CN108515966A - A kind of automatic parking method for controlling driving speed and system, vehicle - Google Patents
A kind of automatic parking method for controlling driving speed and system, vehicle Download PDFInfo
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- CN108515966A CN108515966A CN201810200126.1A CN201810200126A CN108515966A CN 108515966 A CN108515966 A CN 108515966A CN 201810200126 A CN201810200126 A CN 201810200126A CN 108515966 A CN108515966 A CN 108515966A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Abstract
The present invention provides a kind of automatic parking method for controlling driving speed, including：Obtain the parking path of vehicle；It is reduced with the current residual length of parking path described in the vehicle moving process, the speed for controlling the vehicle reduces；When current residual length is zero, the speed for controlling the vehicle is zero.The present invention is after getting the parking path of vehicle, during being parked, with in the prior art using it is constant at a slow speed compared with, using method for controlling driving speed associated with the current residual length of parking path, it can be while ensureing vehicle safety, it realizes efficient automatic parking, improves parking efficiency, saves time cost, reduce human intervention.A kind of automatic parking vehicle speed control system provided by the invention, vehicle, it may have above-mentioned advantageous effect, details are not described herein.
Description
Technical field
The present invention relates to unmanned technical field, more particularly to a kind of automatic parking method for controlling driving speed and system, vehicle
.
Background technology
Recently as the development of the improvement of people's living standards and auto industry, car ownership increases year by year, causes
Parking stall becomes more and more nervous.It is how automobile is quick, accurate since city parking space is limited for driver
The narrow space that drives into have become a required skill.Stopping, technical ability is poor may to lead to traffic jam, neurolysis and vehicle
It scratches.With advances in technology, there is automatic stopping function, automatic stopping refers to that automobile automatic stopping enters parking
Position, does not need manual control.
But the prior art there is also some problems, cannot fully achieve unmanned automatic stopping, such as obstacle physical prospecting
Surveying device, there is also some blind spots, some obstacle detections sometimes are less than there is parking accident.Also existing automatic stopping technology vehicle
Speed control is not smart enough, can only in this way be parked slowly with driving into parking stall at a slow speed.
Therefore, how during unmanned, while ensureing that vehicle parking is safe, efficient automatic pool is realized
Vehicle improves parking efficiency, saves time cost, and it is those skilled in the art's technical problem urgently to be resolved hurrily to reduce human intervention.
Invention content
In view of this, the purpose of the present invention is to provide a kind of automatic parking method for controlling driving speed and system, vehicles, in nothing
In people's driving procedure, while ensureing that vehicle parking is safe, efficient automatic parking is realized, improve parking efficiency, save
Time cost reduces human intervention.Its concrete scheme is as follows：
In a first aspect, the present invention provides a kind of automatic parking method for controlling driving speed, including：
Obtain the parking path of vehicle；
It is reduced with the current residual length of parking path described in the vehicle moving process, controls the vehicle of the vehicle
Speed reduces；When current residual length is zero, the speed for controlling the vehicle is zero.
Preferably, described to be reduced with the current residual length of parking path described in the vehicle moving process, control
The speed of the vehicle reduces, including：
According to vk=αk*vinitCalculate the default instantaneous velocity of the vehicle；
The speed of the vehicle is controlled according to vkVariation；
The wherein described vkFor automatic parking when, the default instantaneous velocity at k moment；The αkTo be moved through with the vehicle
The current residual length of parking path described in journey is reduced and ever-reduced default weighting parameters；The vinitFor automatic parking
Initial velocity when beginning.
Preferably, the αkIt is calculated by following formula：
Wherein, when the d (k) is automatic parking, the current residual length of parking path described in the k moment；The β is default
Dynamic gene constant.
Preferably, described to be reduced with the current residual length of parking path described in the vehicle moving process, control
The speed of the vehicle reduces, including：
It is reduced with the current residual length of parking path described in the vehicle moving process, controls the vehicle of the vehicle
Fast stepped reduction.
Preferably, the parking path for obtaining vehicle, including：
Obtain the current location information of the vehicle；
Obtain the image information of the vehicle periphery；
Current position signal and image information described in analyzing processing obtain the parking path.
Preferably, which is characterized in that the speed of the control vehicle is according to vk=αk*vinitVariation, including：
Obtain the current true velocity of the vehicle；
According to vk=αk*vinitCalculate the default instantaneous velocity of the vehicle；
The size for comparing the current true velocity and the default instantaneous velocity adjusts the throttle and brake of the vehicle
Vehicle, so that the current true velocity is consistent with the default instantaneous velocity size.
Second aspect, the present invention provide a kind of automatic parking vehicle speed control system, including：
Path acquisition module, the parking path for obtaining vehicle；
Speed control module, for subtracting with the current residual length of parking path described in the vehicle moving process
Few, the speed for controlling the vehicle reduces；When current residual length is zero, the speed for controlling the vehicle is zero.
Preferably, the speed control module, including：
Pre-set velocity computing unit, for according to vk=αk*vinitCalculate the default instantaneous velocity of the vehicle；
Speed changes control unit, for controlling the speed of the vehicle according to the vkVariation；
The wherein described vkFor automatic parking when, the default instantaneous velocity at k moment；The αkTo be moved through with the vehicle
The current residual length of parking path described in journey is reduced and ever-reduced default weighting parameters；The vinitFor automatic parking
Initial velocity when beginning.
Preferably, the pre-set velocity computing unit, including：
Weighting parameters computation subunit, for calculating to obtain α by following formulak：
Wherein, when the d (k) is automatic parking, the current residual length of parking path described in the k moment；The β is default
Dynamic gene constant.
The third aspect, the present invention also provides a kind of vehicles, are equipped with any of the above-described kind of automatic parking vehicle speed control system.
The present invention provides a kind of automatic parking method for controlling driving speed, including：Obtain the parking path of vehicle；With the vehicle
The current residual length of parking path described in moving process is reduced, and the speed for controlling the vehicle reduces；Current residual is long
When degree is zero, the speed for controlling the vehicle is zero.The present invention is after getting the parking path of vehicle, in the mistake parked
Cheng Zhong, in the prior art using it is constant at a slow speed compared with, using speed associated with the current residual length of parking path
Control method can realize efficient automatic parking while ensureing vehicle safety, improve parking efficiency, save the time
Cost reduces human intervention.
A kind of automatic parking vehicle speed control system provided by the invention, vehicle, it may have above-mentioned advantageous effect, herein not
It repeats again.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
A kind of flow for automatic parking method for controlling driving speed that Fig. 1 is provided for the first specific implementation mode of the invention
Figure；
Fig. 2 calculates the stream with control for another automatic parking speed that the first specific implementation mode of the invention is provided
Cheng Tu；
A kind of flow chart of the acquisition methods for parking path that Fig. 3 is provided for the first specific implementation mode of the invention；
Fig. 4 shows for a kind of composition for automatic parking vehicle speed control system that the first specific implementation mode of the invention is provided
It is intended to；
The composition schematic diagram for the speed control module that Fig. 5 is provided for the first specific implementation mode of the invention；
Fig. 6 is the composition schematic diagram for the automatic driving car shutdown system that another specific implementation mode of the invention provides；
A kind of composition schematic diagram for vehicle that Fig. 7 is provided for the first specific implementation mode of the invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to FIG. 1, a kind of automatic parking speed controlling party that Fig. 1 is provided for the first specific implementation mode of the invention
The flow chart of method, this method include：
S11：Obtain the parking path of vehicle.
In the first specific implementation mode of the present invention, a kind of automatic parking speed control that the embodiment of the present invention is provided
Method processed, it is necessary first to obtain the parking path of vehicle.In the prior art, automatic parking is not rarely seen, when parking,
The parking path for first planning vehicle is generally required, then according to the parking path, control vehicle travels on the path.Existing
Parking lot in, road and parking stall are usually upright vertical planning, and there are also parking stalls and road to be into preset angle certainly
Degree distribution can increase the quantity that parking stall accommodates vehicle more in this way.
Therefore, parking path is in practice, it may be possible to which linear type can also be able to be the shape of bending, so road of parking
In diameter, the distance of vehicle initial position and parking place (namely parking position) may be less than the length of parking path；Pool
Truck position can be preset, can also be what parking lot arranged, it is of course also possible to be vehicle oneself in parking process
It is automatically found；For example, being travelled during the parking lot of vehicle can be set, when detecting empty available parking places, stopped using this
It parks parking stall.
S12：It is reduced with the current residual length of parking path described in the vehicle moving process, controls the vehicle
Speed reduce；When current residual length is zero, the speed for controlling the vehicle is zero.
After getting parking path, for vehicle when being moved along parking path, the residue of parking path is transportable
Length can constantly reduce, and the speed of vehicle can be controlled with the vehicle in the process until vehicle reaches parking place
The current residual length of parking path described in moving process reduces and reduces；When residue length is zero, at this moment vehicle is also
Reach parking place, at this moment should regulation speed be zero.
Referring to FIG. 2, Fig. 2 calculates for another automatic parking speed that the first specific implementation mode of the invention is provided
With the flow chart of control.
Further, can preferably in order to calculate the management for the current residual length that actual vehicle speed is parking path, institute
The current residual length reduction with parking path described in the vehicle moving process is stated, the speed for controlling the vehicle subtracts
It is small, including：
S121：According to vk=αk*vinitCalculate the default instantaneous velocity of the vehicle；
S122：The speed of the vehicle is controlled according to vkVariation；
The wherein described vkFor automatic parking when, the default instantaneous velocity at k moment；The αkTo be moved through with the vehicle
The current residual length of parking path described in journey is reduced and ever-reduced default weighting parameters；The vinitFor automatic parking
Initial velocity when beginning.Default weighting parameters are multiplied by initial velocity, can obtain default instantaneous velocity.
On the basis of above-mentioned specific implementation mode, in present embodiment, the αkIt is calculated by following formula：
Wherein, when the d (k) is automatic parking, the current residual length of parking path described in the k moment；The β is default
Dynamic gene constant.
Certainly, in another embodiment specific implementation mode, described with parking path described in the vehicle moving process
Current residual length is reduced, and the speed for controlling the vehicle reduces, and can also include：
It is reduced with the current residual length of parking path described in the vehicle moving process, controls the vehicle of the vehicle
Fast stepped reduction.The number for adjusting speed can be reduced in this way, reduce the loss of vehicle part.
Referring to FIG. 3, a kind of acquisition methods for parking path that Fig. 3 is provided for the first specific implementation mode of the invention
Flow chart.
It,, can in order to obtain the parking path of vehicle in present embodiment on the basis of above-mentioned specific implementation mode
To use following method：
S111:Obtain the current location information of the vehicle；
S112：Obtain the image information of the vehicle periphery；
S113：Current position signal and image information described in analyzing processing obtain the parking path.
On the basis of above-mentioned specific implementation mode, in present embodiment, in order to control the speed root of the vehicle
According to vk=αk*vinitVariation, may be used following manner：
Obtain the current true velocity of the vehicle；
According to vk=αk*vinitCalculate the default instantaneous velocity of the vehicle；
The size for comparing the current true velocity and the default instantaneous velocity adjusts the throttle and brake of the vehicle
Vehicle, so that the current true velocity is consistent with the default instantaneous velocity size.
This is a kind of method of closed-loop control PID control car speed.Here known vehicle can be motor vehicles,
Can be electric vehicle, throttle refers to the device of control output power, and is not specific to the petrol cock of motor vehicles, can also
Refer to the power controller of electric vehicle, brake refers to brake apparatus, can consume the speed of automobile, and the kinetic energy of automobile is converted
For the heat of frictional heat.
Referring to FIG. 4, Fig. 4 controls system for a kind of automatic parking speed that the first specific implementation mode of the invention is provided
The composition schematic diagram of system.
In a kind of specific implementation mode of the present invention, the embodiment of the present invention provides a kind of automatic parking vehicle speed control system
400, including：
Path acquisition module 410, the parking path for obtaining vehicle；
Speed control module 420, for the current residual length with parking path described in the vehicle moving process
It reduces, the speed for controlling the vehicle reduces；When current residual length is zero, the speed for controlling the vehicle is zero.
Referring to FIG. 5, the composition signal for the speed control module that Fig. 5 is provided for the first specific implementation mode of the invention
Figure.
Preferably, the speed control module 420, including：
Pre-set velocity computing unit 421, for according to vk=αk*vinitCalculate the default instantaneous velocity of the vehicle；
Speed changes control unit 422, for controlling the speed of the vehicle according to the vkVariation；
The wherein described vkFor automatic parking when, the default instantaneous velocity at k moment；The αkTo be moved through with the vehicle
The current residual length of parking path described in journey is reduced and ever-reduced default weighting parameters；The vinitFor automatic parking
Initial velocity when beginning.
Preferably, the pre-set velocity computing unit 421, including：
Weighting parameters computation subunit, for calculating to obtain α by following formulak：
Wherein, when the d (k) is automatic parking, the current residual length of parking path described in the k moment；The β is default
Dynamic gene constant.
Referring to FIG. 6, Fig. 6 is the composition for the automatic driving car shutdown system that another specific implementation mode of the invention provides
Schematic diagram.
In another specific implementation mode of the present invention, the present invention proposes a kind of unmanned parking vehicle speed control system
And method.Shutdown system unmanned first is made of information acquisition module, central processing module and Driving control module.Wherein
Information acquisition module is made of multiple ultrasonic radars, multiple infrared cameras, positioning system and velocity sensor, and realization is covered entirely
Lid detects vehicle-periphery information without blind spot in real time.Wherein, ultrasonic radar for collection vehicle and peripheral obstacle away from
From data, infrared camera is used for collection vehicle location information, speed for the image information around collection vehicle, positioning system
Sensor is used for collection vehicle velocity information, these information are finally transferred to central processing module；Central processing module is by ring
After the collected Data Analysis Services of border information acquisition module, the ring of the current location of automobile, target location and surrounding is obtained
Border parameter, and automatic parking strategy is made according to above-mentioned environmental parameter, and according to automatic parking strategy generating parking path, and will
The parking path of generation is sent in Driving control module；Wherein Driving control module is by Throttle Opening Control unit, course changing control list
Member, steering indicating light control unit and brak control unit composition, are respectively intended to regulation speed, direction, light and brake operation, drive
After control module receives parking path, the manipulation such as direction and speed is made to automobile according to parking path, finally by vehicle
Stop in parking stall.Unmanned shutdown system model is as shown in figure.
To realize parking speed control, the speed of automobile must be according to the distance between automobile and parking stall to throttle control
Unit processed adjusts in real time, automobile by being driven into the process of parking stall as far as close gradually slow down, when automobile and parking stall away from
From farther out when, parking stall is driven towards with faster speed, when automobile is close at a distance from parking stall, is driven into and is stopped with slower speed
Parking stall, specific parking of automobile real time running speed regulation and control method are as follows：
If automobile kth moment displacement distance is vk, then what automobile moved in real time is apart from expression formula：
vk=αk*vinit
Wherein xinitFor automobile parking when first unit moment displacement distance, αkFor displacement distance weighting parameters, each automobile
Displacement distance has its decision.αkExpression formula be：
Wherein d (k) be automobile at a distance from source location, β is Dynamic gene.
Last automobile is according to the distance v that should be moved at each momentk, Throttle Opening Control unit is adjusted in real time, from
And corresponding speed is controlled, by driving into automobile in parking stall as far as closely gradually slowing down, work as vkIllustrate that automobile at this time should when=0
Mobile distance is zero, and should just brake parking at this time, and parking is completed.
Referring to FIG. 7, a kind of composition schematic diagram for vehicle that Fig. 7 is provided for the first specific implementation mode of the invention.
In another specific implementation mode of the present invention, the embodiment of the present invention also provides a kind of vehicle 700, is equipped with above-mentioned
Automatic parking vehicle speed control system 400 in any specific implementation mode.
The present invention proposes that the unmanned parking vehicle speed control system of one kind and method, the identification that breaks the barriers, planning are parked
Path judges that the distance on automobile and parking stall carrys out regulation speed.When automobile farther out from parking stall when, sailed with faster speed
To parking stall, when automobile is closer from parking stall, parking stall is driven towards with slower speed, it is this according between automobile and parking stall
Distance gradually slow down and drive into the parking method on parking stall, the method compared to traditional slow parking can improve parking efficiency, section
It makes an appointment cost, and completely dispenses with human intervention.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Detailed Jie has been carried out to a kind of automatic parking method for controlling driving speed provided by the present invention and system, vehicle above
It continues, principle and implementation of the present invention are described for specific case used herein, and the explanation of above example is only
It is the method and its core concept for being used to help understand the present invention；Meanwhile for those of ordinary skill in the art, according to this hair
Bright thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage
Solution is limitation of the present invention.
Claims (10)
1. a kind of automatic parking method for controlling driving speed, which is characterized in that including：
Obtain the parking path of vehicle；
It is reduced with the current residual length of parking path described in the vehicle moving process, the speed for controlling the vehicle subtracts
It is small；When current residual length is zero, the speed for controlling the vehicle is zero.
2. automatic parking method for controlling driving speed according to claim 1, which is characterized in that described as the vehicle moves
The current residual length of the parking path is reduced in the process, and the speed for controlling the vehicle reduces, including：
According to vk=αk*vinitCalculate the default instantaneous velocity of the vehicle；
The speed of the vehicle is controlled according to vkVariation；
The wherein described vkFor automatic parking when, the default instantaneous velocity at k moment；The αkFor in the vehicle moving process
The current residual length of the parking path is reduced and ever-reduced default weighting parameters；The vinitStart for automatic parking
When initial velocity.
3. automatic parking method for controlling driving speed according to claim 2, which is characterized in that the αkIt is calculated by following formula：
Wherein, when the d (k) is automatic parking, the current residual length of parking path described in the k moment；The β is default adjustment
Factor constant.
4. automatic parking method for controlling driving speed according to claim 1, which is characterized in that described as the vehicle moves
The current residual length of the parking path is reduced in the process, and the speed for controlling the vehicle reduces, including：
It is reduced with the current residual length of parking path described in the vehicle moving process, controls the speed rank of the vehicle
Ladder type reduces.
5. automatic parking method for controlling driving speed according to claim 1, which is characterized in that the road of parking for obtaining vehicle
Diameter, including：
Obtain the current location information of the vehicle；
Obtain the image information of the vehicle periphery；
Current position signal and image information described in analyzing processing obtain the parking path.
6. automatic parking method for controlling driving speed according to any one of claims 1 to 5, which is characterized in that the control institute
The speed of vehicle is stated according to vk=αk*vinitVariation, including：
Obtain the current true velocity of the vehicle；
According to vk=αk*vinitCalculate the default instantaneous velocity of the vehicle；
The size for comparing the current true velocity and the default instantaneous velocity adjusts throttle and the brake of the vehicle, with
Keep the current true velocity consistent with the default instantaneous velocity size.
7. a kind of automatic parking vehicle speed control system, which is characterized in that including：
Path acquisition module, the parking path for obtaining vehicle；
Speed control module, for being reduced with the current residual length of parking path described in the vehicle moving process, control
The speed for making the vehicle reduces；When current residual length is zero, the speed for controlling the vehicle is zero.
8. automatic parking vehicle speed control system according to claim 7, which is characterized in that the speed control module, packet
It includes：
Pre-set velocity computing unit, for according to vk=αk*vinitCalculate the default instantaneous velocity of the vehicle；
Speed changes control unit, for controlling the speed of the vehicle according to the vkVariation；
The wherein described vkFor automatic parking when, the default instantaneous velocity at k moment；The αkFor in the vehicle moving process
The current residual length of the parking path is reduced and ever-reduced default weighting parameters；The vinitStart for automatic parking
When initial velocity.
9. automatic parking vehicle speed control system according to claim 8, which is characterized in that the pre-set velocity calculates single
Member, including：
Weighting parameters computation subunit, for calculating to obtain α by following formulak：
Wherein, when the d (k) is automatic parking, the current residual length of parking path described in the k moment；The β is default adjustment
Factor constant.
10. a kind of vehicle, which is characterized in that be equipped with such as claim 6 to 9 any one of them automatic parking speed control system
System.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810200126.1A CN108515966B (en) | 2018-03-12 | 2018-03-12 | Automatic parking speed control method and system and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810200126.1A CN108515966B (en) | 2018-03-12 | 2018-03-12 | Automatic parking speed control method and system and vehicle |
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| CN108515966B CN108515966B (en) | 2020-01-14 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466531A (en) * | 2019-08-30 | 2019-11-19 | 广州小鹏汽车科技有限公司 | A kind of travel control method of vehicle, system and vehicle |
| CN112172791A (en) * | 2020-09-14 | 2021-01-05 | 武汉乐庭软件技术有限公司 | Automatic parking speed planning method and device based on path curvature and storage device |
| CN114889587A (en) * | 2022-06-27 | 2022-08-12 | 中国第一汽车股份有限公司 | Method, device, equipment and medium for determining speed of passenger-replacing parking |
-
2018
- 2018-03-12 CN CN201810200126.1A patent/CN108515966B/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466531A (en) * | 2019-08-30 | 2019-11-19 | 广州小鹏汽车科技有限公司 | A kind of travel control method of vehicle, system and vehicle |
| CN110466531B (en) * | 2019-08-30 | 2021-10-12 | 广州小鹏汽车科技有限公司 | Vehicle driving control method and system and vehicle |
| CN112172791A (en) * | 2020-09-14 | 2021-01-05 | 武汉乐庭软件技术有限公司 | Automatic parking speed planning method and device based on path curvature and storage device |
| CN114889587A (en) * | 2022-06-27 | 2022-08-12 | 中国第一汽车股份有限公司 | Method, device, equipment and medium for determining speed of passenger-replacing parking |
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|---|---|
| CN108515966B (en) | 2020-01-14 |
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