CN103723144B - The method and system of semiautomatic parking - Google Patents
The method and system of semiautomatic parking Download PDFInfo
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- CN103723144B CN103723144B CN201310749499.1A CN201310749499A CN103723144B CN 103723144 B CN103723144 B CN 103723144B CN 201310749499 A CN201310749499 A CN 201310749499A CN 103723144 B CN103723144 B CN 103723144B
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- 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
- B62D15/0285—Parking performed automatically
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- 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
- B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Abstract
The invention provides a kind of method and system of semiautomatic parking, the method for this semiautomatic parking comprises, and: A1. parks calculation of parameter; A2. starting point of parking is determined.The invention has the beneficial effects as follows the method and system of semiautomatic parking of the present invention VEHICLES MUST PARK WITHIN THE MARKED BAY that precision is high, and can ensure too on narrow parking stall accurately to park.
Description
Technical field
The present invention relates to automotive field, particularly relate to the method and system of semiautomatic parking.
Background technology
Along with the progress of science and technology, the development of society, automobile is extensively used, and partial automobile has the function that VEHICLES MUST PARK WITHIN THE MARKED BAY, but current VEHICLES MUST PARK WITHIN THE MARKED BAY that precision is not high, and especially narrow parking stall is difficult to park more.
Summary of the invention
In order to solve the problems of the prior art, the invention provides a kind of method of semiautomatic parking.
The invention provides a kind of method of semiautomatic parking, comprise the steps:
A1. to park calculation of parameter;
A2. starting point of parking is determined;
A3. judge whether to exceed starting point S0, if so, so perform steps A 5, otherwise point out the speed of a motor vehicle too low and exit parking system and end;
A4. display reminding hangs R shelves, and prompting shrinks back;
A5. judge whether to reach start position S0, if so, so perform steps A 6, otherwise perform steps A 3;
A6. hand departure direction dish, pin touches on the brake, and prepares to carry out automatic parking and enters position;
A7. calculate and call respective path parameter;
A8. the EPS right side is driven to kill bearing circle and car shrinks back;
A9. judge whether to arrive P point, if so, so perform steps A 10, otherwise continue to perform steps A 9;
A10. EPS is driven to return positive dirction dish left;
A11. car is moved diagonally and is continued to shrink back;
A12. judge whether to arrive N point, if so, so perform steps A 13, otherwise continue to perform steps A 12;
A13. an EPS left side is driven to kill bearing circle and car shrinks back;
A14. Reverse Sensor measuring distance after car;
A15. judging whether vehicle body angle returns is just 90 degree, if so, so performs steps A 16, otherwise performs branching step;
A16. whether distance between car and obstruction is more than or equal to predeterminable range, if so, so performs steps A 17, otherwise performs steps A 18;
A17. system identification is to parking stall >=L+1.2 rice;
A18. return positive dirction dish to continue to move backward backward;
A19. after judging car, whether distance is less than or equal to preset distance, if so, so performs steps A 20, otherwise continues to perform steps A 19;
A20. end of parking is pointed out.
As a further improvement on the present invention, in described steps A 16, predeterminable range is 0.8 meter.
As a further improvement on the present invention, in described steps A 19, preset distance is 0.4 meter.
As a further improvement on the present invention, described branching step comprises:
(1). after judging car, whether distance is less than or equal to 0.4 meter, if so, so performs step (2), otherwise performs steps A 15;
(2). enter multistep and park;
(3). the driving EPS right side is killed bearing circle and is hung D shelves and moves ahead;
(4). parking radar test distance before car;
(5). judging whether vehicle body angle returns is just 90 degree, if so, so performs the first branching step, otherwise performs the second branching step;
Comprise at described first branching step:
Q1. EPS is driven to return positive dirction dish;
Q2. judge whether car front distance is less than or equal to predetermined distance, if so, so perform steps A 20, otherwise return execution step Q2;
Comprise at described second branching step:
S1. judge whether car front distance is less than or equal to 0.4 meter, if so, so perform step S2, otherwise perform step (5);
S2. stop and hang R shelves, then performing steps A 13.
As a further improvement on the present invention, in described step Q2, predetermined distance is 0.4 meter.
Present invention also offers a kind of system of semiautomatic parking, this system comprises:
Parameter calculation unit, for calculation of parameter of parking;
Starting point determining unit, for parking, starting point is determined;
First judging unit, exceedes starting point S0 for judging whether, if so, so performs the second judging unit, otherwise points out the speed of a motor vehicle too low and exit parking system and end;
Retreat Tip element, shrink back for prompting;
Second judging unit, reaches start position S0 for judging whether, if so, so performs and hangs R shelves Tip element, otherwise perform the first judging unit;
Hang R shelves Tip element, hang R shelves for display reminding;
Calculate call unit, for calculating and calling respective path parameter;
First driver element, kills bearing circle for driving the EPS right side and car shrinks back;
3rd judging unit, arriving P point for judging whether, if so, so performing the second driver element, otherwise continue execution the 3rd judging unit;
Second driver element, returns positive dirction dish left for driving EPS;
4th judging unit, arriving N point for judging whether, if so, so performing the 3rd driver element, otherwise continue execution the 4th judging unit;
3rd driver element, kills bearing circle for driving an EPS left side and car shrinks back;
Radar test unit, for Reverse Sensor measuring distance after car;
5th judging unit is just 90 degree for judging whether vehicle body angle returns, and if so, so performs the 6th judging unit, otherwise performs branch system;
6th judging unit, for judging whether distance between car and obstruction is more than or equal to predeterminable range, if so, so performs diagnosis unit, otherwise time positive dirction dish continues to move backward backward;
Diagnosis unit, park with the long >=L+1.2 rice in parking stall as train spacing point to whether carrying out multistep for system identification;
Whether the 7th judging unit, be less than or equal to preset distance for distance after judging car, and if so, so prompting is parked ends, otherwise continuation execution the 7th judging unit.
The invention has the beneficial effects as follows: VEHICLES MUST PARK WITHIN THE MARKED BAY that precision is high for the method and system of semiautomatic parking of the present invention, and can ensure too on narrow parking stall accurately to park.
Accompanying drawing explanation
Fig. 1 is that parameter coordinate of parking of the present invention sets up schematic diagram.
Fig. 2 is first schematic diagram of semiautomatic parking method of the present invention.
Fig. 3 is second schematic diagram of semiautomatic parking method of the present invention.
Fig. 4 is the 3rd schematic diagram of semiautomatic parking method of the present invention.
Fig. 5 is the 4th schematic diagram of semiautomatic parking method of the present invention.
Fig. 6 is the 5th schematic diagram of semiautomatic parking method of the present invention.
Fig. 7 is the 6th schematic diagram of semiautomatic parking method of the present invention.
Fig. 8 is the 7th schematic diagram of semiautomatic parking method of the present invention.
Fig. 9 is the 8th schematic diagram of semiautomatic parking method of the present invention.
Figure 10 is the method flow diagram of semiautomatic parking of the present invention.
Detailed description of the invention
As shown in Figure 1, the invention discloses a kind of method of semiautomatic parking, comprise the steps: A1. park parameter coordinate set up (as Fig. 1) with calculate; A2. starting point of parking is determined; A3. judge whether to exceed starting point S0 (see Fig. 2, Fig. 3), if so, so perform steps A 5, otherwise point out the speed of a motor vehicle too low and exit parking system and end; A4. display reminding hangs R shelves, and prompting shrinks back; ; A5. judge whether to reach start position S0, if so, so perform steps A 6, otherwise perform steps A 3; A6. hand departure direction dish, pin touches on the brake, and prepares to carry out automatic parking and enters position; A7. calculate and call respective path parameter; A8. the EPS right side is driven to kill bearing circle and car shrinks back; A9. judge whether to arrive P point (see Fig. 4, Fig. 5), if so, so perform steps A 10, otherwise continue to perform steps A 9; A10. EPS is driven to return positive dirction dish left; A11. car is moved diagonally and is continued to shrink back; A12. judge whether to arrive N point (see Fig. 6), if so, so perform steps A 13, otherwise continue to perform steps A 12; A13. an EPS left side is driven to kill bearing circle and car shrinks back; A14. Reverse Sensor measuring distance after car; A15. judging whether vehicle body angle returns is just 90 degree, if (see Fig. 7), so performs steps A 16, otherwise performs branching step; A16. whether distance between car and obstruction is more than or equal to predeterminable range, if so, so performs steps A 17, otherwise performs steps A 18; A17. system identification is to parking stall >=L+1.2 rice; A18. return positive dirction dish to continue to move backward backward; A19. after judging car, whether distance is less than or equal to preset distance, if so, so performs steps A 20, otherwise continues to perform steps A 19; A20. end of parking is pointed out.
In described steps A 16, predeterminable range is 0.8 meter.
In described steps A 19, preset distance is 0.4 meter.
Described branching step comprises:
(1). after judging car, whether distance is less than or equal to 0.4 meter, if so, so performs step (2), otherwise performs steps A 15;
(2). enter multistep and park (see Fig. 8);
(3). the driving EPS right side is killed bearing circle and is hung D shelves and moves ahead;
(4). parking radar test distance before car;
(5). judging whether vehicle body angle returns is just 90 degree (see Fig. 9), if so, so performs the first branching step, otherwise performs the second branching step;
Comprise at described first branching step:
Q1. EPS is driven to return positive dirction dish;
Q2. judge whether car front distance is less than or equal to predetermined distance, if so, so perform steps A 20, otherwise return execution step Q2;
Comprise at described second branching step:
S1. judge whether car front distance is less than or equal to 0.4 meter, if so, so perform step S2, otherwise perform step (5);
S2. stop and hang R shelves, then performing steps A 13.
In described step Q2, predetermined distance is 0.4 meter.
The invention also discloses a kind of system of semiautomatic parking, this system comprises:
Parameter calculation unit, for calculation of parameter of parking;
Starting point determining unit, for parking, starting point is determined;
First judging unit, exceedes starting point S0 for judging whether, if so, so performs the second judging unit, otherwise points out the speed of a motor vehicle too low and exit parking system and end;
Retreat Tip element, shrink back for prompting;
Second judging unit, reaches start position S0 for judging whether, if so, so performs and hangs R shelves Tip element, otherwise perform the first judging unit;
Hang R shelves Tip element, hang R shelves for display reminding;
Calculate call unit, for calculating and calling respective path parameter;
First driver element, kills bearing circle for driving the EPS right side and car shrinks back;
3rd judging unit, arriving P point for judging whether, if so, so performing the second driver element, otherwise continue execution the 3rd judging unit;
Second driver element, returns positive dirction dish left for driving EPS;
4th judging unit, arriving N point for judging whether, if so, so performing the 3rd driver element, otherwise continue execution the 4th judging unit;
3rd driver element, kills bearing circle for driving an EPS left side and car shrinks back;
Radar test unit, for Reverse Sensor measuring distance after car;
5th judging unit is just 90 degree for judging whether vehicle body angle returns, and if so, so performs the 6th judging unit, otherwise performs branch system;
6th judging unit, for judging whether distance between car and obstruction is more than or equal to predeterminable range, if so, so performs diagnosis unit, otherwise time positive dirction dish continues to move backward backward;
Diagnosis unit, park with the long >=L+1.2 rice in parking stall as train spacing point to whether carrying out multistep for system identification;
Whether the 7th judging unit, be less than or equal to preset distance for distance after judging car, and if so, so prompting is parked ends, otherwise continuation execution the 7th judging unit.
In the present invention, after finding suitable parking stall, namely chaufeur presses semiautomatic parking button, hang " D " shelves that advance, the speed of a motor vehicle controls at Speed≤30km/h, the obstacle that long distance ultrasonic transduter on front side of car detects two sides meets 0.5m≤L≤1.5m, parking stall length >=vehicle commander+0.8 meter, parking stall width >=overall width+0.6 meter, then represent and find suitable parking stall, now HMI prompting touches on the brake, wait for bus after stopping, hang reverse gear " R " shelves, VEHICLES MUST PARK WITHIN THE MARKED BAY, move backward behind position, the angle of adjustment car is parallel with front and back two car, then whole S. A. Parallel parking enters position and completes.
In the present invention, reducing parking position and vehicle commander L+0.8O rice, stopping into ajusting precision at ± 1 degree behind parking stall, inner and outerly meet overall width W+0.6O rice.
Each parameter defined declaration of car:
Vehicle commander L: vehicle commander refers to the length of whole automobile body longitudinal direction is exactly the length arriving rearmost end along the direction vehicle body that vehicle advances foremost;
Overall width W: overall width refers to the length of lateral direction of car, the high order end in namely perpendicular with vehicle forward direction direction
To the length of low order end;
Wheelbase Lw: wheelbase refers to the mid point by vehicle the same side two wheel, and perpendicular to longitudinal plane of symmetry of vehicle two vertical lines between distance.Namely automobile front-axle center is to the length at vehicle rear axle center;
Wheelspan Ltyre: wheelspan refers to the front-wheel of car or the transverse distance of trailing wheel;
Front overhang Lf: front overhang refers to front axle center and vehicle horizontal throw foremost;
Rear overhang Lb: rear overhang refers to the distance of vehicle rearmost end to rear shaft center;
Minimum turning radius Rmin: minimum turning radius refers to that, when bearing circle forwards end position to, automobile is with minimum
And during stable speed of a motor vehicle Turning travel, the track radius of a circle that the centre plane of outside wheel flutter rolls across on supporting plane, it characterizes automobile to a great extent can by narrow curved area or the ability walking around the obstacle that not can pass over.Turn radius is less, and the maneuvering performance of automobile is better;
The particle of car: because car is in reversing process, speed is generally less than 7KM/H very slowly, think two trailing wheels line on there is no slipspeed, then can by the particle of the center-point of two trailing wheels as car load.
After system finds suitable parking stall, suppose car VEHICLES MUST PARK WITHIN THE MARKED BAY completely to stop, move 40CM with the trailing wheel centerline of car and particle backward and set up coordinate O (0,0) point, distance obstacle 1 for 40CM be safe spacing.
Obtain desirable initial point: carry out upper computer emulation, setting parking stall is wide is vehicle commander+2.0 meters from maximum, the distance of side direction obstacle (car) is from 0.5O rice, from car 1, parking stall is found with certain speed, correspondence is found to park vehicle body angle θ=90 ° of desirable starting point coordinate S0, beginning default.More than repetition, by the step-length of the distance of side direction obstacle (car) with 0.1 meter of increase, be 1.5 meters to the maximum, be based on desirable origin coordinates S0 (x, y) corresponding to fuzzy algorithm emulation herein.By in the MCU of the value of correspondence stored in APA system, in actual applications, because the speed of a motor vehicle is too fast, desirable initial point can be exceeded, obtain Δ X=Xd'-Xd=vt-X
s0(v refers to the speed from S to S0, and t is the time used), as long as it is that the value set just represents OK that reversing reduces Δ X, because of when finding parking stall, speed is all very fast, all can exceed dream car site S0, Y
s0=d
obj+ 1/2W (d
objfor the distance of flanking obstacle, W is overall width), then super initial point coordinate S0 (X0, d
obj+ 1/2W).
Obtain the turning vehicle body angle of first paragraph of parking: killed on the bearing circle right side, according to the distance (0.5 ~ 1.5O rice) of side direction obstacle (car), based on fuzzy algorithm, corresponding vehicle body angle of turn θ=90+a is simulated with upper computer, by in the MCU of the angle a of correspondence stored in APA system, and the coordinate and arc length that S0 to P (Xp, Yp) puts can be obtained, in Δ S0O1P, X
p=X
s0-R
min1sina; Y
p=Y
s0-R
min1cosa, in practical application, suppose that car is from P point to S0 point, be convenient to convenience of calculation, a is the calculus functions of speed v and time t, then have
A=(vsin φ t)/Lw (φ is the corner of front-wheel, and Lw is the wheelbase of front-wheel and trailing wheel center-point, and t is S0 to P time used), because of in car actual moving process, v is change, so time t should carry out differential, to reduce error.
for the corner of bearing circle, K is
and between φ, the register ratio of front-wheel is a constant, actual measurement),
thered is provided by EPS by steering wheel angle sensor, then can calculate actual coordinate P (X, Y) thus,
φ as shown in Figure 2.
Obtain the oblique line distance of second segment of parking: faced left in direction and beat, return that is 0 degree, positive dirction dish, now vehicle body angle is constant, obtains oblique line from P point to the distance of N point according to fuzzy algorithm, and by its MCU stored in APA system.In practice, speed V is known, and the time, t was known, then can obtain the actual distance S of P point to N point
pN=vt in contrast, when distance is in the scope of difference, represents OK.Because of in car actual moving process, v is change, so time t should carry out differential, to reduce error.
Whether obtaining parks the 3rd section will carry out multistep is parked: faced left in direction and kill, continue reversing back, namely from N point to Sd point, now vehicle body angle θ=(90+a) is if-b vehicle body angle θ=the 90 and distance of car is greater than 0.4 meter from below, representing parks terminates, illustrate that parking stall width is greater than vehicle commander+1.4 meters, otherwise illustrate that parking stall is long shorter in Fig. 7, enter multistep and park.In practical application, b is the calculus functions of speed v and time t, (φ is the corner of front-wheel then b=(vsin φ t)/Lw, Lw is the wheelbase of front-wheel and trailing wheel center-point, t is the time of N to Sd), because of in car actual moving process, v is change, so time t should carry out differential, to reduce error.
for the corner of bearing circle, K is
and the register ratio of front-wheel, actual measurement between φ), then can obtain b, after the distance of sensor test obstacle, the distance of right flank test the right sensor.
Obtain multistep to park the θ of the 4th section: car stops, the bearing circle right side is killed, hang D Drive, car is to moving ahead from Sd to Se, if preceding object thing (car 2) is less than 0.4 meter, car stops, obtain θ=(90+a)-b-c now, if θ is not 90 degree, illustrate that vehicle body is not ajusted, enter multistep and park next step.
Obtain multistep to park the θ of the 5th section: is faced left in direction and kill, hang reverse gear, car backward row, from Se to Sf, if car rear obstacle (car 2) is less than 0.4 meter, obtains θ=(90+a)-b-c-d now, if θ is non-vanishing, illustrate that vehicle body is not ajusted, enter above-mentioned 1.7, to vehicle body be θ=90, represent that vehicle body is ajusted, end of parking.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (6)
1. a method for semiautomatic parking, is characterized in that, comprises the steps:
A1. parameter of parking coordinate is set up and is calculated;
A2. starting point of parking is determined;
A3. judge whether to exceed starting point S0, if so, so perform steps A 4, otherwise point out the speed of a motor vehicle too low and exit parking system and end;
A4. display reminding hangs R shelves, and prompting shrinks back;
A5. judge whether to arrive start position S0, if so, so perform steps A 6, otherwise perform steps A 3;
A6. hand departure direction dish, pin touches on the brake, and prepares to carry out automatic parking and enters position;
A7. the ECU that parks calculates and calls respective path parameter;
A8. the EPS right side is driven to kill bearing circle and car shrinks back;
A9. judge whether to arrive P point, if so, so perform steps A 10, otherwise continue to perform steps A 9;
A10. EPS is driven to return positive dirction dish left;
A11. car is moved diagonally and is continued to shrink back;
A12. judge whether to arrive N point, if so, so perform steps A 13, otherwise continue to perform steps A 12;
A13. an EPS left side is driven to kill bearing circle and car shrinks back;
A14. Reverse Sensor measuring distance after car;
A15. judging whether vehicle body angle returns is just 90 degree, if so, so performs steps A 16, otherwise performs branching step;
A16. whether distance between car and obstruction is more than or equal to predeterminable range, if so, so performs steps A 17, otherwise performs steps A 18;
A17. system identification to parking stall long >=L+1.2 rice;
A18. return positive dirction dish to continue to move backward backward;
A19. after judging car, whether distance is less than or equal to preset distance, if so, so performs steps A 20, otherwise continues to perform steps A 19;
A20. end of parking is pointed out;
L is vehicle commander.
2. method according to claim 1, is characterized in that: in described steps A 16, and predeterminable range is 0.8 meter.
3. method according to claim 1, is characterized in that: in described steps A 19, and preset distance is 0.4 meter.
4. method according to claim 1, is characterized in that, described branching step comprises:
(1). after judging car, whether distance is less than or equal to 0.4 meter, if so, so performs step (2), otherwise performs steps A 15;
(2). enter multistep and park;
(3). the driving EPS right side is killed bearing circle and is hung D shelves and moves ahead;
(4). parking radar test distance before car;
(5). judging whether vehicle body angle returns is just 90 degree, if so, so performs the first branching step, otherwise performs the second branching step;
Comprise at described first branching step:
Q1. EPS is driven to return positive dirction dish;
Q2. judge whether car front distance is less than or equal to predetermined distance, if so, so perform steps A 20, otherwise return execution step Q2;
Comprise at described second branching step:
S1. judge whether car front distance is less than or equal to 0.4 meter, if so, so perform step S2, otherwise perform step (5);
S2. stop and hang R shelves, then performing steps A 13.
5. method according to claim 4, is characterized in that, in described step Q2, predetermined distance is 0.4 meter.
6. a system for semiautomatic parking, is characterized in that, this system comprises:
Parameter calculation unit, for calculation of parameter of parking;
Starting point determining unit, for parking, starting point is determined;
First judging unit, exceedes starting point S0 for judging whether, if so, so performs the second judging unit, otherwise points out the speed of a motor vehicle too low and exit parking system and end;
Retreat Tip element, shrink back for prompting;
Second judging unit, reaches start position S0 for judging whether, if so, so performs and hangs R shelves Tip element, otherwise perform the first judging unit;
Hang R shelves Tip element, hang R shelves for display reminding;
Calculate call unit, for calculating and calling respective path parameter;
First driver element, kills bearing circle for driving the EPS right side and car shrinks back;
3rd judging unit, arriving P point for judging whether, if so, so performing the second driver element, otherwise continue execution the 3rd judging unit;
Second driver element, returns positive dirction dish left for driving EPS;
4th judging unit, arriving N point for judging whether, if so, so performing the 3rd driver element, otherwise continue execution the 4th judging unit;
3rd driver element, kills bearing circle for driving an EPS left side and car shrinks back;
Radar test unit, for Reverse Sensor measuring distance after car;
5th judging unit is just 90 degree for judging whether vehicle body angle returns, and if so, so performs the 6th judging unit, otherwise performs branch system;
6th judging unit, for judging whether distance between car and obstruction is more than or equal to predeterminable range, if so, so performs diagnosis unit, otherwise time positive dirction dish continues to move backward backward;
Diagnosis unit, park with the long >=L+1.2 rice in parking stall as train spacing point to whether carrying out multistep for system identification;
Whether the 7th judging unit, be less than or equal to preset distance for distance after judging car, and if so, so prompting is parked ends, otherwise continuation execution the 7th judging unit;
L is vehicle commander.
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| CN201310749499.1A CN103723144B (en) | 2013-12-30 | 2013-12-30 | The method and system of semiautomatic parking |
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| CN103723144A (en) | 2014-04-16 |
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Denomination of invention: Semi automatic parking method and system Effective date of registration: 20201229 Granted publication date: 20160413 Pledgee: Shenzhen hi tech investment small loan Co.,Ltd. Pledgor: SHENZHEN HANGSHENG ELECTRONICS Co.,Ltd. Registration number: Y2020980010108 |