CN107618505A - A kind of control system and method for improving automatic parking success rate - Google Patents
A kind of control system and method for improving automatic parking success rate Download PDFInfo
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- CN107618505A CN107618505A CN201710895491.4A CN201710895491A CN107618505A CN 107618505 A CN107618505 A CN 107618505A CN 201710895491 A CN201710895491 A CN 201710895491A CN 107618505 A CN107618505 A CN 107618505A
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Abstract
The invention discloses a kind of control system and method for improving automatic parking success rate, control system includes controller of parking, people's car mutual module, park controller initialization module, turkey of parking memory module, park execution module, context detection module and vehicle-state acquisition module, controller initialization module of parking carries out Initialize installation by people's car mutual module to controller of parking, controller of parking receives context detection module signal, progress can be sought and be calculated with parking stall, and combine the parameter stored from car state parameter and turkey memory module of parking of vehicle-state acquisition module collection, success rate of being parked twice judges, car owner is guided to search suitable parking stall；During parking, controller of parking constantly analyze the collection of vehicle-state acquisition module from car parameter, by parking, execution module is corrected in real time to steering wheel angle, so that parking path tracking, raising automatic parking success rate is better achieved.
Description
Technical field
The invention belongs to automobile intelligent to drive field, especially a kind of control system for improving automatic parking success rate and side
Method.
Background technology
With increasing sharply for car ownership, urban road is increasingly crowded, and parking stall also can not meet all the more car owner and go out
Row demand.In order to increase the quantity on parking stall, parking bit length is compressed continuously, and difficulty is added to car owner's parking.Therefore, more
Automated parking system is equipped with come more passenger cars, to meet that the non-standard parking stall in city Plays parking stall or suburb is fast
The demand of speed parking.
But the success rate of existing automated parking system storage is easily disturbed by some factors, such as parking stall
The gradient, this car length, tire pressure, the distribution condition before and after the load of load-carrying vehicle that are parked cars apart from roadside.In order to contract
The short sawn timber R＆D cycle, efficiency of research and development being improved, for these parameters in product design and demarcation, it is thorough to tend not to consider one by one,
Therefore success rate of parking is have impact on, reduces out line efficiency.
Chinese patent (CN104527642A) disclose it is a kind of based on scene diversity identification automated parking system and its
Method, it judges current weather conditions using vehicle-mounted the Internet module, and formulates specific plan of parking according to different synoptic models
Slightly, by correct the right side make retreat mileage, straight trip retreats mileage, a left side and made and retreats mileage to improve parking system success rate, but
Do not consider that pressure of tire, parking Potential Slope, vehicle fore-aft loads distribute the influence to automated parking system success rate；It is Chinese special
Sharp (CN104608715A) discloses the parking position detection device and method of a kind of automated parking system, and it uses sound pressure sensor
Instead of ultrasonic sensor so as to improve the accuracy of parking stall detection, but fail to propose to improve automatic pool from path following method
The method of car system success rate；Chinese patent (CN104260727A) discloses a kind of four motorized wheels wheel hub motor automobile and hung down
Straight automated parking system and method, has the spy of similar caterpillar differential steering using AWD wheel-hub motor driven vehicle
Property, the convenience and success rate of electric automobile automated parking system are improved, but be not suitable for common fuel-engined vehicle；It is Chinese special
Sharp (CN104260722A) discloses a kind of automated parking system, and it is using environment collector collection ambient data and creates
Park environmental map, realize vehicle location calibrate, improve the security of institute's path planning and the accuracy of path trace, but
The influences of the factor to path tracking procedure such as tire pressure, parking Potential Slope are not considered, and its system-computed amount is big, real-time
Difference；Chinese patent (CN103419779A) discloses automatic parking accessory system and its meter that a kind of parking path error minimizes
Calculation method, it solves the radius of each tire using the vehicle height sensor and ground distance sensor of vehicle, and according to each wheel
Tire radius solves parking path, improves the precision of institute's path planning, but does not compensate tire radius in path tracking procedure and change band
The error come.
The content of the invention
The present invention proposes a kind of control system and method for improving automatic parking success rate, is searched in automated parking system
During warehouse compartment, first determine whether that vehicle moors the success rate into current parking stall by automated parking system.If system judges that success rate is low,
Then prompting car owner seeks parking stall again, to improve success rate of parking；If car owner still selects low success rate parking stall, dynamic adjusts
Vehicle with preferably realize parking path track；If system judged result is not that success rate is low, parking system uses current vehicle
Position and in real time adjustment direction disk corner are to reduce influence of the extraneous factor to parking system.
The present invention is to realize above-mentioned technical purpose by following technological means.
A kind of control system for improving automatic parking success rate, it is characterised in that including controller of parking, people's car mutual mould
Block, controller initialization module of parking, turkey of parking memory module, execution module of parking, context detection module and vehicle
State acquisition module, the controller of parking carry out signal biography by people's car mutual module and controller initialization module of parking
It is defeated, for realizing park controller and the Rapid matching of different automobile types；It is the length of context detection module detection parking stall, adjacent
Vehicle or barrier are with from the distance between car, and being transferred to controller of parking；The vehicle-state acquisition module is used to gather
From the steering wheel angle of car, wheel speed, gear, the gradient, tire pressure and suspension displacement, and it is transferred to controller of parking；The pool
The signal that vehicle controller is gathered by context detection module, vehicle-state acquisition module controls execution module of parking, and realizes to certainly
The control of car；Park controller and the turkey memory module progress signal transmission of parking, are recorded in turkey of parking
From the state parameter and parking stall design parameter of car, and compare in success rate deterministic process of parking from car state parameter, parking stall
Design parameter and the state parameter and parking stall design parameter in turkey from car.
In such scheme, the context detection module is deposited including long and short apart from ultrasonic radar, the turkey of parking
Storage module includes a SD card and SD card circuit module.
In such scheme, the vehicle-state acquisition module includes steering wheel angle sensor, gear position sensor, wheel speed and passed
Sensor, Slope Transducer, tyre pressure sensor and displacement transducer.
In such scheme, the execution module of parking is connected by Flexray agreements with controller of parking, and described park is held
Row module includes gear controller, steering motor controller, electronic brake controller and electronic accelerator controller.
In such scheme, the people's car mutual module is buzzer and display screen.
A kind of control method for improving automatic parking success rate, comprises the following steps：
Step (1), when first time using control system, include from the input of people's car mutual module interfaces from car length of wagon
M, width n, wheelbase γ and wheelspan l；
Step (2), during using control system, starting switch is pressed, parking system starts；When speed is less than 10km/h,
Start from two long range ultrasonic radars on the car left side or the right, park and seek storehouse operation, ultrasonic echo signal is direct
Controller of parking is sent to, so as to calculate the length L of parking stall, the length D from spacing Adjacent vehicles or barrier, and is temporarily deposited
Store up in turkey memory module of parking, during parking stall is sought, vehicle-state acquisition module collection four-wheel tire pressure P and four-wheel hang
Frame deflection S, controller of parking is every time t record Real-time Road gradients βt, four-wheel tire pressure P, Suspension Deformation amount S and road
Gradient average value β is temporarily stored in turkey memory module of parking；
Step (3), when controller of parking judges to have detected available parking stall, controller of parking utilizes the parking stall gathered
Length L, the length D from spacing Adjacent vehicles or barrier, road grade average value β, pressure of tire P, Suspension Deformation amount S judge
Park success rate；
Step (4), when controller of parking judges that this success rate result of parking is low for success rate of parking for the first time, people's car
Whether interactive module interface prompt driver seeks storehouse again；If storehouse is sought in driver's selection again, step (2) is gone to；If driver
It is non-selected to seek storehouse again, go to step (5)；When parking, controller judges that this success rate result of parking is not to park into for the first time
When power is low, step (5) is gone to；
Step (5), controller of parking is by the parking stall length L, the length D from spacing Adjacent vehicles or barrier, road of collection
Road gradient average value β, four-wheel maximum tire pressure PMAX, four-wheel minimum tire pressure PMIN, four-wheel Suspension Deformation mean difference SXWith parking unsuccessfully
Parking stall length L ', the length from spacing Adjacent vehicles or barrier in the same failure procedure of parking of event memory module storage
D ', road grade average value β ', four-wheel maximum tire pressure PMAX', four-wheel minimum tire pressure PMIN', four-wheel Suspension Deformation amount mean difference SX′
Make comparisons, judge success rate of parking for the second time；
Step (6), when controller of parking judges that this success rate result of parking is low for success rate of parking for the second time, people's car
Whether interactive module interface prompt driver seeks storehouse again, if storehouse is sought in driver's selection again, goes to step (2)；If driver
Selection continues parking manoeuvres, goes to step (8), if controller of parking judges to park twice, success rate result is not to park
When success rate is low, then step (7) is gone to；
Step (7), controller of parking is according to the parking stall length L sought and the length from spacing Adjacent vehicles or barrier
D plans parking path, and generates from car target vehicle speed, target direction disk corner, and controller of parking controls execution module of parking, control
Steering wheel rotational angle W processedt, E-Gas and electronic brake, realize the execution of target rotation angle and speed；Vehicle-state is adopted
Collection module constantly gathers wheel speed signal and angular signal and is sent to controller of parking, and controller of parking is by actual vehicle speed and side
To disk corner compared with target vehicle speed and steering wheel angle, execution module of parking is controlled to realize that target vehicle speed and steering wheel turn
The tracking at angle；
Step (8), when controller of parking judge to park success rate it is low when, people's car mutual module prompts driver parks success
Rate is low, and needs whether driver's manual confirmation still carries out automatic parking operation；If driver certifying still carries out automatic pool
Car operates, then program of parking continues to run with, and carries out parking path tracking completion and parks；If driver certifying is no longer moored automatically
Car is operated, then system is sought storehouse operation for the second time, jumps to step (2)；
Step (9), if parking success, whether vehicle automatic parking and is closed by people's car mutual module prompts driver
Engine, at the same controller of parking remove automatically recorded during this is parked parking stall length L, from spacing Adjacent vehicles or barrier
Hinder length D, road grade average value β, pressure of tire P and the Suspension Deformation amount S of thing；If parking unsuccessfully, people's car mutual module carries
Show and park unsuccessfully, and prompt that whether vehicle is rolled away from safely to seeking again for driving position of going forward side by side according to original path, while will pool
Parking stall length L, the length D, road grade average value β, tire from spacing Adjacent vehicles or barrier kept in vehicle controller
Tire pressure P and Suspension Deformation amount S are stored to turkey memory module of parking.
Further, the four-wheel tire pressure P includes automobile the near front wheel tire pressure P1, off-front wheel tire pressure P2, left rear tire P3, it is right after
Take turns tire pressure P4。
Further, the four-wheel Suspension Deformation amount S includes the left front bearing spring deflection S of automobile1, right front suspension spring becomes
Shape amount S2, left rear suspension spring deflection S3, right rear suspension spring deflection S4。
Beneficial effects of the present invention：
1st, the present invention utilizes vehicle oneself state parameter, Parking Stall information and mistake of parking during automatic parking
The parameter in event memory module is lost, success rate of being parked twice judges, guiding car owner searches suitable parking stall, optimizes simultaneously
Automatic parking paths planning method, so as to increase automatic parking success rate, improve out line efficiency.
2nd, invention increases controller initialization module of parking, can vehicle controller on the berth for the first time in use, being moored
The quick initializing set of vehicle controller, improve compatibility of the controller in different automobile types of parking.
3rd, present invention collection tire pressure signal, road grade signal and Suspension Deformation signal, and utilize above-mentioned signal
Steering wheel angle is corrected in real time during to parking, and improves controller path trace ability of parking, and increases automatic parking success rate.
Brief description of the drawings
Fig. 1 is radar schematic view of the mounting position；
Fig. 2 is the control system block diagram for improving automatic parking success rate；
Fig. 3 is vehicle housing schematic diagram；
Fig. 4 is parking stall length, from car and roadside-vehicle or barrier apart from schematic diagram；
Fig. 5 is flow chart of steps of parking.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further illustrated, but protection scope of the present invention is not limited to this.
As shown in Fig. 2 a kind of control system for improving automatic parking success rate, including controller of parking, people's car mutual mould
Block, controller initialization module of parking, turkey of parking memory module, execution module of parking, context detection module and vehicle
State acquisition module, the controller of parking carry out signal biography by people's car mutual module and controller initialization module of parking
It is defeated, for realizing park controller and the Rapid matching of different automobile types；It is the length of context detection module detection parking stall, adjacent
Vehicle or barrier are with from the distance between car, and being transferred to controller of parking；The vehicle-state acquisition module is used to gather
From the steering wheel angle of car, wheel speed, gear, the gradient, tire pressure and suspension displacement, and it is transferred to controller of parking；The pool
The signal that vehicle controller is gathered by context detection module, vehicle-state acquisition module controls execution module of parking, and realizes to certainly
The control of car；Park controller and the turkey memory module progress signal transmission of parking, are recorded in turkey of parking
From the state parameter and parking stall design parameter of car, and compare in success rate deterministic process of parking from car state parameter, parking stall
Design parameter and the state parameter and parking stall design parameter in turkey from car.
As shown in figure 1, context detection module includes 12 ultrasonic radars, the forward and backward bumper of vehicle is respectively provided with 4 short
Apart from ultrasonic radar, left side, right side are respectively provided with 2 long range ultrasonic radars, and 12 ultrasonic radars are by control of parking
Device controls its working condition, and ultrasonic radar constantly sends ultrasonic wave and receives echo-signal, echo when control system starts
Signal wire is connected directly to controller of parking, park controller according to ultrasonic radar echo-signal calculate with barrier away from
From to the anti-collision warning during seeking effective parking stall and parking；Fig. 1 circles represent short distance radar, and square frame represents length
Apart from radar.
Vehicle-state acquisition module includes steering wheel angle sensor, gear position sensor, wheel speed sensors, gradient sensing
Device, tyre pressure sensor and displacement transducer, steering wheel angle sensor is arranged in steering column, for measurement direction disk corner；
Wheel speed sensors are arranged on vehicle hub, for measuring wheel speed signal；Tyre pressure sensor is arranged at tyre inflating mouth, is used for
Monitor tire pressure；Slope Transducer is arranged on below pilot set, for measuring the vehicle travel gradient；Displacement sensing
Device is in parallel with vehicle suspension damper, for measuring vehicle suspension deflection.Steering wheel angle sensor, wheel speed sensors, tire
The signal of collection is transferred to controller of parking by pressure sensor, Slope Transducer, displacement transducer respectively.
Execution module of parking is connected by Flexray agreements with controller of parking, and execution module of parking controls including gear
Device, steering motor controller, electronic brake controller and electronic accelerator controller, gear controller are used for during controlling and parking
The gear switch of vehicle automatic speed variator, steering motor controller are used for controlling the Vehicular turn during parking, deceleration of electrons
Controller is used for the parking after the completion of controlling deceleration during parking and parking, and electronic accelerator controller is used for controlling parking
During engine air throttle aperture, parking vehicles' speed is controlled together with electronic brake controller.
Turkey of parking memory module, including a SD card and SD card circuit module, turkey of parking storage mould
Block is joined directly together with controller of parking, car status information and parking space's design parameter when parking failure for storing；When
Park failure when, turkey memory module records automatically this time park during the shape of parking space's relevant information and vehicle
State information；During automatic parking seeks storehouse, by the parking space information sought and car status information and failure thing of parking
Saved turkey parking space information and car status information are made comparisons in part memory, and comparing result is sent to
People's car mutual module；Park after failure, controller of parking also enters to the different turkeies in turkey memory module of parking
Row data are sorted out, to improve judgement speed of the controller to success rate of parking.
Controller initialization module of parking is used for carrying out initializing set to control system, is manually entered wheel of vehicle positioning
The information such as parameter, vehicle commander；Park controller initialization module, it is wide to be extracted wheel alignment parameter, length of wagon in program of parking
The important parameter of these influence path plannings of degree, wheel base, wheelspan, and can be in initialization procedure according to different vehicles
Quickly changed, improve controller versatility of parking；Wherein wheel alignment parameter mainly includes castor, Kingpin inclination
Angle.
People's car mutual module is buzzer and display screen, for reminding driver to select desired park mode, and is shown
Success rate of parking judged result, prompt driver vehicle park during anomaly parameter, and it is corresponding to guide driver to carry out
Operation.People's car mutual module can show that vehicle stops into the success rate sought to parking stall, when system judges that success rate of parking is low
When, display screen shows that success rate is low, and the abnormal vehicle status parameters for the failure that by text prompt driver may cause to park
And shown on instrument board；When system judge this success rate result of parking be not park success rate it is low when, display screen is not made
Power shows that only display will carry out automatic parking interface；Display screen is also controller initialization module input of parking simultaneously
Window.
Controller of parking is 32 single-chip microcomputers, and using grace intelligence Pu SPC5604C chips, controller of parking receives and comes from vehicle
Data that state acquisition module, people's car mutual module, context detection module are sent simultaneously are analyzed, and carry out path planning,
And execution module of parking is controlled to carry out realizing route tracking；Controller of parking constantly receives the letter of vehicle-state acquisition module passback
Number, according to the gradient of vehicle running surface, pressure of tire, suspension displacement parameter, steering wheel angle enters when being tracked to parking path
The automatic amendment of row, to be preferably tracked to the path planned.
As shown in figure 5, a kind of control method for improving automatic parking success rate, including step：
(1) when first time using control system, include from the input of people's car mutual module interfaces from car length of wagon m, width
Spend n, wheelbase γ and wheelspan l (Fig. 3).
(2) when using control system, starting switch is pressed, parking system starts；It is left from car when speed is less than 10km/h
Two long range ultrasonic radars on side or the right start, and park and seek storehouse operation, ultrasonic echo signal is conveyed directly to
Park controller, so as to calculate the length L of parking stall, the length D (Fig. 4) from spacing Adjacent vehicles or barrier, and temporarily deposit
Store up in turkey memory module of parking, during parking stall is sought, vehicle-state acquisition module collection four-wheel tire pressure P and four-wheel hang
Frame deflection S, controller of parking is every time t record Real-time Road gradients βt, four-wheel tire pressure P, Suspension Deformation amount S and road
Gradient average value β is temporarily stored in turkey memory module of parking；Four-wheel tire pressure P includes automobile the near front wheel tire pressure P1、
Off-front wheel tire pressure P2, left rear tire P3, off hind wheel tire pressure P4, four-wheel Suspension Deformation amount S includes the left front bearing spring deflection of automobile
S1, right front suspension spring deflection S2, left rear suspension spring deflection S3, right rear suspension spring deflection S4。
(3) when controller of parking judges to have detected available parking stall, controller of parking utilizes the parking stall length gathered
L, judge to park from the length D of spacing Adjacent vehicles or barrier, road grade average value β, pressure of tire P, Suspension Deformation amount S
Success rate；
As parking stall length L>During s, if D/L>A, or D/L<B and L<C, then controller of parking judge that success rate of parking is low,
And prompting is improper from the length of spacing Adjacent vehicles or barrier in human-computer interaction module；As road grade average value β>d
When, controller of parking judges that success rate of parking is low, and prompts in human-computer interaction module the parking garage Potential Slope sought excessive；
Work as P1<E or P2<E or P3<F or P4<During f, controller of parking judges that success rate of parking is low, and in human-computer interaction module
Prompting detects that pressure of tire is too low；Work as S3<G or S4<G and P3<H or P4<During h, controller of parking judges success rate of parking
It is low, and prompt vehicle rear load-carrying excessive in human-computer interaction module；Wherein s is minimum parking stall threshold value, and a and b are that parking stall is reasonable
Property judgment threshold, c is parking stall length threshold, d be road mean inclination compare threshold value, e and f are respectively two different wheel nauseas
Threshold value is pressed, g is Suspension Deformation threshold value, and h is tire pressure threshold value.
(4), when controller of parking judges that this success rate result of parking is low for success rate of parking for the first time, people's car mutual
Whether module interfaces prompting driver seeks storehouse again；If storehouse is sought in driver's selection again, step (2) is gone to；If driver is unselected
Select and seek storehouse again, go to step (5)；When parking, controller judges that this success rate result of parking is not success rate of parking for the first time
When low, step (5) is gone to.
(5) controller is parked by the parking stall length L, the length D from spacing Adjacent vehicles or barrier, road grade of collection
Average value β, four-wheel maximum tire pressure PMAX, four-wheel minimum tire pressure PMIN, four-wheel Suspension Deformation mean difference SXTurkey is deposited with parking
Store up parking stall length L ', length D ', road from spacing Adjacent vehicles or barrier in the same failure procedure of parking of module storage
Gradient average value β ', four-wheel maximum tire pressure PMAX', four-wheel minimum tire pressure PMIN', four-wheel Suspension Deformation amount mean difference SX' make comparisons,
Success rate of parking is judged for the second time；
If parking stall length L, length D, road grade average value β, four-wheel maximum tire from spacing Adjacent vehicles or barrier
Press PMAX, four-wheel minimum tire pressure PMIN, Suspension Deformation SXRespectively all in (1 ± k1)L′、(1±k2)D′、(1±k3)β′、(1±k4)
PMAX′、(1±k5)PMIN′、(1±k6)SX' in the range of, then prompt vehicle to stop into the parking stall sought in human-computer interaction module
In success rate it is relatively low；Otherwise do not prompt；Wherein k1、k2、k3、k4、k5、k6For the fault-tolerant factor.
(6) when controller of parking judges that this success rate result of parking is low for success rate of parking for the second time, people's car mutual
Whether module interfaces prompting driver seeks storehouse again, if storehouse is sought in driver's selection again, goes to step (2)；If driver selects
Continue parking manoeuvres, go to step (8), success rate result is not success of parking if controller of parking judges to park twice
When rate is low, then step (7) is gone to.
(7) controller of parking is planned according to the parking stall length L sought and from the length D of spacing Adjacent vehicles or barrier
Parking path, and generate from car target vehicle speed, target direction disk corner, controller of parking controls execution module of parking, controlling party
To disk rotational angle Wt, E-Gas and electronic brake, realize the execution of target rotation angle and speed；Vehicle-state gathers mould
Block constantly gathers wheel speed signal and angular signal and is sent to controller of parking, and controller of parking is by actual vehicle speed and steering wheel
For corner compared with target vehicle speed and steering wheel angle, control execution module of parking realizes target vehicle speed and steering wheel angle
Tracking；
The road grade β that Slope Transducer, tyre pressure sensor, displacement transducer will constantly collectt, it is four-wheel tire pressure P, outstanding
Frame deformation S is sent to controller of parking, and controller of parking monitors tire pressure P in real time1、P2、P3、P4And four-wheel Suspension Deformation S1、
S2、S3、S4；It is β when detecting vehicle traveling in the gradienttRamp on, steering wheel rotational angle is modified to h (βt)·Wt, h (βt)
For gradient correction function, and h (0)=1；During vehicle parking, if pressure of tire P1、P2、P3、P4Middle one or more is low
In (1-h1)·P0, wherein h1For the fault-tolerant factor and h1<1, P0For program calibration process Plays tire pressure of parking, then steering wheel
Rotational angle is modified to f (P1,P2,P3,P4)·Wt, wherein f is correction function, and f (P0)=1；As one in Suspension Deformation S
Or multiple exceed (1+h2)S1″、(1+h2)S2″、(1+h2)S3″、(1+h2)S4" when, controller of parking is to steering wheel target steering angle
Speed is modified, and steering wheel angle is modified to g (S1,S2,S3,S4)·Wt, wherein g is correction function, S1″、S2″、S3″、S4″
Suspension Deformation amount when respectively parking system is demarcated, and g (S1", S2", S3", S4")=1.
(8) when controller of parking judge to park success rate it is low when, people's car mutual module prompts driver success rate of parking is low,
And need whether driver's manual confirmation still carries out automatic parking operation；If driver certifying still carries out automatic parking behaviour
Make, then program of parking continues to run with, and carries out parking path tracking completion and parks；If driver certifying no longer carries out automatic parking behaviour
Make, then system is sought storehouse operation for the second time, jumps to step (2)；
Controller of parking carries out path planning according to the situation that warehouse compartment length is z, without according to the parking stall actually sought
Length L, wherein z are available minimum warehouse compartment length, and z<L；During parking, Slope Transducer, tyre pressure sensor, displacement pass
The road grade β that sensor will constantly collectt, four-wheel tire pressure P, Suspension Deformation S be sent to controller of parking, controller reality of parking
When monitor tire pressure P1、P2、P3、P4And four-wheel Suspension Deformation S1、S2、S3、S4；It is β when detecting vehicle traveling in the gradientt
Ramp on, steering wheel rotational angle is changed into H (βt)·Wt, H (βt) it is gradient correction function, and H (0)=1；In vehicle parking
During, if pressure of tire P1、P2、P3、P4Middle one or more exceedes (1-h1)·P0, wherein h1For the fault-tolerant factor and h1<1, P0
For program calibration process Plays tire pressure of parking, then steering wheel rotational angle becomes F (P1,P2,P3,P4)·Wt, wherein F is to repair
Positive function, and F (P0)=1；When one or more of Suspension Deformation S exceedes (1+h2)S1″、(1+h2)S2″、(1+h2)S3″、(1
+h2)S4" when, controller of parking is modified to steering wheel target diversion angle, and steering wheel angle is changed into G (S1,S2,S3,S4)·
Wt, wherein G is correction function, S1″、S2″、S3″、S4" Suspension Deformation amount when being respectively parking system demarcation, and G (S1", S2",
S3", S4")=1.
(9) if parking success, vehicle by people's car mutual module prompts driver whether automatic parking and close start
Machine, at the same park controller auto-erasing this park during record parking stall length L, from spacing Adjacent vehicles or barrier
Length D, road grade average value β, pressure of tire P and Suspension Deformation amount S；If parking unsuccessfully, people's car mutual module prompts pool
Car fails, and prompts that whether vehicle is rolled away from safely to seeking again for driving position of going forward side by side, while the control that will park according to original path
Parking stall length L, the length D, road grade average value β, pressure of tire P from spacing Adjacent vehicles or barrier kept in device processed
And Suspension Deformation amount S is stored to turkey memory module of parking.
The embodiment is preferred embodiment of the invention, but the present invention is not limited to above-mentioned embodiment, not
Away from the present invention substantive content in the case of, those skilled in the art can make it is any it is conspicuously improved, replace
Or modification belongs to protection scope of the present invention.
Claims (9)
1. a kind of control system for improving automatic parking success rate, it is characterised in that including controller of parking, people's car mutual mould
Block, controller initialization module of parking, turkey of parking memory module, execution module of parking, context detection module and vehicle
State acquisition module, the controller of parking carry out signal biography by people's car mutual module and controller initialization module of parking
It is defeated, for realizing park controller and the Rapid matching of different automobile types；It is the length of context detection module detection parking stall, adjacent
Vehicle or barrier are with from the distance between car, and being transferred to controller of parking；The vehicle-state acquisition module is used to gather
From the steering wheel angle of car, wheel speed, gear, the gradient, tire pressure and suspension displacement, and it is transferred to controller of parking；The pool
The signal that vehicle controller is gathered by context detection module, vehicle-state acquisition module controls execution module of parking, and realizes to certainly
The control of car；Park controller and the turkey memory module progress signal transmission of parking, are recorded in turkey of parking
From the state parameter and parking stall design parameter of car, and compare in success rate deterministic process of parking from car state parameter, parking stall
Design parameter and the state parameter and parking stall design parameter in turkey from car.
A kind of 2. control system for improving automatic parking success rate according to claim 1, it is characterised in that the environment
Detection module includes long and short apart from ultrasonic radar.
A kind of 3. control system for improving automatic parking success rate according to claim 1, it is characterised in that the vehicle
State acquisition module includes steering wheel angle sensor, gear position sensor, wheel speed sensors, Slope Transducer, tyre pressure sensor
And displacement transducer.
4. a kind of control system for improving automatic parking success rate according to claim 1, it is characterised in that described to park
Execution module is connected by Flexray agreements with controller of parking, and the execution module of parking includes gear controller, turns to electricity
Machine controller, electronic brake controller and electronic accelerator controller.
A kind of 5. control system for improving automatic parking success rate according to claim 1, it is characterised in that people's car
Interactive module is buzzer and display screen.
6. a kind of control system for improving automatic parking success rate according to claim 1, it is characterised in that described to park
Turkey memory module includes a SD card and SD card circuit module.
7. a kind of control method for improving automatic parking success rate, it is characterised in that comprise the following steps：
Step (1), when first time using control system, include from the input of people's car mutual module interfaces from car length of wagon m, width
Spend n, wheelbase γ and wheelspan l；
Step (2), during using control system, starting switch is pressed, parking system starts；When speed is less than 10km/h, from car
Two long range ultrasonic radars on the left side or the right start, and park and seek storehouse operation, ultrasonic echo signal directly transmits
To controller of parking, so as to calculate the length L of parking stall, the length D from spacing Adjacent vehicles or barrier, and it is stored temporarily in
Turkey of parking memory module, during parking stall is sought, vehicle-state acquisition module collection four-wheel tire pressure P and four-wheel suspension become
Shape amount S, controller of parking is every time t record Real-time Road gradients βt, four-wheel tire pressure P, Suspension Deformation amount S and road grade
Average value β is temporarily stored in turkey memory module of parking；
Step (3), when controller of parking judges to have detected available parking stall, controller of parking utilizes the parking stall length gathered
L, judge to park from the length D of spacing Adjacent vehicles or barrier, road grade average value β, pressure of tire P, Suspension Deformation amount S
Success rate；
Step (4), when controller of parking judges that this success rate result of parking is low for success rate of parking for the first time, people's car mutual
Whether module interfaces prompting driver seeks storehouse again；If storehouse is sought in driver's selection again, step (2) is gone to；If driver is unselected
Select and seek storehouse again, go to step (5)；When parking, controller judges that this success rate result of parking is not success rate of parking for the first time
When low, step (5) is gone to；
Step (5), controller of parking is by the parking stall length L, the length D from spacing Adjacent vehicles or barrier, road slope of collection
Spend average value β, four-wheel maximum tire pressure PMAX, four-wheel minimum tire pressure PMIN, four-wheel Suspension Deformation mean difference SXWith turkey of parking
Parking stall length L ', the length D ' from spacing Adjacent vehicles or barrier, road in the same failure procedure of parking of memory module storage
Road gradient average value β ', four-wheel maximum tire pressure PMAX', four-wheel minimum tire pressure PMIN', four-wheel Suspension Deformation amount mean difference SX' make ratio
Compared with second judges success rate of parking；
Step (6), when controller of parking judges that this success rate result of parking is low for success rate of parking for the second time, people's car mutual
Whether module interfaces prompting driver seeks storehouse again, if storehouse is sought in driver's selection again, goes to step (2)；If driver selects
Continue parking manoeuvres, go to step (8), success rate result is not success of parking if controller of parking judges to park twice
When rate is low, then step (7) is gone to；
Step (7), controller of parking are advised according to the parking stall length L sought and from the length D of spacing Adjacent vehicles or barrier
Parking path is drawn, and is generated from car target vehicle speed, target direction disk corner, controller of parking controls execution module of parking, control
Steering wheel rotational angle Wt, E-Gas and electronic brake, realize the execution of target rotation angle and speed；Vehicle-state gathers
Module constantly gathers wheel speed signal and angular signal and is sent to controller of parking, and controller of parking is by actual vehicle speed and direction
Disk corner controls execution module of parking to realize target vehicle speed and steering wheel angle compared with target vehicle speed and steering wheel angle
Tracking；
Step (8), when controller of parking judge to park success rate it is low when, people's car mutual module prompts driver parks success rate
It is low, and need whether driver's manual confirmation still carries out automatic parking operation；If driver certifying still carries out automatic parking
Operation, then program of parking continue to run with, and carry out parking path tracking completion and park；If driver certifying no longer carries out automatic parking
Operate, then system is sought storehouse operation for the second time, jumps to step (2)；
Step (9), if parking success, vehicle by people's car mutual module prompts driver whether automatic parking and close start
Machine, at the same controller of parking remove automatically recorded during this is parked parking stall length L, from spacing Adjacent vehicles or barrier
Length D, road grade average value β, pressure of tire P and Suspension Deformation amount S；If parking unsuccessfully, people's car mutual module prompts pool
Car fails, and prompts that whether vehicle is rolled away from safely to seeking again for driving position of going forward side by side, while the control that will park according to original path
Parking stall length L, the length D, road grade average value β, pressure of tire P from spacing Adjacent vehicles or barrier kept in device processed
And Suspension Deformation amount S is stored to turkey memory module of parking.
A kind of 8. control method for improving automatic parking success rate according to claim 7, it is characterised in that the four-wheel
Tire pressure P includes automobile the near front wheel tire pressure P1, off-front wheel tire pressure P2, left rear tire P3, off hind wheel tire pressure P4。
A kind of 9. control method for improving automatic parking success rate according to claim 7, it is characterised in that the four-wheel
Suspension Deformation amount S includes the left front bearing spring deflection S of automobile1, right front suspension spring deflection S2, left rear suspension camber of spring
Measure S3, right rear suspension spring deflection S4。
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