CN106985908B - A kind of full-automatic parking apparatus and method of electric wheel truck - Google Patents
A kind of full-automatic parking apparatus and method of electric wheel truck Download PDFInfo
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- CN106985908B CN106985908B CN201710183928.1A CN201710183928A CN106985908B CN 106985908 B CN106985908 B CN 106985908B CN 201710183928 A CN201710183928 A CN 201710183928A CN 106985908 B CN106985908 B CN 106985908B
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Classifications
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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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- 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
- B62D15/021—Determination of steering angle
-
- 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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/026—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation combined with automatic distance control, i.e. electronic tow bar
-
- 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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of full-automatic parking apparatus of electric wheel truck, comprising: wheel connects vehicle body using independent suspension；Hub motor is mounted in wheel, for driving each wheel independently to rotate；Lock pin driving mechanism selectively inserts or exits the lock pin of the middle line through hole of rear axle steering drag link using lock pin driving motor, for locking or the turning function of unlock rear axle；Entire car controller, the work of control lock pin driving motor receive each sensor signal and formulate parking strategy control hub motor rotation according to signal.Originally algorithm the degree of automation of parking is higher, under the premise that security is guaranteed, reduces required space of parking, improves convenience；Also there is certain application prospect on orthodox car.
Description
Technical field
The present invention relates to automobile technical fields.It is more particularly related to which a kind of be applied to 4 wheel driven hub motor vapour
The full-automatic parking apparatus and method of vehicle.
Background technique
With the exhaustion of the environmental pollution and fossil energy that get worse, automobile certainly will go on the road of new energy.At present
Common electric car has by motor centralized driving, wheel motor driving and In-wheel motor driving.Wherein, wheel hub electricity
Motor, braking system or even suspension, controller are integrated in inside wheel by the automobile of machine driving, greatly simplify automobile chassis knot
Structure builds greater room, some orthodox car technologies, such as four-wheel drive, pivot stud to be interior, in In-wheel motor driving vapour
It can all be realized easily on vehicle, greatly reduce technical difficulty.It can be said that In-wheel motor driving is the developing direction of new-energy automobile
One of with final form.
Automatic parking technology is a technology being born along with the material requisite that consumer improves.In orthodox car
On, automatic parking technology utilizes the markers such as means obstruction detection, the stop lines such as ultrasonic distance measuring radar, camera；It utilizes
Wheel speed sensors, steering wheel angle sensor etc. calculate vehicle-state；Recognizer, path rule in conjunction with developer's formulation
Cost-effective method etc. reduces the requirement to driver's driving skills to realize automatic parking function that driver need to only intervene on a small quantity,
Improve comfort.Although this method has been applied to volume production vehicle, its disadvantage is fairly obvious: only front-wheel is to turn to
Wheel, motor turning radius is big, causes the rigors for parking space；Similarly exist when vehicle is driven out to from parking stall
Such problems, prevent parking spacing wastes the space resources in parking lot from very little.And present park technology generally only
Steering system is only controlled, and for the control of speed is completed by driver, belongs to semiautomatic parking technology, however it remains is promoted
Space.
The differential power-assisted steering technology according to disclosed in patent (publication number CN101289095A) is, it can be achieved that without using power-assisted electricity
In the case where machine, steering driving is carried out for wheel-hub motor driven vehicle, and can greatly reduce and turn in conjunction with four-wheel steering technology
To radius.The quasi- technology using the patent disclosure of this patent realizes the method for automatically parking of electric wheel truck.
Summary of the invention
It is an object of the present invention to provide a kind of full-automatic parking apparatus of electric wheel truck, entire car controller utilizes differential power-assisted
Steering pattern, vehicle rear axle are unlocked by latch gear, being capable of independent steering when realizing rear-wheel automatic parking.
It parks method it is a still further object of the present invention to provide a kind of full-automatic level of electric wheel truck, vehicle is along first
Track is travelled with the straight path of the first trajectory tangential and the second track, realizes minor radius four-wheel independence automatic parking.
It is a still further object of the present invention to provide a kind of full-automatic method of vertically parking of electric wheel truck, vehicle outside edges
Track traveling on the inside of outer tracks, interior lateral edge, realizes minor radius four-wheel independence automatic parking.
In order to realize these purposes and other advantages according to the present invention, a kind of full-automatic pool of electric wheel truck is provided
Vehicle device, comprising:
Wheel uses independent suspension to connect vehicle body；
Hub motor is mounted in the wheel, for driving each wheel independently to rotate；
Wherein, latch gear is laid on the rear axle of two rear-wheels comprising:
Lock pin selectively inserts or exits the middle line three-way hole of rear axle steering drag link, for locking or unlocks rear axle
Turning function；
Lock pin driving motor connects lock pin, for driving lock pin to selectively insert or exiting rear axle steering drag link
Middle line three-way hole；
Photoelectric sensor is mounted on the rear axle steering drag link, is in locking or unlock shape for detecting rear axle
State；
Entire car controller, connects photoelectric sensor and lock pin driving motor, and the entire car controller receives photoelectric sensing
The rear axle that device is sent is in locking or unlocked state signal, and controls the work of lock pin driving motor；
When vehicle carries out automatic parking, as entire car controller receives rear axle locking state signal, control lock pin driving
Motor work, rear axle unlock, rear-wheel independent steering.
Preferably, further includes:
Electric machine controller connects hub motor, for driving and controlling hub motor, and acquires wheel hub motor speed letter
Number and output wheel speed；
Corner torque sensor connects steering wheel, is used for detection direction disk corner and torque；
Rotary angle transmitter is separately mounted on the suspension of each wheel, for detecting the corner of each wheel；
Brake pedal sensor connects brake pedal, for detecting the aperture of pedal；
Multiple range radars are laid in the surrounding of vehicle, for detecting the obstacle distance of vehicle and vehicle's surroundings；
Camera is laid in the surrounding of vehicle, the image for collecting vehicle surrounding；
Image processing module connects camera, for receiving the image of camera and generating panoramic picture；
Vehicle-mounted touching display screen connects image processing module, for showing panoramic picture and inputting park mode；
CAN bus, connection electric machine controller, corner torque sensor, brake pedal sensor and rotary angle transmitter, institute
It states CAN bus and is used for and transmits the corner letter for receiving wheel speed signal, corner and dtc signal, pedal opening signal and each wheel
Number；
Wherein, entire car controller connection range radar and vehicle-mounted touching display screen, for receiving obstacle distance and parking
Mode；
Wherein, the entire car controller is also connected with CAN bus, receives pedal opening signal, does not trample when pedal is in
State, the entire car controller based on the received wheel speed signal, corner, dtc signal and each wheel angular signal generation park
Control instruction is transmitted to electric machine controller by the CAN bus control instruction that will park, and control hub motor carries out automatic parking.
It preferably, further include position-limit mechanism comprising:
Limiting slot, for two semi-spherical grooves being symmetrically laid on rear axle steering drag link；
Steel ball, can slide into limiting slot along track rod, and the steel ball and limiting slot cooperation limit rear axle and turn
To angle；
Spring base, one end of which is fixed on rear axle, the other end is slidably connected the steel ball, is used to support the steel ball along horizontal
Pull rod sliding；
Spring is laid in inside spring base, and both ends are separately fixed on steel ball and rear axle, for connecting steel ball and spring
Seat.
The purpose of the present invention also parks method by a kind of full-automatic level of electric wheel truck to realize, comprising:
Judge whether parking space meets the condition of parking；
Vehicle is adjusted to initial parking place；
Wheel deflects to extreme position, and vehicle outside front-wheel is moved backward along the first track that radius is r；
When vehicle to first position point, along straight line car-backing, the straight line and the first trajectory tangential；
When vehicle to second position point, vehicle interior side front-wheel is moved backward along the second track that radius is r, until vehicle enters
Parking space；Wherein, second track and the straight line are tangent；And
The center of circle of first track is determining according to Ackermann steering law and the inside of the vehicle is arranged in；Described
The outside of the vehicle is arranged in the center of circle of two tracks；
The first position is that the rear end of vehicle outside and the linear distance of parking space are less than 1m；
The second position is that the rear-wheel of vehicle outside enters parking space and is equal to 20cm with parking space linear distance；
When meeting berthing conditions, completion of parking；If not, being finely adjusted to vehicle until meeting berthing conditions.
Preferably, the condition of parking are as follows: clear in parking space；The linear distance of barrier and parking space
Greater than 20 centimeters；The length of the parking space is not less than 20cm compared with the length of vehicle, and width is not less than compared with the width of vehicle
20cm；
The initial parking place are as follows: the vehicle is parallel with the length of parking space；Along the length direction of vehicle, the tailstock
Distance apart from parking space is Xm；Along the width direction of vehicle, the minimum distance of the vehicle and parking space is 40cm.
Preferably, the radius r are as follows:
And
Wherein, L is the wheelbase of vehicle；A is the wheelspan of vehicle；B is rear overhang length；αbThe deflection angle of outside front-wheel；α is
The adduction of the deflection angle of outside front wheels and rear wheels.
Preferably, the ratio between front and rear wheel steering angle of the extreme position is 6:1, and front and rear wheel steering direction is opposite.
The purpose of the present invention is also realized by a kind of full-automatic method of vertically parking of electric wheel truck, comprising:
Judge whether parking space meets the condition of parking；
Vehicle is adjusted to initial parking place；
Wheel deflects to extreme position, determines the center of circle according to Ackermann steering law and is arranged in vehicle interior side；
Vehicle outside rear end corner is r along radius1Outer tracks reversing；Meanwhile vehicle interior side is r along radius2Inside
Track reversing, until vehicle is parallel with parking space；
When meeting berthing conditions, completion of parking；If not, being finely adjusted to vehicle until meeting berthing conditions.
Preferably, the condition of parking are as follows: clear in parking space；The linear distance of barrier and parking space
Greater than 20 centimeters；The length of the parking space is not less than 20cm compared with the length of vehicle, and width is not less than compared with the width of vehicle
20cm；
Initial parking place are as follows: the automobile body is vertical with parking space；Along the length direction of vehicle, on the inside of the tailstock with
The vertical range of parking space is 1.8+Ym；Along the width direction of vehicle, the vertical range of the vehicle tail and parking space
For 60cm.
Preferably, the r1Meet:
The r2Meet:
Wherein, L is the wheelbase of vehicle；A is the wheelspan of vehicle；B is rear overhang length；N is the width of parking space；Limit position
The ratio between front and rear wheel steering angle set is 6:1, and front and rear wheel steering direction is opposite.
The present invention is include at least the following beneficial effects: 1, using the Differential Driving torque of In-wheel motor driving generation as automobile
Steering moment generating source, compared to orthodox car automatic parking technology, with complete vehicle structure is simple, turning radius is small, to parking stall
Size requirement is low, vehicle lightweight is significant, is not necessarily to the advantages that steering assist motor work；2, vehicle parks entirely in method of parking
Cheng Bubi relies on driver, and vehicle is run at a low speed according to preset speed, after the completion of parking, vehicle automatic parking.If driver
Adapter tube vehicle is needed on the way parking, it can be with automatic brake adapter tube vehicle.Originally algorithm the degree of automation of parking is higher, is guaranteeing to pacify
Under the premise of complete, convenience is improved；3, method of parking uses In-wheel motor driving automobile, can accurately control each wheel
Driving torque, so (vehicle as being equipped with automatically controlled limited-slip differential) is same on the orthodox car that can control each wheel torque
Sample has application prospect.This automatic parking principle can also be applied to be driven out to function automatically.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is the annexation figure of the full-automatic parking apparatus of electric wheel truck of the invention.
Fig. 2 is the structure chart of the latch gear of the full-automatic parking apparatus of electric wheel truck of the invention.
Fig. 3 is the range radar of the full-automatic parking apparatus of electric wheel truck of the invention and the layout drawing of camera.
Fig. 4 is the flow chart of the method for automatically parking of electric wheel truck of the invention.
Fig. 5 is the horizontal schematic diagram parked in right side in the method for automatically parking of electric wheel truck of the invention.
Fig. 6 is the horizontal schematic diagram parked in right side in the method for automatically parking of electric wheel truck of the invention.
Fig. 7 is the horizontal schematic diagram parked in right side in the method for automatically parking of electric wheel truck of the invention.
Fig. 8 is the schematic diagram that Right vertical is parked in the method for automatically parking of electric wheel truck of the invention.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
The invention discloses a kind of full-automatic parking apparatus of electric wheel truck, as shown in Figure 1-3, include front steering device
110, hub motor 120, electric machine controller 130, sensor group 140, camera shooting and processing mechanism 150, vehicle-mounted touching display screen
160, CAN bus 170, entire car controller 180.
Electric wheel truck includes four wheels, and each wheel connects vehicle body using independent suspension；Vehicle possesses four-wheel steering
Function arranges Ackerman steering gear in vehicle axle, front steering device 110 is arranged in front axle, differential in order to make full use of
Power-assisted steering, rear axle do not set diverter, are connected in the middle part of left and right turn pull rod；
Hub motor 120 is mounted in the wheel, for driving wheel independently to rotate；Each hub motor 120 and its
Corresponding electric machine controller 130 is electrically connected, and electric machine controller provides driving signal for motor, the electric machine controller in this programme
130 for driving and controlling each hub motor, and the function of having both acquisition motor speed signal, calculate wheel speed.
Tach signal n is returned to electric machine controller 130 by hub motor 120, and electric machine controller 130 is according to wheel reduction ratio
I calculates the wheel speed information of each wheel, vehicle wheel rotational speed nWheelCalculation formula are as follows:
If vehicle wheel roll radius is r, then the horizontal velocity v of corresponding wheel:
V=2 π rn (2)
Due in parking process, vehicle, which belongs to, to be run at a low speed, and vehicle speed uses the flat of the horizontal velocity of four wheels
Mean value estimated, i.e. vehicle speed vAlways:
Wherein, vflFor the horizontal velocity of vehicle the near front wheel；vfrFor the horizontal velocity of vehicle off-front wheel；vblIt is left back for vehicle
The horizontal velocity of wheel；vbrThere is the horizontal velocity of rear-wheel for vehicle.The each wheel of vehicle is all made of compact independent suspension and vehicle body
It connects (such as MacPherson strut), is limited with reducing suspension to the maximum extent for the angle of wheel steering.
Sensor group 140 includes corner torque sensor 141, rotary angle transmitter 142, brake pedal sensor 143, ranging
Radar 144.Corner torque sensor 141 connects steering wheel, is used for detection direction disk corner and torque；Rotary angle transmitter 142 divides
It is not mounted on the suspension of each wheel, for detecting the corner of each wheel；The braking that brake pedal sensor 143 connects vehicle is stepped on
Plate, for detecting the aperture of pedal, output sensor signal 1 and 0, when brake pedal is stepped on, output sensor signal 1, when
Brake pedal is not stepped on, output sensor signal 0.Multiple range radars 144 are laid in the surrounding of vehicle, and Fig. 3 shows a kind of survey
Laying mode away from radar 144, ten ultrasonic distance measuring radars for being installed on vehicle's surroundings are connected with entire car controller 180, use
In detection vehicle and periphery obstacle distance, wherein be evenly arranged 3 radars at front bumper, be evenly arranged 3 at rear bumper
A radar, left and right is arranged symmetrically each 2 radars along the vehicle longitudinal direction, and the radar spacing of side two cannot be less than 1 meter, can
The obstacle distance of accurate detection vehicle and vehicle's surroundings.
Camera shooting and processing mechanism 150 include camera 151 and image processing module 152, and camera 151 is laid in the four of vehicle
Week, the image for collecting vehicle surrounding；Fig. 3 shows a kind of laying mode of camera 151.Image processing module 152, being used for will
The image information that camera transmits is synthesized, and generation panoramic picture is sent to vehicle-mounted touching display screen 160 and is shown.
Vehicle-mounted touching display screen 160 connects image processing module 152, can be convenient for the state of parking of real-time display vehicle
Driver's environment of observation situation and if necessary adapter tube vehicle；Vehicle-mounted touching display screen 160 also with the electrical phase of entire car controller 180
Even, before beginning of parking, the parking stall situation that driver can arrive according to the observation independently selects vertical park mode or level to park
Mode.
CAN bus 170 connects electric machine controller 130, sensor group 140.Electric machine controller 130 is calculated according to reduction ratio
Wheel speed signal is output in CAN bus；Corner torque sensor 141 utilizes the steering wheel angle α measuredDiskAnd turn of vehicle
To system angular gear ratio iω, front wheel angle α can be calculatedBefore=αDisk/iω；The corner of the detection rear-wheel of rotary angle transmitter 142.CAN is total
Line 170 connects brake pedal sensor 143, and whether receiving sensor signal 1 and 0, i.e. detection driver need adapter tube vehicle；
When brake pedal is stepped on, output sensor signal 1, i.e. driver's adapter tube vehicle stop automatic parking；When brake pedal is not stepped on
Under, output sensor signal 0, i.e. driver not adapter tube vehicle start or continue to carry out automatic parking.CAN bus 160 can
Transmit the angular signal of wheel speed signal, corner and dtc signal, pedal opening signal and each wheel.
The connection of entire car controller 180 camera shooting and processing mechanism 150 and vehicle-mounted touching display screen 160, for receiving barrier
Distance and park mode.The entire car controller 180 is also connected with CAN bus 170, receives the signal that CAN bus 170 is transmitted,
Electric machine controller 130 is transmitted to by the CAN bus control instruction that will park, and control hub motor 120 carries out automatic parking.
In another embodiment, automatic parking device of the invention further includes latch gear 190, as shown in Fig. 2, lock pin machine
Structure 190 includes position-limit mechanism 194, and latch gear 190 is mounted on the track rod of vehicle rear axle, is used for locking rear-axle steering
Drag link；As shown in Fig. 2, position-limit mechanism 194 includes: including spring base 194a, spring 194b and steel ball 194c, limiting slot is pair
Claim two semi-spherical grooves being laid on rear axle steering drag link, to limit rear axle hard-over；Steel ball 194c can be along steering
Drag link slides into limiting slot, and the steel ball 194c and limiting slot cooperation limit rear axle steering angle；Spring base 194a mono-
End is fixed on rear axle, and the other end is slidably connected the steel ball 194c, is used to support the steel ball 194c and is slided along drag link；Bullet
Spring 194b is laid in inside spring base 194a, and both ends are separately fixed on steel ball 194c and rear axle, for connect steel ball 194c and
Spring base 194a.The entire car controller 180 connects latch gear 190, when vehicle is in automatic parking state, entire car controller
For 180 control latch gears 190 to rear-axle steering drag link without locking, rear-wheel being capable of independent steering.
In another embodiment, latch gear 190 further includes lock pin 191, lock pin driving motor 192, photoelectric sensor
193, lock pin 191 selectively inserts or exits the middle line three-way hole of rear axle steering drag link, the turning function for locking rear axle；Lock
It sells driving motor 192 and connects lock pin 191, for driving lock pin 191 to selectively insert or exit the middle line of rear axle steering drag link
Through-hole；Photoelectric sensor 193 is mounted on the rear axle steering drag link, for detect lock pin 191 whether locking rear axle.Rear
The designed latch gear 190 of axle steer pull rod midline position is used for the locking rear axle in the case where not using rear axle steering,
One photoelectric sensor 193 is set, and for detecting 191 state of lock pin, photoelectric sensor 193 has on-off two states, corresponding
The non-locked and locking state of lock pin.Latch gear 190 can prevent straight line, and rear axle is shimmy when driving, or due to left and right road surface
Attachment coefficient is different and leads to running out the way.
During parking, entire car controller 180 is according to steering wheel angle torque sensor 141, rotary angle transmitter 142, electricity
The wheel speed signal and range radar 144 that machine controller 130 transmits transmit with obstacle distance signal and 'STOP' line ahead
Signal calculates vehicle running state in real time, compares aforementioned vehicle speed vAlwaysIt is whether identical as target vehicle speed, and to each drive of vehicle
Driving wheel driving torque is adjusted, and to change vehicle steering angle, corrects driving trace；Image processing module 152 in real time will camera shooting
First 151 images transmitted are synthesized, and are generated vehicle's surroundings panoramic picture and are sent to touching display screen 160, see convenient for driver
It examines.If driver thinks to need artificial adapter tube vehicle, brake pedal can be stepped at any time in parking process and be braked, it is whole at this time
Vehicle controller 180 is detected by brake pedal position sensor 143 artificially tramples brake pedal, then automatically exits from automatic parking
Mode.
Finally, needing to check effect of parking, entire car controller 180 continues to read the range information that range radar 144 transmits,
Check vehicle whether with parking stall line less parallel, and left and right vehicle wheel apart from parking stall linear distance be all larger than 20cm, before and after vehicle away from
It is greater than 30cm from nearest obstacle distance.If being unsatisfactory for conditions above, entire car controller 180 continues to repeat above-mentioned calculating turn
Square generates motor control instruction process, and fine tuning vehicle location is until meet all conditions above.Then entire car controller 180 is sent out
It send instruction to four-wheel electric machine controller 130, so that left and right wheels is generated contrary driving torque, make to turn to using differential torque
Disk returns just；Entire car controller 180 detects steering wheel angle torque sensor 141 and rotary angle transmitter 142, returns just to antero posterior axis
Afterwards, entire car controller 180 sends instruction control rear axle locking hub motor 120, and rear axle is locked.Entire car controller 180 is sent
Prompt prompts driver to park completion to touching display screen 160.So far, the process of parking terminates.
In control algolithm of parking built in entire car controller 180 of the invention, entire car controller for handle and barrier away from
From information, calculates the driving torque of each hub motor and send motor control instruction, according to wheel speed signal and steering-wheel torque
Angular signal calculates vehicle attitude, control radar and opening and closing of camera etc., which is articulated in vehicle-mounted CAN bus.Fig. 4
Show built-in a kind of way of realization of control algolithm of parking according to the present invention, comprising the following steps:
Step 1, selection park mode, park mode includes horizontal park mode and vertical park mode；
Step 2 judges whether parking space meets the condition of parking.
The condition of parking is clear in parking space；It is public that the linear distance of barrier and parking space is greater than 20
Point；The length of the parking space is not less than 20cm compared with the length of vehicle, and width is not less than 20cm compared with the width of vehicle.
Step 3, vehicle are adjusted to the initial parking place of selected park mode.
Step 4, vehicle are parked according to the track of parking of selected park mode；
Step 5, when parking place meets berthing conditions, completion of parking；It berths if not, being finely adjusted to vehicle until meeting
Condition.
Fig. 5-7 shows the process of the horizontal park mode in right side, specific as follows:
Step 1, driver press button of parking, and select the horizontal park mode in right side.
Step 2, vehicle read environmental information by the camera and range radar for being distributed in quadrangle, identify ground parking line
And vehicle and surrounding obstacle distance, judge in parking stall and surrounding barrier situation.If truck spaces are greater than vehicle dimension and four
All barriers all 20cm or more bigger than vehicle dimension and nearest apart from parking stall line all have 20 centimeters or more surpluses, and parking stall
Interior clear stops, then it is assumed that vehicle can moor into.
Step 3: the initial parking place of the horizontal park mode are as follows: the vehicle is parallel with the length of parking space；
Along the length direction of vehicle, distance of the tailstock apart from parking space is Xm；Along the width direction of vehicle, the vehicle and sky of parking
Between minimum distance be 40cm；Parking prepares into position.Start after parking, entire car controller first checks for rear axle locking state, reads
Back axle lock pin position signal is taken, if rear axle is in locking state, needs first to unlock rear axle.
Step 4, steering wheel beat that (the ratio between front and rear wheel steering angle is 6:1, and front and rear wheel steering direction phase to limit on the right-right-hand limit position
Instead), differential turn under the differential torque and required rear-wheel corner required when steering front wheel to be gone to limit on the right-right-hand limit position is calculated
Square.By the target turn that this torque and speed are after algebraical sum is sought in drive wheel torque required under 3kph, as four wheels
Square.Entire car controller generates motor control instruction according to target torque and exports to electric machine controller, by electric machine controller control four
A hub motor is parked.Process of specifically parking is as follows:
Rear vehicle end is less than 1m away from linear distance on the left of parking stall, and steering wheel returns just；Enter in stop line to left rear wheel and and side
When linear distance is greater than 20cm, steering wheel is beaten to limit on the left position, and the ratio between front and rear wheel steering angle is 6:1, and front and rear wheel steering side
To opposite；It is less than 15cm to linear distance on rear side of the left back endpoint of vehicle and parking stall, vehicle is braked.
It parks track are as follows:
As shown in figure 5, vehicle outside front-wheel is moved backward along the first track that radius is r, and vehicle row to first position, described the
The center of circle of one track is determining according to Ackermann steering law and the inside of the vehicle is arranged in；The first position is outside vehicle
The rear end of side and the linear distance of parking space are less than 1m；
According to Ackermann steering law, the intersection point of the perpendicular bisector of two outboard wheels is done, intersection point is in the steering of vehicle
The heart, two vertical line angles are set as α,
α=αf+αb (4)
Wherein, α is the adduction of the deflection angle of outside front wheels and rear wheels, and unit is degree；αfFor the deflection angle of outside rear wheel
Degree；αbThe deflection angle of outside front-wheel；
According to sine, vehicle outside front-wheel is r along radius, is met:
To avoid automobile rear during parking from scratching barrier, should check: due to rear-wheel corner very little (less than 5 °),
On rear axle line, vehicle outside front-wheel is that r should meet along radius at approximate Vehicular turn center:
Wherein, L is the wheelbase of vehicle, unit cm；A is the wheelspan of vehicle, unit cm；B is rear overhang length.Unit cm；αb
The deflection angle of outside front-wheel；α is the adduction of the deflection angle of outside front wheels and rear wheels.Wherein X is adjustment amount, is initially 0, if
Formula (3) is unsatisfactory for, then vehicle is drawn back certain distance X under vehicle control unit controls, until meeting above formula, then is carried out
It parks process, meeting this formula when can meet parking, minimum range of the vehicle body apart from parking stall line is greater than 15cm.
As shown in fig. 6, when vehicle is to first position point K1, along straight line car-backing, the straight line and the first trajectory tangential, directly
To vehicle row to the second position, the second position be vehicle outside rear-wheel enter parking space and with parking space straight line away from
From equal to 20cm.
As shown in fig. 7, vehicle interior side front-wheel is moved backward along the second track that radius is r when vehicle is to second position point K2,
Until vehicle enters parking space；Wherein, second track and the straight line are tangent；And the center of circle of second track is set
It sets in the outside of the vehicle；
Step 5, detection vehicle whether with parking stall line less parallel, and left and right vehicle wheel is all larger than apart from parking stall linear distance
The nearest obstacle distance of 20cm, vehicle longitudinal separation is greater than 30cm；If being unsatisfactory for conditions above, each wheel hub electricity is controlled
Machine is finely adjusted vehicle, and after meeting above-mentioned all conditions, entire car controller sends instructions to electric machine controller, system
Motor-car；After vehicle comes to a complete stop, prompt is sent to touching display screen, prompts driver's adapter tube vehicle.So far, process of parking knot
Beam.
During above-mentioned park, vehicle is two radars of any same side with the approximately parallel index of parking stall line
The difference for detecting its distance apart from stop line or barrier is less than 10cm.
Wherein, the outside in this explanation is defined as: side of the vehicle far from parking space, inside are vehicle close to sky of parking
Between side.
Fig. 8 shows the process of Right vertical park mode, specifically:
Step 1, driver press button of parking, and select Right vertical park mode.
Step 2, vehicle read environmental information by the camera and range radar for being distributed in quadrangle, identify ground parking line
And vehicle and surrounding obstacle distance, judge in parking stall and surrounding barrier situation.If truck spaces are greater than vehicle dimension and four
All barriers all 20cm or more bigger than vehicle dimension and nearest apart from parking stall line all have 20 centimeters or more surpluses, and parking stall
Interior clear stops, then it is assumed that vehicle can moor into.
If step 3, parking stall can be moored into the initial parking place of vehicle driving to vertical park mode is initially parked
Position meets: automobile body is vertical with parking space；Along the length direction of vehicle, the vertical range of the tailstock inside and parking space
For 1.8+Ym；Along the width direction of vehicle, the vertical range of the vehicle tail and parking space is 60cm.Parking prepares pool
Vehicle.
Step 4, steering wheel are beaten to limit on the right-right-hand limit position, and vehicle is with the speed reverse travel of 3kph.When detecting vehicle and stop
When the less parallel of parking stall, just all wheels are returned.Vehicle enters position along straight line car-backing, to rear vehicle end apart from parking stall rear end apart from about
When 30cm, abrupt deceleration vehicle.
It parks track are as follows:
Wheel deflect limit on the right-right-hand limit position, the ratio between front and rear wheel steering angle be 6:1, and front and rear wheel steering direction on the contrary, according to
Ackermann steering law determines the center of circle and is arranged in vehicle interior side；
Vehicle outside rear end corner is r along radius1Outer tracks reversing；Meanwhile vehicle interior side is r along radius2Inside
Track reversing, until vehicle is parallel with parking space；
The r1Meet:
The r2Meet:
Wherein, n is the width of parking space.
Whether step 5, finally detection vehicle are still with parking stall less parallel, and vehicle distances or so parking stall linear distance is all larger than
20cm, the nearest obstacle distance of vehicle longitudinal separation are all larger than 30cm.If being unsatisfactory for above-mentioned condition, hub motor is controlled to vehicle
It is finely adjusted.Until abrupt deceleration vehicle simultaneously sends prompt to display screen after meeting above-mentioned all conditions, driver's adapter tube vehicle is prompted
?.So far, the process of parking terminates.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With.It can be applied to various suitable the field of the invention completely.It for those skilled in the art, can be easily
Realize other modification.Therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (9)
1. a kind of full-automatic parking apparatus of electric wheel truck characterized by comprising
Wheel uses independent suspension to connect vehicle body；
Hub motor is mounted in the wheel, for driving each wheel independently to rotate；
Wherein, latch gear is laid on rear axle comprising:
Lock pin selectively inserts or exits the middle line three-way hole of rear axle steering drag link, the steering for locking or unlock rear axle
Function；
Lock pin driving motor connects lock pin, for driving lock pin to selectively insert or exiting the middle line of rear axle steering drag link
Through-hole；
Photoelectric sensor is mounted on the rear axle steering drag link, is in locking or unlocked state for detecting rear axle；
Entire car controller, connects photoelectric sensor and lock pin driving motor, and the entire car controller receives photoelectric sensor hair
The rear axle sent is in locking or unlocked state signal, and controls the work of lock pin driving motor；
When vehicle carries out automatic parking, if entire car controller receives rear axle locking state signal, lock pin driving motor is controlled
Work, rear axle unlock, rear-wheel independent steering；
It further include position-limit mechanism comprising:
Limiting slot, for two semi-spherical grooves being symmetrically laid on rear axle steering drag link；
Steel ball, can slide into limiting slot along rear axle steering drag link, and the steel ball and limiting slot cooperation limit rear axle and turn
To angle；
Spring base, one end of which is fixed on rear axle, the other end is slidably connected the steel ball, is used to support the steel ball and turns along rear axle
It is slided to drag link；
Spring is laid in inside spring base, and both ends are separately fixed on steel ball and rear axle, for connecting steel ball and spring base.
2. the full-automatic parking apparatus of electric wheel truck as described in claim 1, which is characterized in that further include:
Electric machine controller, connect hub motor, for driving and controlling hub motor, and acquire wheel hub motor speed signal and
Export wheel speed；
Corner torque sensor connects steering wheel, is used for detection direction disk corner and torque；
Rotary angle transmitter is separately mounted on the suspension of each wheel, for detecting the corner of each wheel；
Brake pedal sensor connects brake pedal, for detecting the aperture of pedal；
Multiple range radars are laid in the surrounding of vehicle, for detecting the obstacle distance of vehicle and vehicle's surroundings；
Camera is laid in the surrounding of vehicle, the image for collecting vehicle surrounding；
Image processing module connects camera, for receiving the image of camera and generating panoramic picture；
Vehicle-mounted touching display screen connects image processing module, for showing panoramic picture and inputting park mode；
CAN bus, connection electric machine controller, corner torque sensor, brake pedal sensor and rotary angle transmitter are described
CAN bus is used for transmission the angular signal of wheel speed signal, corner and dtc signal, pedal opening signal and each wheel；
Wherein, entire car controller connection range radar and vehicle-mounted touching display screen, for receiving obstacle distance and park mode；
Wherein, the entire car controller is also connected with CAN bus, receives pedal opening signal, does not trample state when pedal is in,
The angular signal generation of the entire car controller wheel speed signal, corner, dtc signal and each wheel based on the received is parked control
Instruction is transmitted to electric machine controller by the CAN bus control instruction that will park, and control hub motor carries out automatic parking.
The method 3. a kind of full-automatic level of electric wheel truck is parked, using such as of any of claims 1-2 electronic
Take turns the full-automatic parking apparatus of automobile characterized by comprising
Judge whether parking space meets the condition of parking；
Vehicle is adjusted to initial parking place；
Wheel deflects to extreme position, and vehicle outside front-wheel is moved backward along the first track that radius is r；
When vehicle to first position point, along straight line car-backing, the straight line and the first trajectory tangential；
When vehicle to second position point, vehicle interior side front-wheel is moved backward along the second track that radius is r, is parked until vehicle enters
Space；Wherein, second track and the straight line are tangent；And
The center of circle of first track is determining according to Ackermann steering law and the inside of the vehicle is arranged in；Second rail
The outside of the vehicle is arranged in the center of circle of mark；
The first position is that the rear end of vehicle outside and the linear distance of parking space are less than 1m；
The second position is that the rear-wheel of vehicle outside enters parking space and is equal to 20cm with parking space linear distance；
When meeting berthing conditions, completion of parking；If not, being finely adjusted to vehicle until meeting berthing conditions.
The method 4. the full-automatic level of electric wheel truck as claimed in claim 3 is parked, which is characterized in that the condition of parking
Are as follows: clear in parking space；The linear distance of barrier and parking space is greater than 20 centimeters；The length of the parking space
Length compared with vehicle is not less than 20cm, and width is not less than 20cm compared with the width of vehicle；
The initial parking place are as follows: the vehicle is parallel with the length of parking space；Along the length direction of vehicle, tailstock distance
The distance of parking space is Xm；Along the width direction of vehicle, the minimum distance of the vehicle and parking space is 40cm.
The method 5. the full-automatic level of electric wheel truck as claimed in claim 4 is parked, which is characterized in that the radius r are as follows:
And
Wherein, L is the wheelbase of vehicle；A is the wheelspan of vehicle；B is rear overhang length；αbThe deflection angle of outside front-wheel；α is outside
The adduction of the deflection angle of front wheels and rear wheels.
The method 6. the full-automatic level of electric wheel truck as claimed in claim 5 is parked, which is characterized in that the extreme position
The ratio between front and rear wheel steering angle be 6:1, and front and rear wheel steering direction is opposite.
7. a kind of full-automatic method of vertically parking of electric wheel truck, using such as of any of claims 1-2 electronic
Take turns the full-automatic parking apparatus of automobile characterized by comprising
Judge whether parking space meets the condition of parking；
Vehicle is adjusted to initial parking place；
Wheel deflects to extreme position, determines the center of circle according to Ackermann steering law and is arranged in vehicle interior side；
Vehicle outside rear end corner is r along radius1Outer tracks reversing；Meanwhile vehicle interior side is r along radius2Inside track
Reversing, until vehicle is parallel with parking space；
When meeting berthing conditions, completion of parking；If not, being finely adjusted to vehicle until meeting berthing conditions.
8. the full-automatic method of vertically parking of electric wheel truck as claimed in claim 7, which is characterized in that the condition of parking
Are as follows: clear in parking space；The linear distance of barrier and parking space is greater than 20 centimeters；The length of the parking space
Length compared with vehicle is not less than 20cm, and width is not less than 20cm compared with the width of vehicle；
Initial parking place are as follows: the automobile body is vertical with parking space；Along the length direction of vehicle, on the inside of the tailstock with park
The vertical range in space is 1.8+Ym；Along the width direction of vehicle, the vertical range of the vehicle tail and parking space is
60cm。
9. the full-automatic method of vertically parking of electric wheel truck as claimed in claim 8, which is characterized in that the r1Meet:
The r2Meet:
Wherein, L is the wheelbase of vehicle；A is the wheelspan of vehicle；B is rear overhang length；N is the width of parking space；Extreme position
The ratio between front and rear wheel steering angle is 6:1, and front and rear wheel steering direction is opposite.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107776570B (en) | 2017-09-19 | 2020-09-01 | 广州汽车集团股份有限公司 | Full-automatic parking method and full-automatic parking system |
| JP7152889B2 (en) * | 2018-07-12 | 2022-10-13 | 日立Astemo株式会社 | Steering control device, steering control method, and steering control system |
| CN109080594A (en) * | 2018-08-27 | 2018-12-25 | 石明磊 | Assist the device of lateral parking |
| CN109050493A (en) * | 2018-08-27 | 2018-12-21 | 石明磊 | It parks auxiliary wheel group |
| CN108979277A (en) * | 2018-08-27 | 2018-12-11 | 石明磊 | Assist parking apparatus |
| CN110466602B (en) * | 2019-08-29 | 2023-10-10 | 南京林业大学 | Time-sharing four-wheel steering system of electric automobile driven by hub motor and control method thereof |
| CN113525357B (en) * | 2021-08-25 | 2022-12-09 | 吉林大学 | Automatic parking decision model optimization system and method |
| CN114274948A (en) * | 2021-12-15 | 2022-04-05 | 武汉光庭信息技术股份有限公司 | Automatic parking method and device based on 360-degree panorama |
| CN118031966A (en) * | 2024-02-06 | 2024-05-14 | 湖南大学无锡智能控制研究院 | Path planning method, device and storage medium for four-wheel independent steering configuration vehicle |
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| US20050121878A1 (en) * | 2001-12-20 | 2005-06-09 | Gerald Muldoon | Ram-based positioning system |
| CN101289095A (en) * | 2008-05-22 | 2008-10-22 | 吉林大学 | Differential power assisted steering system for independent driving motor using deflecting roller |
| CN101734281A (en) * | 2009-12-31 | 2010-06-16 | 中国人民解放军总后勤部建筑工程研究所 | Mechanical-hydraulic-pneumatic triple steering axle locking device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009083534A (en) * | 2007-09-27 | 2009-04-23 | Tadano Ltd | Rear steering lock device of vehicle having a plurality of wheel shafts on rear side |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050121878A1 (en) * | 2001-12-20 | 2005-06-09 | Gerald Muldoon | Ram-based positioning system |
| CN101289095A (en) * | 2008-05-22 | 2008-10-22 | 吉林大学 | Differential power assisted steering system for independent driving motor using deflecting roller |
| CN101734281A (en) * | 2009-12-31 | 2010-06-16 | 中国人民解放军总后勤部建筑工程研究所 | Mechanical-hydraulic-pneumatic triple steering axle locking device |
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