CN110723137A - Deceleration control method and system for short-distance automatic parking and computer readable storage medium - Google Patents
Deceleration control method and system for short-distance automatic parking and computer readable storage medium Download PDFInfo
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- CN110723137A CN110723137A CN201911017419.7A CN201911017419A CN110723137A CN 110723137 A CN110723137 A CN 110723137A CN 201911017419 A CN201911017419 A CN 201911017419A CN 110723137 A CN110723137 A CN 110723137A
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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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- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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Abstract
The invention discloses a deceleration control method, a system and a computer readable storage medium for short-distance automatic parking, which can compensate the deceleration calculated by the prior method according to the current travelable distance when the vehicle encounters a small parking space or a sudden obstacle in the automatic parking process, so as to obtain the continuously-changed deceleration in the final automatic parking braking process, and perform parking control on the vehicle, thereby ensuring that the vehicle brakes with better comfort and travels to a target position with smaller error.
Description
Technical Field
The invention relates to an automobile speed control technology, in particular to a deceleration control technology for automatic parking.
Background
In the control process of the automatic parking vehicle, the accurate driving of the vehicle to the target position is realized by executing dynamic deceleration sent by the automatic parking controller depending on an ESP (vehicle stability program) after the automatic parking controller calculates the vehicle travelable distance. In order to ensure the comfort during the braking process of the vehicle, the deceleration value sent by the automatic parking controller is required to be continuously changed and has no sudden change, and the deceleration value can be calculated in real time through the following formula:
a＝v2/2d (1)
where v is the speed of travel of the vehicle and d is the real-time distance of the vehicle to the target location.
Generally, in the automatic parking process, the current vehicle travelable distance D is large (for example, D is usually larger than 1 meter), the automatic parking controller controls the vehicle to firstly enter a starting stage, the vehicle speed is increased from 0 to a target vehicle speed set by the controller, after the vehicle travels a distance, the controller controls the vehicle to enter a braking stage, the distance D from the vehicle to a target position is also large (generally, D is larger than 80cm), the deceleration value calculated according to the formula 1 is small, the vehicle is not braked at the braking stage, the calculated deceleration value is gradually increased from small along with the reduction of the distance, and braking is performed according to the deceleration, so that the vehicle can be ensured to brake with good comfort, and the vehicle can be ensured to travel to the target position with small error.
When the vehicle encounters a small parking space or an emergent obstacle in the parking process, the vehicle driving distance D is smaller, the automatic parking controller controls the vehicle to enter a starting state, and after the vehicle drives for a certain distance, the vehicle quickly enters a braking stage; and possibly even smaller, the controller controls the vehicle to go directly into the braking phase. At this time, the distance d from the vehicle to the target position is small, the deceleration value calculated according to the formula 1 is large, the comfort cannot be guaranteed when braking is carried out according to the deceleration, and the vehicle can be braked and stopped midway without reaching the running target position, so that the running process is not consistent, and the vehicle is repeatedly started and stopped.
Disclosure of Invention
The invention aims to provide a deceleration control method, a system and a computer readable storage medium for short-distance automatic parking, which can compensate the deceleration when the driving distance is smaller in the automatic parking process of a vehicle, so that the deceleration continuously changes in the braking process and the comfort and the accuracy of the automatic parking are ensured.
The technical scheme of the invention is as follows:
the invention discloses a deceleration control method for short-distance automatic parking, which comprises the following steps:
when the vehicle starts the automatic parking function, the controller first calculates a current travelable distance value D.
If the current travelable distance value D is judged to be more than or equal to the set value DIs provided withAnd judging that the current parking is the non-short-distance parking, and controlling according to the deceleration control method of the normal parking.
If the current driving distance value D is less than the set value DIs provided withIf the parking is short-distance parking, the preset deceleration a is calculated by the formula 1 when the vehicle enters the braking state1，
a＝v2/2d (1)
Then, compensation is carried out according to the size of the distance D to obtain a compensation factor DfThen, the compensation value of the deceleration is calculated, and the formula is as follows:
a＝a1*Df(2)
and finally, the automatic parking controller issues the compensated deceleration value a to the ESP system to execute deceleration braking, and finally the vehicle runs to a target position.
Further, the compensation factor DfIs obtained by a curve interpolation method, takes the current driving distance D of the vehicle as an initial value as an independent variable and compensates a factor DfAs dependent variables, assume that D1, D2, D3 and D4 … … dn are initial values of the current travelable distance D to calibrate the segment values, Df1、Df2、D f3、D f4 and Dfn is the compensation factor for the corresponding segment value.
Further, if D is less than D1, the compensation factor DfTaking the compensation factor value D corresponding to D1f1; if D is greater than dn, the compensation factor DfTaking the corresponding compensation factor value D of dnfn。
The present invention further provides a deceleration control system for short-distance automatic parking, including: the device comprises a calculation unit, a first judgment and control unit and a second judgment and control unit.
The calculating unit is used for calculating a current travelable distance value D through the controller after the vehicle starts the automatic parking function:
the first judging and controlling unit is used for judging that the current travelable distance value D is more than or equal to a set value DIs provided withWhen the parking is carried out, controlling the parking according to a deceleration control method of normal parking;
the second judging and controlling unit is used for judging that the current travelable distance value D is less than the set value DIs provided withWhen entering the braking state, the predetermined deceleration a is calculated by formula 11Then, compensation is carried out according to the size of the distance D to obtain a compensation factor DfThe compensation calculation formula of the deceleration is as follows:
a＝a1*Df(2)
and finally, issuing the compensated deceleration value a to an ESP system to execute deceleration braking so that the vehicle finally runs to a target position.
The technical scheme disclosed by the invention can compensate the deceleration calculated by the existing method according to the current travelable distance when the vehicle encounters a small parking space or a sudden obstacle in the automatic parking process and the travelable distance is smaller, so as to obtain the continuously-changed deceleration in the final automatic parking braking process, thereby ensuring that the vehicle can brake with better comfort and can travel to a target position with smaller error.
Drawings
FIG. 1 is a flow chart of the control logic of the present invention.
FIG. 2 is a diagram of the distance compensation factor D of the present inventionfA diagram of an implementation method of (1).
In the figure, D is the current travelable distance; a is the deceleration sent to the ESP system by the automatic parking controller; v is the vehicle speed; d is a distance value to the target position; a is1An initial deceleration calculated for a short distance; dfIs a short distance compensation factor.
Detailed Description
The invention is further described with reference to the drawings and examples in the following description:
example 1:
referring to fig. 1, a deceleration control method for short-distance automatic parking includes the steps of:
and when the vehicle starts the automatic parking function and finds the parking space, the automatic parking controller calculates the current driving distance D according to the path planning. After the automatic parking controller finds a parking space, a target parking point is calculated, then a driving path to the target parking point is calculated according to information such as the current steering and position of the vehicle, the length of the driving path is D, and the driving distance D is recorded and used as a judgment condition of the subsequent long distance and the subsequent short distance.
If the current travelable distance D is larger than the set value DIs provided withD of the aboveIs provided withThe current stage is considered to be non-short-distance braking if the current stage is a value obtained by a manufacturer through multiple calibration, for example, the value is generally set to 1 m. In this case, the deceleration control method for normal parking is specifically: the automatic parking controller controls the vehicle to start and run at a constant speed, when the vehicle runs to a set braking point, the vehicle starts to enter a braking state, the distance from the vehicle to a target position is d (the d is the residual real-time distance from the vehicle to the target parking point after starting), and the calculation of the deceleration value is obtained according to a formula 1:
a＝v2/2d (1)
where v is the speed of travel of the vehicle and d is the real-time distance of the vehicle to the target location.
At the moment, the distance d from the vehicle to the target position is larger, so that the corresponding calculated deceleration value a is smaller, the automatic parking controller transmits the calculated deceleration value a to the ESP system, the ESP executes and brakes slowly according to the deceleration value, the vehicle is not braked and stopped before reaching the target position, and the deceleration value is slowly increased, so that the comfort of the vehicle in a brake and stop state can be ensured.
If the current travelable distance D is less than the set value DIs provided withThen the current phase is considered as short-distance braking. The automatic parking controller controls the vehicle to run, when a set braking point is reached, the vehicle starts to enter a braking state, the distance from the vehicle to a target position is d, and the initial deceleration a1 can be calculated by formula 1. However, at this time, the distance d from the vehicle to the target position is large, so the corresponding a1 is calculated to be large, if the distance d is directly issued to the ESP system, the vehicle is braked suddenly, the friction noise of the brake disc is large, the comfort of the vehicle is poor, and the vehicle is braked in advance. Method for producing a composite materialFor the situation, the current travel distance D is identified at the beginning, and different deceleration compensation factors D are set for different travel distances D through calibration in view of too large deceleration of short-distance brakingfCompensating according to the size of the distance D to be traveled, wherein the compensation calculation formula of the deceleration is as follows:
a＝a1*Df(2)
and finally, the automatic parking controller issues the compensated deceleration value a to the ESP system to execute deceleration braking, and finally the vehicle runs to the target position, so that the vehicle is ensured to brake with better comfort and run to the target position with smaller error.
Example 2:
referring to FIG. 2, the present invention is directed to a compensation factor DfThe calculation method (2) is shown in fig. 2:
when the vehicle starts the automatic parking function and finds the parking space, the automatic parking controller calculates the current driving distance D according to the path plan, takes the initial value D recorded at the moment as the independent variable of the horizontal axis of the graph 2, and obtains the corresponding compensation factor D according to the curve interpolation of the graph 2fIn the figure, D1, D2, D3, D4 and D5 calibrate the segment values for the initial value of the current travelable distance D.
Above, Df1、Df2、D f3、D f4 and DfAnd 5 is a compensation factor for the corresponding segment value. If D is less than D1, the compensation factor DfEqual to the compensation factor value corresponding to d 1; if D is greater than D5, the compensation factor DfEqual to the corresponding compensation factor value of d 5.
Example 3:
the present invention also provides a computer-readable storage medium storing one or more programs, which are executable by one or more processors to implement the above steps of the deceleration control method for short-distance automatic parking.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A deceleration control method for short-distance automatic parking is characterized by comprising the following steps:
after the vehicle starts the automatic parking function, the automatic parking controller calculates the current travelable distance value D:
if the current travelable distance value D is judged to be more than or equal to the set value DIs provided withIf so, judging that the current parking is non-short-distance parking, and controlling according to a deceleration control method of normal parking;
if the current driving distance value D is less than the set value DIs provided withIf the parking is short-distance parking, the preset deceleration a is calculated firstly when the brake state is entered1Then, compensation is carried out according to the size of the distance D to obtain a compensation factor DfAnd then calculating the compensation for the deceleration, wherein the formula is as follows:
a＝a1*Df(2)
and finally, the automatic parking controller issues the compensated deceleration value a to the ESP system to execute deceleration braking, and finally the vehicle runs to a target position.
2. A deceleration control method for short-range automatic parking according to claim 1, wherein the compensation factor DfIs obtained by a curve interpolation method, takes the current driving distance D of the vehicle as an initial value as an independent variable and compensates a factor DfAs dependent variables, assume that D1, D2, D3 and D4 … … dn are initial values of the current travelable distance D to calibrate the segment values, Df1、Df2、Df3、Df4 and Dfn is the compensation factor of the corresponding segment value.
3. A deceleration control method for short-range automatic parking according to claim 2, wherein the deceleration control means is configured to control the deceleration of the vehicle if the vehicle is traveling at a short distanceD is less than D1, the compensation factor DfTaking the compensation factor value D corresponding to D1f1; if D is greater than dn, the compensation factor DfTaking the corresponding compensation factor value D of dnfn。
4. A deceleration control method for short-range automatic parking according to claim 1, 2, or 3, characterized in that the deceleration control method for normal parking is: when the braking state is entered, the deceleration value is calculated by equation 1,
a＝v2/2d (1)
where v is the speed of travel of the vehicle and d is the real-time distance of the vehicle to the target location.
The automatic parking controller sends the deceleration value a to the ESP system to execute deceleration braking, and finally the vehicle runs to a target position.
5. A deceleration control method for short-distance automatic parking according to claim 4, characterized in that D is a distance that the vehicle is required to continue traveling, D is equal to D minus a distance that the vehicle has traveled, and the distance traveled is equal to an integral of the vehicle speed over time.
6. A deceleration control system for short-distance automatic parking, comprising:
a calculating unit for calculating a current travelable distance value D by the controller after the vehicle starts the automatic parking function:
a first judging and controlling unit for judging that the current travelable distance value D is greater than or equal to the set value DIs provided withWhen the parking is carried out, controlling the parking according to a deceleration control method of normal parking;
a second judging and controlling unit for judging that the current travelable distance value D is less than the set value DIs provided withWhen entering the braking state, the predetermined deceleration a is calculated1Then, compensation is carried out according to the size of the distance D to obtain a compensation factor DfThe compensation calculation formula of the deceleration is as follows:
a＝a1*Df(2)
and finally, issuing the compensated deceleration value a to an ESP system to execute deceleration braking so that the vehicle finally runs to a target position.
7. Deceleration control system for short-range automatic parking according to claim 6, characterized in that the compensation factor DfIs obtained by a curve interpolation method, takes the current driving distance D of the vehicle as an initial value as an independent variable and compensates a factor DfAs dependent variables, assume that D1, D2, D3 and D4 … … dn are initial values of the current travelable distance D to calibrate the segment values, Df1、Df2、Df3、Df4 and Dfn is the compensation factor of the corresponding segment value.
8. A deceleration control system for short-range automatic parking according to claim 7, wherein if D is smaller than D1, the compensation factor D is set to be smaller than D1fTaking the compensation factor value D corresponding to D1f1; if D is greater than dn, the compensation factor DfTaking the corresponding compensation factor value D of dnfn。
9. A deceleration control system for short-range automatic parking according to claim 6, 7 or 8, characterized in that the deceleration control method for normal parking is: when the braking state is entered, the deceleration value is calculated by equation 1,
a＝v2/2d (1)
where v is the speed of travel of the vehicle and d is the real-time distance of the vehicle to the target location.
The automatic parking controller sends the deceleration value a to the ESP system to execute deceleration braking, and finally the vehicle runs to a target position.
10. A computer-readable storage medium characterized by: the computer-readable storage medium stores one or more programs, which are executable by one or more processors, to implement the steps of the deceleration control method for short-range automatic parking according to any one of claims 1 to 4.
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Cited By (3)
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| CN111731272A (en) * | 2020-06-17 | 2020-10-02 | 重庆长安汽车股份有限公司 | Obstacle collision avoidance method based on automatic parking system |
| CN111873987A (en) * | 2020-07-28 | 2020-11-03 | 重庆长安汽车股份有限公司 | Control method for automatic parking |
| CN113442909A (en) * | 2020-03-27 | 2021-09-28 | 广州汽车集团股份有限公司 | Autonomous parking control method and device |
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