value.
Further, aforesaid control module is judged effective parking stall in conjunction with automobile speed, the parking stall parameter of auto body parameter and the collection of aforementioned data acquisition processing module.
Further, the distance of each step automobile actual travel of aforementioned error compensation module records, and relatively each goes on foot the length of the distance of actual travel and the path planning of parking, aforementioned control module is based on park path parameter revise of this comparative result to next step.
Further, the aforementioned module of parking comprises the voice output module, is used for speed and gear by voice suggestion chaufeur control automobile.
Another aspect of the present invention also proposes a kind of intelligence control method of parking, and this method may further comprise the steps:
Digital sampling and processing is gathered the real time data of automobile, parking stall and peripheral vehicle obstacle;
Control module is judged effective parking stall and is planned the path of parking in conjunction with the data of vehicle body parameter and digital sampling and processing collection;
The servo-steering module is according to the path control power steering machine operation of parking;
The module of parking is parked according to the path prompting chaufeur control of parking; And
Error compensation module relatively the park distance of each step automobile actual travel and the length of the path planning of parking in the process, and control module based on the comparison the result to next step the path parameter correction of parking.
Further, in the aforesaid method, judge effective parking stall by following steps:
The transverse distance D of the parking stall that the distance measuring sensor of control module reception vehicle body side is gathered, and with this transverse distance D and the safe transverse distance standard comparison of parking, judge whether this transverse distance meets the safety requirement of parking, the safety transverse distance of parking multiplies each other according to the width of vehicle body and safety factor and obtains;
Under the satisfactory situation of parking stall transverse distance D, the distance that crosses by measured automobiles is the fore-and-aft distance H of parking stall, the fore-and-aft distance H of control module comparison parking stall and the safety fore-and-aft distance standard of parking judges whether the fore-and-aft distance H of parking stall meets the safety requirement of parking, and the safety fore-and-aft distance standard of parking multiplies each other according to the length of vehicle body and safety factor and obtains;
When the transverse distance D of parking stall and fore-and-aft distance H met the requirements, this parking stall was effective, otherwise abandons current parking stall, and continues to seek other effective parking stalls.
Further, the fore-and-aft distance H of aforesaid parking stall obtains by the following method: the impulse singla number that the record car speed sensor sends will obtain the distance that automobile crosses after the calculation of parameter processing of recording.
By above technical scheme of the present invention as can be known, the invention has the beneficial effects as follows: by the data acquisition to the environment of parking, control module calculates the optimum path of parking; Intelligence is parked and the existing potential that is equipped with device of the abundant digging vehicle of EPS integrated system, realization the park route and carry out active steering when parking of planning of parking under the operating mode, on the basis of inheriting tradition EPS function, the problem of the difficulty that solved that VEHICLES MUST PARK WITHIN THE MARKED BAY under the complicated state, and effectively guarantee to park accuracy.
Description of drawings
Fig. 1 is the park module diagram of control system of the intelligence of preferred embodiment of the present invention.
Fig. 2 is the park schematic flow sheet of control system of the intelligence of preferred embodiment of the present invention.
Fig. 3 is the intelligence of the preferred embodiment of the present invention path scheme drawing of parking.
The specific embodiment
In order more to understand technology contents of the present invention, especially exemplified by specific embodiment and cooperate appended graphic being described as follows.
As shown in Figure 1, according to preferred embodiment of the present invention, the integrated intelligence of the EPS control system of parking, comprise digital sampling and processing, control module, servo-steering module, the module of parking, error compensation module and dangerous alarm module, wherein: digital sampling and processing, be used for to gather the real time data of automobile, parking stall and peripheral vehicle obstacle, and with the data transmission of gathering to control module, error compensation module and dangerous alarm module; Control module is used for judging effective parking stall and planning the path of parking according to the data of auto body parameter and collection, and path data is transferred to park module and servo-steering module; The servo-steering module is used for according to aforesaid paths Data Control power steering machine operation; The module of parking is used for according to the aforesaid paths Notes of Key Data chaufeur automobile being controlled; The error compensation module is used for the error that park in real time data anticipation and the compensation process of parking according to automobile produce; Dangerous alarm module is used for during less than predetermined value, sending alarm signal with peripheral obstacle distance when auto body, and timely prompting chaufeur when facing a danger situation is with the assurance process safe of parking.
Wherein, digital sampling and processing is gathered the range data between parameter (being transverse distance D and fore-and-aft distance H), peripheral vehicle obstacle and the auto body of automobile speed, parking stall, and with the data transmission of gathering to control module, error compensation module and dangerous alarm module further to judge and to handle.
Control module is judged effective parking stall in conjunction with automobile speed, the parking stall parameter of auto body parameter and digital sampling and processing collection, after finding effective parking stall, in conjunction with the data schema of vehicle body parameter and the digital sampling and processing collection path of parking, and generate the relevant director data of parking.The auto body parameter comprises length and the width of vehicle body.
In the present embodiment, digital sampling and processing comprises the distance measuring sensor that is installed in around the auto body, is used for gathering the distance between peripheral vehicle obstacle and the auto body, and the parameter of parking stall.
Digital sampling and processing also comprises car speed sensor, is used for gathering the vehicle speed data of automobile.In a further embodiment, digital sampling and processing adopts speed of a motor vehicle calculating unit to calculate the speed of a motor vehicle, calculates the speed of a motor vehicle of automobile by the coherent signal of ESP or abs controller, certainly, is not limited to this.
The module of parking also comprises voice output module (not shown), is used for speed and gear by voice suggestion chaufeur control automobile.
In the process of parking, the error compensation module is according to the data of parking in real time of automobile, the error that anticipation and compensation are parked and produced in the process, by the real-time data of gathering of digital sampling and processing, record the distance of each step automobile actual travel, and relatively each goes on foot the distance of actual travel and the length of path planning, control module result is based on the comparison revised next step path parameter, to realize optimizing and revising accuracy and success ratio that raising is parked.
Below in conjunction with Fig. 2 and shown in Figure 3, the intelligence that this enforcement is described in detail in detail the control method of control system of parking.
After chaufeur startup intelligence is parked control system, in the vehicle driving process, digital sampling and processing is gathered the distance between automobile speed and peripheral vehicle obstacle and the auto body, and with the data transmission of gathering to control module, control module is sought in conjunction with the data of auto body parameter and collection and is judged the actv. parking stall.Specifically may further comprise the steps:
The transverse distance D of the parking stall that the distance measuring sensor of control module reception vehicle body side is gathered, and this transverse distance D made comparisons with the safety transverse distance standard of parking, judge whether this transverse distance D meets the safety requirements of parking, if meet the requirements, then begin to measure the fore-and-aft distance H of parking stall.The safety transverse distance standard of parking can multiply each other according to the width of vehicle body and safety factor and obtains.
The fore-and-aft distance H of parking stall can be under the satisfactory situation of parking stall transverse distance, and the distance that crosses by measured automobiles obtains; When the transverse distance D of parking stall meets the demands, the impulse singla number that control module opening entry car speed sensor sends when the transverse distance D of parking stall does not meet the demands, then stops record, with obtaining the distance that automobile crosses after the parameter processing of recording, also be the fore-and-aft distance H of parking stall; The fore-and-aft distance H of control module comparison parking stall judges with the fore-and-aft distance standard of parking safely whether the fore-and-aft distance of parking stall is fit to the safety requirements of parking.The safety fore-and-aft distance standard of parking can multiply each other according to the length of vehicle body and safety factor and obtains.
When the transverse distance D of parking stall and fore-and-aft distance H met the requirements, this parking stall was effective; If undesirable, abandon current parking stall, continue to seek effective parking stall.
After searching out effective parking stall, automobile continues to overtake, control module is according to the target parking stall and in conjunction with the data schema of vehicle body parameter and the collection path of parking, with reference to figure 3, the path of parking is divided into three sections, be that the stage is made on the bearing circle right side, bearing circle returns the positive stage and direction is faced left the stage of making, and cooks up the starting point in path simultaneously.When running car arrived the path initial point, prompting was stopped, and hung reverse gear, began to park.
In the process of parking, automobile travels according to the path of planning, and control module coordinates to control park module and servo-steering module, and mainly by speed and the gear of voice suggestion chaufeur control automobile, servo-steering module controls steer motor turns to the module of parking.
In the process of parking, the error compensation module is according to the data of parking in real time of automobile, the error that anticipation and compensation are parked and produced in the process, by the peripheral vehicle obstacle of real-time collection and distance and the automobile speed of auto body, record the distance of each step automobile actual travel, and relatively each goes on foot the distance of actual travel and the length of path planning, control module result is based on the comparison revised next step path parameter, to realize optimizing and revising accuracy and success ratio that raising is parked.
After finishing when parking, voice suggestion is hung the P shelves, is pulled the hand brake.
In sum, the integrated intelligence of EPS of the present invention is parked control system and control method by the data acquisition to the environment of parking, and control module calculates the optimum path of parking; Intelligence is parked and the existing potential that is equipped with device of the abundant digging vehicle of EPS integrated system, realization the park route and carry out active steering when parking of planning of parking under the operating mode, on the basis of inheriting tradition EPS function, the problem of the difficulty that solved that VEHICLES MUST PARK WITHIN THE MARKED BAY under the complicated state, and effectively guarantee to park accuracy.
More than be to propose for the purpose of illustration and description to the description of theme of the present invention.It is not intended to exhaustive theme or with this subject matter restricted in disclosed precise forms, and in view of other modification of above instruction and the distortion all be possible.Selection is also described embodiment and is explained principle of the present invention and application in practice thereof best, thereby makes others skilled in the art utilize the present invention best in the modification of various embodiments and the various special-purposes that are suitable for conceiving.Appended claims is intended to comprise other replacement embodiment except the scope that limited by prior art.
Claims (7)
1. the integrated intelligence of EPS control system of parking, it is characterized in that, comprise digital sampling and processing, control module, servo-steering module, the module of parking, error compensation module and dangerous alarm module, wherein: digital sampling and processing, be used for to gather the real time data of automobile, parking stall and peripheral vehicle obstacle, and with the data transmission of gathering to control module, error compensation module and dangerous alarm module; Control module is used for judging effective parking stall and planning the path of parking according to the data of auto body parameter and collection, and path data is transferred to park module and servo-steering module; The servo-steering module is used for according to aforesaid paths Data Control power steering machine operation; The module of parking is used for according to the aforesaid paths Notes of Key Data chaufeur automobile being controlled; The error compensation module is used for the error that park in real time data anticipation and the compensation process of parking according to automobile produce; Dangerous alarm module is used for sending alarm signal when auto body and peripheral obstacle distance during less than predetermined value.
2. the integrated intelligence of the EPS according to claim 1 control system of parking is characterized in that aforesaid control module is judged effective parking stall in conjunction with automobile speed, the parking stall parameter of auto body parameter and the collection of aforementioned data acquisition processing module.
3. the integrated intelligence of the EPS according to claim 1 control system of parking, it is characterized in that, the distance of each step automobile actual travel of aforementioned error compensation module records, and relatively each goes on foot the length of the distance of actual travel and the path planning of parking, and aforementioned control module is based on park path parameter revise of this comparative result to next step.
4. the integrated intelligence of the EPS according to claim 1 control system of parking is characterized in that the aforementioned module of parking comprises the voice output module, is used for controlling by the voice suggestion chaufeur speed and the gear of automobile.
5. intelligence control method of parking is characterized in that, may further comprise the steps:
Digital sampling and processing is gathered the real time data of automobile, parking stall and peripheral vehicle obstacle;
Control module is judged effective parking stall and is planned the path of parking in conjunction with the data of vehicle body parameter and digital sampling and processing collection;
The servo-steering module is according to the path control power steering machine operation of parking;
The module of parking is parked according to the path prompting chaufeur control of parking; And
Error compensation module relatively the park distance of each step automobile actual travel and the length of the path planning of parking in the process, and control module based on the comparison the result to next step the path parameter correction of parking.
6. the intelligence according to claim 5 control method of parking is characterized in that, in the aforesaid method, judges effective parking stall by following steps:
The transverse distance D of the parking stall that the distance measuring sensor of control module reception vehicle body side is gathered, and with this transverse distance D and the safe transverse distance standard comparison of parking, judge whether this transverse distance meets the safety requirement of parking, the safety transverse distance of parking multiplies each other according to the width of vehicle body and safety factor and obtains;
Under the satisfactory situation of parking stall transverse distance D, the distance that crosses by measured automobiles is the fore-and-aft distance H of parking stall, the fore-and-aft distance H of control module comparison parking stall and the safety fore-and-aft distance standard of parking judges whether the fore-and-aft distance H of parking stall meets the safety requirement of parking, and the safety fore-and-aft distance standard of parking multiplies each other according to the length of vehicle body and safety factor and obtains;
When the transverse distance D of parking stall and fore-and-aft distance H met the requirements, this parking stall was effective, otherwise abandons current parking stall, and continues to seek other effective parking stalls.
7. the intelligence according to claim 5 control method of parking, it is characterized in that, the fore-and-aft distance H of aforesaid parking stall obtains by the following method: the impulse singla number that the record car speed sensor sends will obtain the distance that automobile crosses after the calculation of parameter processing of recording.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103661373A (en) * | 2013-12-26 | 2014-03-26 | 江苏大学 | Control device and method for safe switching between parking modes |
| CN103713626A (en) * | 2013-12-24 | 2014-04-09 | 江苏大学 | Functional fault detection device and fault detection method for parking system |
| CN104401325A (en) * | 2014-11-05 | 2015-03-11 | 江苏大学 | Dynamic regulation and fault tolerance method and dynamic regulation and fault tolerance system for auxiliary parking path |
| CN104442810A (en) * | 2014-10-22 | 2015-03-25 | 合肥星服信息科技有限责任公司 | Automobile parking assistant instrument |
| CN104442811A (en) * | 2014-11-19 | 2015-03-25 | 奇瑞汽车股份有限公司 | Parking control method and device |
| CN104637342A (en) * | 2015-01-22 | 2015-05-20 | 江苏大学 | Intelligent identification and parking path planning system and method for narrow and vertical parking space scene |
| CN106043282A (en) * | 2016-07-26 | 2016-10-26 | 浙江吉利控股集团有限公司 | Full-automatic parking system for vehicle and control method thereof |
| CN108181906A (en) * | 2018-01-07 | 2018-06-19 | 珠海上富电技股份有限公司 | One kind is parked supplementary controlled system and method |
| CN110087974A (en) * | 2016-12-15 | 2019-08-02 | 康蒂-特米克微电子有限公司 | Control equipment, braking control system and method for controlling a vehicle for vehicle |
| CN111267840A (en) * | 2020-02-24 | 2020-06-12 | 上海工程技术大学 | Auxiliary parking system |
| CN116461499A (en) * | 2023-03-02 | 2023-07-21 | 合众新能源汽车股份有限公司 | Parking control method and device |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103713626A (en) * | 2013-12-24 | 2014-04-09 | 江苏大学 | Functional fault detection device and fault detection method for parking system |
| CN103713626B (en) * | 2013-12-24 | 2016-12-07 | 江苏大学 | A kind of parking system fault detection method |
| CN103661373B (en) * | 2013-12-26 | 2016-04-06 | 江苏大学 | A kind of handoff-security is parked the control setup of pattern and control method |
| CN103661373A (en) * | 2013-12-26 | 2014-03-26 | 江苏大学 | Control device and method for safe switching between parking modes |
| CN104442810A (en) * | 2014-10-22 | 2015-03-25 | 合肥星服信息科技有限责任公司 | Automobile parking assistant instrument |
| CN104401325A (en) * | 2014-11-05 | 2015-03-11 | 江苏大学 | Dynamic regulation and fault tolerance method and dynamic regulation and fault tolerance system for auxiliary parking path |
| CN104442811A (en) * | 2014-11-19 | 2015-03-25 | 奇瑞汽车股份有限公司 | Parking control method and device |
| CN104442811B (en) * | 2014-11-19 | 2017-06-16 | 奇瑞汽车股份有限公司 | Control method of parking and equipment |
| CN104637342A (en) * | 2015-01-22 | 2015-05-20 | 江苏大学 | Intelligent identification and parking path planning system and method for narrow and vertical parking space scene |
| CN106043282A (en) * | 2016-07-26 | 2016-10-26 | 浙江吉利控股集团有限公司 | Full-automatic parking system for vehicle and control method thereof |
| CN110087974A (en) * | 2016-12-15 | 2019-08-02 | 康蒂-特米克微电子有限公司 | Control equipment, braking control system and method for controlling a vehicle for vehicle |
| CN108181906A (en) * | 2018-01-07 | 2018-06-19 | 珠海上富电技股份有限公司 | One kind is parked supplementary controlled system and method |
| CN111267840A (en) * | 2020-02-24 | 2020-06-12 | 上海工程技术大学 | Auxiliary parking system |
| CN116461499A (en) * | 2023-03-02 | 2023-07-21 | 合众新能源汽车股份有限公司 | Parking control method and device |
| CN116461499B (en) * | 2023-03-02 | 2024-01-02 | 合众新能源汽车股份有限公司 | Parking control method and device |
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Application publication date: 20131002 |