CN107618505B - Control system and method for improving automatic parking success rate - Google Patents
Control system and method for improving automatic parking success rate Download PDFInfo
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Abstract
The invention discloses a control system and a method for improving the success rate of automatic parking, wherein the control system comprises a parking controller, a human-vehicle interaction module, a parking controller initialization module, a parking failure event storage module, a parking execution module, an environment detection module and a vehicle state acquisition module, wherein the parking controller initialization module is used for initializing the parking controller through the human-vehicle interaction module, the parking controller receives an environment detection module signal, performs available vehicle position searching and calculating, and combines the vehicle state parameters acquired by the vehicle state acquisition module and the parameters stored in the parking failure event storage module to judge the success rate of two times of parking, so as to guide a vehicle owner to search a proper parking space; in the parking process, the parking controller continuously analyzes the vehicle parameters acquired by the vehicle state acquisition module, and corrects the steering wheel angle in real time through the parking execution module so as to better realize the tracking of a parking path and improve the automatic parking success rate.
Description
Technical Field
The invention belongs to the field of intelligent driving of automobiles, and particularly relates to a control system and method for improving the success rate of automatic parking.
Background
With the rapid increase of the quantity of the automobile, urban roads become crowded, and parking spaces can not meet the traveling demands of owners. In order to increase the number of parking spaces, the length of the parking spaces is continuously compressed, and the difficulty is increased for a vehicle owner to park. Accordingly, more and more passenger vehicles are equipped with automatic parking systems to meet the demand for rapid parking in standard parking spaces in cities or non-standard parking spaces in suburban areas.
However, the success rate of the existing automatic parking system in storage is easily disturbed by factors such as the gradient of a parking space, the length of a parked vehicle at a distance from a host vehicle to a roadside, tire pressure, and the load front-rear distribution of a load-carrying vehicle. In order to shorten the product research and development period and improve the research and development efficiency, the parameters cannot be considered one by one when designing and calibrating the product, so that the parking success rate is influenced, and the travel efficiency is reduced.
Chinese patent (CN 104527642 a) discloses an automatic parking system and method based on scene diversity recognition, which uses a vehicle-mounted internet module to determine the current weather condition, and makes a specific parking policy according to different weather modes, and improves the success rate of the parking system by correcting the right full back mileage, the straight back mileage and the left full back mileage, but does not consider the influence of tire pressure, parking space gradient and front-rear load distribution of the vehicle on the success rate of the automatic parking system; chinese patent (CN 104608715 a) discloses a parking space detection device and method of an automatic parking system, which uses a sound pressure sensor to replace an ultrasonic sensor so as to improve the accuracy of parking space detection, but fails to propose a method for improving the success rate of the automatic parking system from the path tracking method; chinese patent (CN 104260727A) discloses a vertical automatic parking system and method for a four-wheel independent drive hub motor vehicle, which utilizes the characteristic that a full-time four-wheel drive hub motor driven vehicle has differential steering similar to a crawler vehicle, improves the convenience and success rate of the automatic parking system of the electric vehicle, but is not suitable for a common fuel vehicle; chinese patent (CN 104260722A) discloses an automatic parking system, which utilizes an environment collector to collect surrounding environment data and create a parking environment map, realizes vehicle positioning calibration, improves the safety of a planned path and the accuracy of path tracking, but does not consider the influence of factors such as tire pressure, parking space gradient and the like on the path tracking process, and has large system calculation amount and poor instantaneity; chinese patent (CN 103419779 a) discloses an automatic parking assist system and a calculation method thereof for minimizing a parking path error, which solve the radius of each tire using a vehicle height sensor and a ground distance sensor of a vehicle, and solve a parking path according to each tire radius, thereby improving the accuracy of a planned path, but not compensating for an error caused by a tire radius change in a path tracking process.
Disclosure of Invention
The invention provides a control system and a control method for improving the success rate of automatic parking. If the system judges that the success rate is low, prompting the vehicle owner to search the parking space again so as to improve the parking success rate; if the car owner still selects a low-success-rate parking space, dynamically adjusting the vehicle to better realize parking path tracking; if the system judging result is not that the success rate is low, the parking system uses the current parking space and adjusts the steering wheel angle in real time so as to reduce the influence of external factors on the parking system.
The present invention achieves the above technical object by the following means.
The control system for improving the automatic parking success rate is characterized by comprising a parking controller, a human-vehicle interaction module, a parking controller initialization module, a parking failure event storage module, a parking execution module, an environment detection module and a vehicle state acquisition module, wherein the parking controller performs signal transmission with the parking controller initialization module through the human-vehicle interaction module and is used for realizing quick matching of the parking controller and different vehicle types; the environment detection module detects the length of a parking space and the distance between an adjacent vehicle or an obstacle and a vehicle and transmits the distance to the parking controller; the vehicle state acquisition module is used for acquiring steering wheel rotation angle, wheel speed, gear, gradient, tire air pressure and suspension displacement of the vehicle and transmitting the steering wheel rotation angle, the wheel speed, the gear, the gradient, the tire air pressure and the suspension displacement to the parking controller; the parking controller controls the parking execution module through signals acquired by the environment detection module and the vehicle state acquisition module to realize control of the vehicle; the parking controller and the parking failure event storage module are used for carrying out signal transmission, recording the state parameters of the vehicle and the specific parameters of the parking space in the parking failure event, and comparing the state parameters of the vehicle, the specific parameters of the parking space with the state parameters of the vehicle and the specific parameters of the parking space in the failure event in the judging process of the success rate of parking.
In the above scheme, the environment detection module comprises long-distance and short-distance ultrasonic radars, and the parking failure event storage module comprises an SD card and an SD card circuit module.
In the above scheme, the vehicle state acquisition module comprises a steering wheel angle sensor, a gear sensor, a wheel speed sensor, a gradient sensor, a tire pressure sensor and a displacement sensor.
In the above scheme, the parking execution module is connected with the parking controller through a Flexray protocol, and the parking execution module comprises a gear controller, a steering motor controller, an electronic brake controller and an electronic accelerator controller.
In the scheme, the man-vehicle interaction module is a buzzer and a display screen.
A control method for improving the success rate of automatic parking comprises the following steps:
step (1), when a control system is used for the first time, inputting the information including the length m, the width n, the wheelbase gamma and the wheelbase l of the vehicle body from a human-vehicle interaction module interface;
step (2), when the control system is used, a starting switch is pressed down, and the parking system is started; when the vehicle speed is lower than 10km/h, two long-distance ultrasonic radars on the left side or the right side of the vehicle are started to carry out parking and library searching operation, ultrasonic echo signals are directly transmitted to a parking controller, so that the length L of a parking space and the length D of an adjacent vehicle or an obstacle from the vehicle are calculated and are temporarily stored in a parking failure event storage module, a vehicle state acquisition module acquires four-wheel tire pressure P and four-wheel suspension deformation S in the parking space searching process, and the parking controller records the real-time road gradient beta at intervals of time t t The tire pressure P, the suspension deformation S, and the road gradient average β are temporarily stored in the parking failure event storage module;
step (3), when the parking controller judges that the available parking space is detected, the parking controller judges the parking success rate by using the acquired parking space length L, the length D of the adjacent vehicle or the obstacle from the vehicle, the road gradient average value beta, the tire pressure P and the suspension deformation S;
step (4), when the parking controller judges that the result of the success rate of parking is low for the first time, the human-vehicle interaction module interface prompts a driver whether to search a garage again; if the driver chooses to search the warehouse again, the step (2) is carried out; if the driver does not select to search the warehouse again, the step (5) is carried out; when the parking controller judges that the parking success rate result is not low for the first time, the step (5) is carried out;
step (5), the parking controller collects the parking space length L, the length D of the adjacent vehicle or obstacle from the vehicle, the road gradient average value beta and the four-wheel maximum tire pressure P MAX Minimum tire pressure P for four wheels MIN Deformation average difference S of four-wheel suspension X Parking space length L ', length D ' of adjacent vehicles or obstacles from vehicle distance, road gradient average value beta ', four-wheel maximum tire pressure P in the same parking failure process stored by the parking failure event storage module MAX ' four-wheel minimum tire pressure P MIN ' four-wheel suspension deformation average difference S X ' comparing, and judging the parking success rate for the second time;
step (6), when the parking controller judges that the parking success rate is low for the second time, the human-vehicle interaction module interface prompts the driver whether to search the garage again, and if the driver selects to search the garage again, the step (2) is carried out; if the driver selects to continue parking operation, the step (8) is performed, and if the parking controller judges that the parking success rate results are not low in two times, the step (7) is performed;
step (7), the parking controller plans a parking path according to the searched parking space length L and the length D of the adjacent vehicle or obstacle from the vehicle distance, and generates the target speed and the target steering wheel angle of the vehicle, and the parking controller controls the parking execution module and controls the steering wheel rotation angle W t The electronic accelerator and the electronic brake realize the execution of a target rotation angle and a vehicle speed; the vehicle state acquisition module continuously acquires wheel speed signals and steering wheel angle signals and transmits the wheel speed signals and the steering wheel angle signals to the parking controller, and the parking controller compares the actual vehicle speed and steering wheel angle with the target vehicle speed and steering wheel angle and controls the parking execution module to track the target vehicle speed and steering wheel angle;
step (8), when the parking controller judges that the parking success rate is low, the human-vehicle interaction module prompts a driver that the parking success rate is low, and the driver is required to manually confirm whether automatic parking operation is still performed or not; if the driver confirms that the automatic parking operation is still executed, the parking program continues to run, and the parking path tracking is performed to complete parking; if the driver confirms that the automatic parking operation is not performed, the system performs a second library searching operation and jumps to the step (2);
step (9), if the parking is successful, the vehicle prompts a driver whether to automatically park and close an engine through a human-vehicle interaction module, and meanwhile, a parking controller automatically clears the parking space length L, the length D of an adjacent vehicle or an obstacle from the vehicle, the road gradient average value beta, the tire pressure P and the suspension deformation S recorded in the current parking process; if the parking fails, the human-vehicle interaction module prompts the parking failure, prompts whether the vehicle safely exits according to the original path and re-searches the parking space, and simultaneously stores the temporary parking space length L, the length D of the adjacent vehicle or the obstacle from the vehicle, the road gradient average value beta, the tire pressure P and the suspension deformation S in the parking controller to the parking failure event storage module.
Further, the four-wheel tire pressure P comprises a left front tire pressure P of the automobile 1 Tire pressure P of right front tire 2 Rear left tire P 3 Rear right tire pressure P 4 。
Further, the four-wheel suspension deformation S comprises an automobile left front suspension spring deformation S 1 Spring deflection S of front right suspension 2 Spring deflection S of rear left suspension 3 Spring deflection S of right rear suspension 4 。
The invention has the beneficial effects that:
1. in the automatic parking process, the method and the device utilize the state parameters of the vehicle, the parking space information and the parameters in the parking failure event storage module to judge the success rate of two times of parking, guide the vehicle owner to search the proper parking space, and optimize the automatic parking path planning method, so that the success rate of automatic parking is increased, and the travel efficiency is improved.
2. According to the invention, the parking controller initialization module is added, so that the parking controller can be quickly initialized and set when the parking controller is used for the first time, and the compatibility of the parking controller on different vehicle types is improved.
3. The invention collects tire pressure signals, road gradient signals and suspension deformation signals, and corrects steering wheel rotation angles in real time when parking by utilizing the signals, thereby improving the path tracking capability of a parking controller and increasing the automatic parking success rate.
Drawings
FIG. 1 is a schematic view of a radar installation site;
FIG. 2 is a block diagram of a control system that increases the success rate of automatic parking;
FIG. 3 is a schematic illustration of a vehicle exterior frame;
FIG. 4 is a schematic view of the space length, distance of a host vehicle from a roadside vehicle or obstacle;
fig. 5 is a flow chart of the parking steps.
Detailed Description
The invention will be further described with reference to the accompanying drawings, to which the scope of protection of the invention is not limited.
As shown in fig. 2, the control system for improving the automatic parking success rate comprises a parking controller, a human-vehicle interaction module, a parking controller initialization module, a parking failure event storage module, a parking execution module, an environment detection module and a vehicle state acquisition module, wherein the parking controller performs signal transmission with the parking controller initialization module through the human-vehicle interaction module and is used for realizing quick matching of the parking controller and different vehicle types; the environment detection module detects the length of a parking space and the distance between an adjacent vehicle or an obstacle and a vehicle and transmits the distance to the parking controller; the vehicle state acquisition module is used for acquiring steering wheel rotation angle, wheel speed, gear, gradient, tire air pressure and suspension displacement of the vehicle and transmitting the steering wheel rotation angle, the wheel speed, the gear, the gradient, the tire air pressure and the suspension displacement to the parking controller; the parking controller controls the parking execution module through signals acquired by the environment detection module and the vehicle state acquisition module to realize control of the vehicle; the parking controller and the parking failure event storage module are used for carrying out signal transmission, recording the state parameters of the vehicle and the specific parameters of the parking space in the parking failure event, and comparing the state parameters of the vehicle, the specific parameters of the parking space with the state parameters of the vehicle and the specific parameters of the parking space in the failure event in the judging process of the success rate of parking.
As shown in fig. 1, the environment detection module comprises 12 ultrasonic radars, 4 short-distance ultrasonic radars are respectively arranged on a front bumper and a rear bumper of a vehicle, 2 long-distance ultrasonic radars are respectively arranged on the left side and the right side of the vehicle, the 12 ultrasonic radars control the working state of the vehicle by a parking controller, the ultrasonic radars continuously send out ultrasonic waves and receive echo signals when a control system is started, an echo signal line is directly connected to the parking controller, and the parking controller calculates the distance from an obstacle according to the echo signals of the ultrasonic radars and is used for searching an effective parking space and collision early warning in the parking process; the circles in fig. 1 represent short range radars and the boxes represent long range radars.
The vehicle state acquisition module comprises a steering wheel angle sensor, a gear sensor, a wheel speed sensor, a gradient sensor, a tire pressure sensor and a displacement sensor, wherein the steering wheel angle sensor is arranged in a steering column and is used for measuring the steering wheel angle; the wheel speed sensor is arranged on a wheel hub of the vehicle and is used for measuring a wheel speed signal; the tire pressure sensor is arranged at the tire inflation inlet and is used for monitoring the tire pressure; a gradient sensor is installed below the driver seat for measuring a gradient of a road on which the vehicle is traveling; the displacement sensor is connected with the vehicle suspension damper in parallel and is used for measuring the deformation of the vehicle suspension. The steering wheel angle sensor, the wheel speed sensor, the tire pressure sensor, the gradient sensor and the displacement sensor respectively transmit the acquired signals to the parking controller.
The parking execution module is connected with the parking controller through a Flexray protocol, and comprises a gear controller, a steering motor controller, an electronic brake controller and an electronic accelerator controller, wherein the gear controller is used for controlling gear switching of an automatic transmission of a vehicle in the parking process, the steering motor controller is used for controlling steering of the vehicle in the parking process, the electronic brake controller is used for controlling deceleration in the parking process and parking after parking is completed, and the electronic accelerator controller is used for controlling opening of an engine throttle valve in the parking process and controlling the speed of the parked vehicle together with the electronic brake controller.
The parking failure event storage module comprises an SD card and an SD card circuit module, and is directly connected with the parking controller and used for storing vehicle state information and parking space specific parameters when parking fails; when parking fails, the failure event storage module automatically records parking space related information and vehicle state information in the parking process; in the process of automatic parking and library searching, the searched parking space information and vehicle state information are compared with failure event parking space information and vehicle state information which are stored in a parking failure event memory, and the comparison result is transmitted to a man-vehicle interaction module; after the parking fails, the parking controller also classifies data of different failure events in the parking failure event storage module so as to improve the judging speed of the controller on the parking success rate.
The parking controller initialization module is used for initializing and setting a control system and manually inputting information such as vehicle wheel positioning parameters, vehicle length and the like; the parking controller initializing module extracts important parameters affecting path planning, such as wheel positioning parameters, length and width of a vehicle body, front and rear wheelbase and wheelbase, in a parking program, and can be quickly modified according to different vehicle types in the initializing process, so that the universality of the parking controller is improved; the wheel positioning parameters mainly comprise a caster angle and a caster angle.
The human-vehicle interaction module is a buzzer and a display screen and is used for reminding a driver of selecting a desired parking mode, displaying a parking success rate judging result, prompting abnormal parameters of the driver in the vehicle parking process and guiding the driver to perform corresponding operation. The human-vehicle interaction module can display the success rate of the vehicle to park in the searched parking space, and when the system judges that the parking success rate is low, the display screen displays the low success rate, prompts a driver of abnormal vehicle state parameters possibly causing parking failure through characters and displays the abnormal vehicle state parameters on an instrument panel; when the system judges that the parking success rate result is not low, the display screen is not made into power display, and only an automatic parking interface to be performed is displayed; the display screen is also a window input by the parking controller initialization module.
The parking controller is a 32-bit singlechip, adopts an Enzhi pump SPC5604C chip, receives and analyzes data transmitted from the vehicle state acquisition module, the human-vehicle interaction module and the environment detection module, performs path planning, and controls the parking execution module to realize path tracking; the parking controller continuously receives signals returned by the vehicle state acquisition module, and automatically corrects steering wheel corners during tracking of a parking path according to the gradient of a vehicle running road surface, tire pressure and suspension displacement parameters so as to better track a planned path.
As shown in fig. 5, a control method for improving the success rate of automatic parking includes the steps of:
(1) When the control system is used for the first time, the input of the human-vehicle interaction module interface comprises the length m, the width n, the wheelbase gamma and the wheelbase l (figure 3) of the vehicle body of the vehicle.
(2) When the control system is used, the starting switch is pressed, and the parking system is started; when the vehicle speed is lower than 10km/h, two long-distance ultrasonic radars on the left side or the right side of the vehicle are started to carry out parking and library searching operation, ultrasonic echo signals are directly transmitted to a parking controller, so that the length L of a parking space and the length D (figure 4) of an adjacent vehicle or an obstacle from the vehicle are calculated and are temporarily stored in a parking failure event storage module, a vehicle state acquisition module acquires four-wheel tire pressure P and four-wheel suspension deformation S in the parking space searching process, and the parking controller records real-time road gradient beta at intervals of time t t The tire pressure P, the suspension deformation S, and the road gradient average β are temporarily stored in the parking failure event storage module; the four-wheel tire pressure P comprises the left front tire pressure P of the automobile 1 Tire pressure P of right front tire 2 Rear left tire P 3 Rear right tire pressure P 4 The deformation S of the four-wheel suspension comprises the deformation S of a spring of a left front suspension of the automobile 1 Spring deflection S of front right suspension 2 Spring deflection S of rear left suspension 3 Spring deflection S of right rear suspension 4 。
(3) When the parking controller judges that the available parking space is detected, the parking controller judges the parking success rate by using the acquired parking space length L, the length D of the adjacent vehicle or the obstacle from the vehicle, the road gradient average value beta, the tire pressure P and the suspension deformation S;
when the parking space length L>s, if D/L>a, or D/L<b and L<c, the parking controller judges that the parking success rate is low, and prompts that the length of the adjacent vehicle or the obstacle from the vehicle is unsuitable in the man-machine interaction module; when the road gradient is average value beta>d, the parking controller judges that the parking success rate is low, and prompts that the gradient of the searched parking garage is overlarge in the man-machine interaction module; when P 1 <e or P 2 <e or P 3 <f or P 4 <f, the parking controller judges that the parking success rate is low, and prompts that the tire pressure of the tire is too low in the man-machine interaction module; when S is 3 <g or S 4 <g and P 3 <h or P 4 <h, the parking controller judges that the parking success rate is low and performs man-machine interactionThe module prompts that the rear load of the vehicle is too large; wherein s is the minimum parking space threshold value, a and b are parking space rationality judging thresholds, c is a parking space length threshold value, d is a road average gradient comparison threshold value, e and f are two different tire air pressure threshold values respectively, g is a suspension deformation threshold value, and h is a tire air pressure threshold value.
(4) When the parking controller judges that the parking success rate result is low for the first time, the human-vehicle interaction module interface prompts a driver whether to search the garage again; if the driver chooses to search the warehouse again, the step (2) is carried out; if the driver does not select to search the warehouse again, the step (5) is carried out; and (5) when the parking controller judges that the result of the success rate of parking is not low for the first time, turning to the step (5).
(5) The parking controller collects the parking space length L, the length D of the adjacent vehicle or obstacle from the vehicle, the road gradient average value beta and the four-wheel maximum tire pressure P MAX Minimum tire pressure P for four wheels MIN Deformation average difference S of four-wheel suspension X Parking space length L ', length D ' of adjacent vehicles or obstacles from vehicle distance, road gradient average value beta ', four-wheel maximum tire pressure P in the same parking failure process stored by the parking failure event storage module MAX ' four-wheel minimum tire pressure P MIN ' four-wheel suspension deformation average difference S X ' comparing, and judging the parking success rate for the second time;
if the parking space length L, the length D of the adjacent vehicle or the obstacle from the vehicle, the average value beta of the road gradient and the maximum tire pressure P of four wheels MAX Minimum tire pressure P for four wheels MIN Suspension deformation S X Are all respectively (1 + -k) 1 )L′、(1±k 2 )D′、(1±k 3 )β′、(1±k 4 )P MAX ′、(1±k 5 )P MIN ′、(1±k 6 )S X In the range, prompting that the success rate of parking the vehicle in the searched parking space is lower in the man-machine interaction module; otherwise, not prompting; wherein k is 1 、k 2 、k 3 、k 4 、k 5 、k 6 Is a fault tolerance factor.
(6) When the parking controller judges that the parking success rate is low for the second time, the human-vehicle interaction module interface prompts the driver whether to search the garage again, and if the driver selects to search the garage again, the step (2) is carried out; if the driver chooses to continue the parking operation, the step (8) is performed, and if the parking controller judges that the parking success rate results are not low in both the two times of parking, the step (7) is performed.
(7) The parking controller plans a parking path according to the searched parking space length L and the length D of the vehicle from the adjacent vehicle or the obstacle, generates the target speed of the vehicle and the target steering wheel turning angle, and controls the parking execution module and the steering wheel turning angle W t The electronic accelerator and the electronic brake realize the execution of a target rotation angle and a vehicle speed; the vehicle state acquisition module continuously acquires wheel speed signals and steering wheel angle signals and transmits the wheel speed signals and the steering wheel angle signals to the parking controller, and the parking controller compares the actual vehicle speed and steering wheel angle with the target vehicle speed and steering wheel angle and controls the parking execution module to track the target vehicle speed and steering wheel angle;
gradient sensor, tire pressure sensor, displacement sensor constantly will gather road slope beta that is gathered t The four-wheel tire pressure P and the suspension deformation S are transmitted to a parking controller, and the parking controller monitors the tire pressure P in real time 1 、P 2 、P 3 、P 4 Deformation S of four-wheel suspension 1 、S 2 、S 3 、S 4 The method comprises the steps of carrying out a first treatment on the surface of the When the vehicle is detected to be running on the slope beta t On the slope of (2), the steering wheel rotation angle is corrected to h (beta) t )·W t ，h(β t ) Is a gradient correction function, and h (0) =1; if the tire pressure P is the tire pressure P during the parking process of the vehicle 1 、P 2 、P 3 、P 4 One or more of (2) is lower than (1-h) 1 )·P 0 Wherein h is 1 Is a fault tolerance factor and h 1 <1，P 0 For the standard tire pressure during the calibration of the parking program, the steering wheel rotation angle is corrected to f (P 1 ,P 2 ,P 3 ,P 4 )·W t Wherein f is a correction function, and f (P 0 ) =1; when one or more of the suspension deformations S exceeds (1+h 2 )S 1 ″、(1+h 2 )S 2 ″、(1+h 2 )S 3 ″、(1+h 2 )S 4 In the "case, the parking controller corrects the steering wheel target steering angular velocity so that the steering wheel angle is corrected to g (S 1 ,S 2 ,S 3 ,S 4 )·W t Wherein g is a correction function, S 1 ″、S 2 ″、S 3 ″、S 4 "respectively, the deformation amount of the suspension when the parking system is calibrated, and g (S 1 ″，S 2 ″，S 3 ″，S 4 ″)＝1。
(8) When the parking controller judges that the parking success rate is low, the human-vehicle interaction module prompts a driver that the parking success rate is low, and the driver is required to manually confirm whether automatic parking operation is still performed or not; if the driver confirms that the automatic parking operation is still executed, the parking program continues to run, and the parking path tracking is performed to complete parking; if the driver confirms that the automatic parking operation is not performed, the system performs a second library searching operation and jumps to the step (2);
the parking controller performs path planning according to the situation that the length of the parking space is z instead of the actually searched parking space length L, wherein z is the minimum available parking space length, and z<L is; in the parking process, the gradient sensor, the tire pressure sensor and the displacement sensor continuously collect the gradient beta of the road t The four-wheel tire pressure P and the suspension deformation S are transmitted to a parking controller, and the parking controller monitors the tire pressure P in real time 1 、P 2 、P 3 、P 4 Deformation S of four-wheel suspension 1 、S 2 、S 3 、S 4 The method comprises the steps of carrying out a first treatment on the surface of the When the vehicle is detected to be running on the slope beta t On a slope of (2), the steering wheel rotation angle becomes H (beta) t )·W t ，H(β t ) Is a gradient correction function, and H (0) =1; if the tire pressure P is the tire pressure P during the parking process of the vehicle 1 、P 2 、P 3 、P 4 One or more of (1-h) 1 )·P 0 Wherein h is 1 Is a fault tolerance factor and h 1 <1，P 0 For the standard tire pressure during the calibration of the parking program, the steering wheel rotation angle becomes F (P 1 ,P 2 ,P 3 ,P 4 )·W t WhereinF is a correction function, and F (P 0 ) =1; when one or more of the suspension deformations S exceeds (1+h 2 )S 1 ″、(1+h 2 )S 2 ″、(1+h 2 )S 3 ″、(1+h 2 )S 4 In the "case, the parking controller corrects the target steering angle of the steering wheel so that the steering wheel angle becomes G (S) 1 ,S 2 ,S 3 ,S 4 )·W t Wherein G is a correction function, S 1 ″、S 2 ″、S 3 ″、S 4 "respectively, the deformation amount of the suspension when the parking system is calibrated, and G (S) 1 ″，S 2 ″，S 3 ″，S 4 ″)＝1。
(9) If the parking is successful, the vehicle prompts a driver whether to automatically park and close the engine through the human-vehicle interaction module, and meanwhile, the parking controller automatically erases the parking space length L, the length D of an adjacent vehicle or an obstacle from the vehicle, the road gradient average value beta, the tire pressure P and the suspension deformation S recorded in the current parking process; if the parking fails, the human-vehicle interaction module prompts the parking failure, prompts whether the vehicle safely exits according to the original path and re-searches the parking space, and simultaneously stores the temporary parking space length L, the length D of the adjacent vehicle or the obstacle from the vehicle, the road gradient average value beta, the tire pressure P and the suspension deformation S in the parking controller to the parking failure event storage module.
The examples are preferred embodiments of the present invention, but the present invention is not limited to the above-described embodiments, and any obvious modifications, substitutions or variations that can be made by one skilled in the art without departing from the spirit of the present invention are within the scope of the present invention.
Claims (3)
1. The control method for improving the automatic parking success rate is characterized by comprising the following steps of:
step (1), when a control system is used for the first time, inputting the information including the length m, the width n, the wheelbase gamma and the wheelbase l of the vehicle body from a human-vehicle interaction module interface;
step (2), when the control system is used, the starting switch is pressed down,starting a parking system; when the vehicle speed is lower than 10km/h, two long-distance ultrasonic radars on the left side or the right side of the vehicle are started to carry out parking and library searching operation, ultrasonic echo signals are directly transmitted to a parking controller, so that the length L of a parking space and the length D of an adjacent vehicle or an obstacle from the vehicle are calculated and are temporarily stored in a parking failure event storage module, a vehicle state acquisition module acquires four-wheel tire pressure P and four-wheel suspension deformation S in the parking space searching process, and the parking controller records the real-time road gradient beta at intervals of time t t The tire pressure P, the suspension deformation S, and the road gradient average β are temporarily stored in the parking failure event storage module;
step (3), when the parking controller judges that the available parking space is detected, the parking controller judges the parking success rate by using the acquired parking space length L, the length D of the adjacent vehicle or the obstacle from the vehicle, the road gradient average value beta, the tire pressure P and the suspension deformation S;
step (4), when the parking controller judges that the result of the success rate of parking is low for the first time, the human-vehicle interaction module interface prompts a driver whether to search a garage again; if the driver chooses to search the warehouse again, the step (2) is carried out; if the driver does not select to search the warehouse again, the step (5) is carried out; when the parking controller judges that the parking success rate result is not low for the first time, the step (5) is carried out;
step (5), the parking controller collects the parking space length L, the length D of the adjacent vehicle or obstacle from the vehicle, the road gradient average value beta and the four-wheel maximum tire pressure P MAX Minimum tire pressure P for four wheels MIN Deformation average difference S of four-wheel suspension X Parking space length L ', length D ' of adjacent vehicles or obstacles from vehicle distance, road gradient average value beta ', four-wheel maximum tire pressure P in the same parking failure process stored by the parking failure event storage module MAX ' four-wheel minimum tire pressure P MIN ' four-wheel suspension deformation average difference S X ' comparing, and judging the parking success rate for the second time;
step (6), when the parking controller judges that the parking success rate is low for the second time, the human-vehicle interaction module interface prompts the driver whether to search the garage again, and if the driver selects to search the garage again, the step (2) is carried out; if the driver selects to continue parking operation, the step (8) is performed, and if the parking controller judges that the parking success rate results are not low in two times, the step (7) is performed;
step (7), the parking controller plans a parking path according to the searched parking space length L and the length D of the adjacent vehicle or obstacle from the vehicle distance, and generates the target speed and the target steering wheel angle of the vehicle, and the parking controller controls the parking execution module and controls the steering wheel rotation angle W t The electronic accelerator and the electronic brake realize the execution of a target rotation angle and a vehicle speed; the vehicle state acquisition module continuously acquires wheel speed signals and steering wheel angle signals and transmits the wheel speed signals and the steering wheel angle signals to the parking controller, and the parking controller compares the actual vehicle speed and steering wheel angle with the target vehicle speed and steering wheel angle and controls the parking execution module to track the target vehicle speed and steering wheel angle;
step (8), when the parking controller judges that the parking success rate is low, the human-vehicle interaction module prompts a driver that the parking success rate is low, and the driver is required to manually confirm whether automatic parking operation is still performed or not; if the driver confirms that the automatic parking operation is still executed, the parking program continues to run, and the parking path tracking is performed to complete parking; if the driver confirms that the automatic parking operation is not performed, the system performs a second library searching operation and jumps to the step (2);
step (9), if the parking is successful, the vehicle prompts a driver whether to automatically park and close an engine through a human-vehicle interaction module, and meanwhile, a parking controller automatically clears the parking space length L, the length D of an adjacent vehicle or an obstacle from the vehicle, the road gradient average value beta, the tire pressure P and the suspension deformation S recorded in the current parking process; if the parking fails, the human-vehicle interaction module prompts the parking failure, prompts whether the vehicle safely exits according to the original path and re-searches the parking space, and simultaneously stores the temporary parking space length L, the length D of the adjacent vehicle or the obstacle from the vehicle, the road gradient average value beta, the tire pressure P and the suspension deformation S in the parking controller to the parking failure event storage module.
2. The control method for improving the success rate of automatic parking according to claim 1, wherein the four-wheel tire pressure P comprises a left front tire pressure P of an automobile 1 Tire pressure P of right front tire 2 Rear left tire P 3 Rear right tire pressure P 4 。
3. The control method for improving the success rate of automatic parking according to claim 1, wherein the four-wheel suspension deformation S comprises an automobile left front suspension spring deformation S 1 Spring deflection S of front right suspension 2 Spring deflection S of rear left suspension 3 Spring deflection S of right rear suspension 4 。
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| CN109017768B (en) * | 2018-08-24 | 2023-12-08 | 合肥中科自动控制***有限公司 | Automatic parking reminding device and control system for automobile |
| CN109334658A (en) * | 2018-09-29 | 2019-02-15 | 江苏大学 | A kind of control method and device of adjust automatically parking strategy |
| CN110070752A (en) * | 2019-05-29 | 2019-07-30 | 北京百度网讯科技有限公司 | One kind is parked appraisal procedure, device, electronic equipment and storage medium |
| CN110203196B (en) * | 2019-06-11 | 2021-08-03 | 威马智慧出行科技（上海）有限公司 | Slope automatic parking method, electronic equipment and automobile |
| CN110329246B (en) * | 2019-07-11 | 2021-04-27 | 湖北文理学院 | Intelligent driving system and method with automatic parking function |
| CN111169463A (en) * | 2019-10-10 | 2020-05-19 | 中国第一汽车股份有限公司 | Parking control system and method |
| CN110816520B (en) * | 2019-11-27 | 2021-10-29 | 安徽江淮汽车集团股份有限公司 | Automatic parking method, automatic parking equipment, storage medium and automatic parking device |
| CN113264035B (en) * | 2020-02-14 | 2022-03-25 | 广州汽车集团股份有限公司 | Full-automatic parking control method and system and vehicle |
| CN114043981B (en) * | 2021-06-30 | 2023-10-24 | 东风汽车集团股份有限公司 | Automatic parking control method |
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| DE102011055685A1 (en) * | 2011-11-24 | 2013-05-29 | Continental Teves Ag & Co. Ohg | Method for operating system influencing driving behavior of vehicle, involves carrying out automatic adjustment of adjustable control parameter of system manually by vehicle occupant |
| US8825292B2 (en) * | 2013-01-10 | 2014-09-02 | Ford Global Technologies, Llc | Suspension control system to facilitate wheel motions during parking |
| CN104627175B (en) * | 2015-01-22 | 2017-03-01 | 北京理工大学 | A kind of people's car mutual Intelligent parking system |
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