CN111319613A - Parking auxiliary system and motor vehicle - Google Patents
Parking auxiliary system and motor vehicle Download PDFInfo
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- CN111319613A CN111319613A CN201811533762.2A CN201811533762A CN111319613A CN 111319613 A CN111319613 A CN 111319613A CN 201811533762 A CN201811533762 A CN 201811533762A CN 111319613 A CN111319613 A CN 111319613A
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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Abstract
The parking assist system divides a distance detection sensor into a plurality of groups of distance detection modules, and electrically connects the distance detection modules with one of at least one control unit included in the motor vehicle so as to achieve the purpose of providing the control unit with distance information detected by the distance detection sensor; and the connection modes of the third pin and the fourth pin of each distance detection sensor in a group of distance detection modules are different, so that a control unit electrically connected with the distance detection modules can realize the identification of the identities of the distance detection sensors according to the difference of signal combinations transmitted by the two pins, thereby realizing the identification of the distribution positions of the distance detection sensors on the motor vehicle and further providing a basis for realizing automatic parking or semi-automatic parking. Because a special parking controller is not required to be arranged in the parking auxiliary system, the cost of the parking auxiliary system is reduced.
Description
Technical Field
The present application relates to the field of motor vehicle technology, and more particularly, to a parking assist system and a motor vehicle.
Background
With the continuous development of motor vehicles, more and more vehicles with automatic parking or semi-automatic parking functions are available, wherein automatic parking refers to a function that the motor vehicles automatically acquire the surrounding environment and park after a driver starts the automatic parking function; the semi-automatic parking means that after a driver starts a semi-automatic parking function, the motor vehicle automatically acquires the surrounding environment and controls the direction of the motor vehicle, but the driver needs to perform operations such as gear engagement and the like to finish the semi-automatic parking of the motor vehicle.
In a motor vehicle having an automatic parking function or a semi-automatic parking function, a parking assist system needs to be integrated inside the vehicle. The parking assist system in the prior art comprises twelve ultrasonic probes and a parking controller connected with the twelve ultrasonic probes, wherein the twelve ultrasonic probes are distributed around a vehicle body and used for detecting the surrounding environment; the parking controller is connected with a transmission system of the motor vehicle and is used for controlling the motor vehicle to finish parking according to the surrounding environment detected by the probe.
Because the auxiliary parking system in the prior art needs to integrate the parking controller, the overall cost is expensive.
Disclosure of Invention
In order to solve the above technical problem, the present application provides a parking assist system and a motor vehicle, so as to achieve the purpose of reducing the cost of the parking assist system.
In order to achieve the technical purpose, the embodiment of the application provides the following technical scheme:
a parking assist system for a motor vehicle including at least one control unit, the parking assist system comprising:
a plurality of sets of distance detection modules, each of the distance detection modules comprising a first distance detection sensor, a second distance detection sensor, a third distance detection sensor and a fourth distance detection sensor; wherein the content of the first and second substances,
the first pins and the second pins of the first distance detection sensor, the second distance detection sensor, the third distance detection sensor and the fourth distance detection sensor are connected with the control unit and used for receiving driving power supply signals;
a third pin of the first distance sensor is connected with the control unit, and a fourth pin of the first distance sensor receives a high-level signal;
a third pin and a fourth pin of the second distance sensor are both connected with a third pin of the first distance sensor;
a third pin of the third distance sensor receives a high-level signal, and a fourth pin of the third distance sensor is connected with a third pin of the first distance sensor;
and a third pin of the fourth distance sensor receives a low-level signal, and a fourth pin of the fourth distance sensor is connected with the third pin of the first distance sensor.
Optionally, the distance sensor includes:
the device comprises a distance sensor probe and an interface module connected with the distance sensor probe;
the distance sensor probe is used for detecting distance information and transmitting the distance information to the interface module;
the interface module is used for converting the communication protocol of the distance information into a local area internet Lin bus protocol format and transmitting the distance information to the control unit.
Optionally, a third pin of the first distance sensor is configured to transmit distance information in a Lin bus protocol format, and a fourth pin of the first distance sensor is configured to transmit a received high-level signal as identity information;
a third pin of the second distance sensor is used for transmitting distance information in an Lin bus protocol format, and a fourth pin of the second distance sensor is used for transmitting the distance information in the Lin bus protocol format as identity identification information;
a third pin of the third distance sensor is used for transmitting a received high-level signal as identity identification information, and a fourth pin of the third distance sensor is used for transmitting distance information in an Lin bus protocol format;
and a third pin of the fourth distance sensor is used for transmitting the received low-level signal as identity identification information, and a fourth pin of the third distance sensor is used for transmitting the distance information in the Lin bus protocol format.
Optionally, the first distance sensor is further configured to receive, at preset intervals, distance information in the Lin bus protocol format and respective identification information transmitted by the second distance sensor, the third distance sensor, and the fourth distance sensor, and after receiving the wake-up signal, transmit the distance information in the Lin bus protocol format, the identification information of the first distance sensor, and the received distance information and identification information in the Lin bus protocol format, which are detected by the first distance sensor, to the control unit.
Optionally, the preset time is 40 ms.
Optionally, the distance detection sensor includes: the device comprises a distance sensor probe, an interface module connected with the distance sensor probe and a CAN transceiver module connected with the interface module;
the distance sensor probe is used for detecting distance information and transmitting the distance information to the interface module;
the interface module is used for converting the communication protocol of the distance information into a local area internet Lin bus protocol format;
and the CAN transceiver module is used for sending the distance information in the Lin bus protocol format to the control unit.
Optionally, the third pin and the fourth pin of the distance sensor are both formed by a first CAN pin and a second CAN pin.
Optionally, the number of the distance detection modules is three.
A motor vehicle comprising: at least one control unit and a parking assistance system connected to the one control unit;
the parking assist system is the parking assist system described in any one of the above;
and the control unit connected with the parking auxiliary system is used for controlling the motor vehicle to park according to the information acquired by the parking auxiliary system.
As can be seen from the foregoing technical solutions, an embodiment of the present application provides a parking assist system and a motor vehicle, where the parking assist system divides a distance detection sensor included in the parking assist system into a plurality of groups of distance detection modules, and electrically connects the distance detection modules to one of at least one control unit included in the motor vehicle, so as to achieve an objective of providing distance information (representing a surrounding environment of the motor vehicle) detected by the distance detection sensor for the control unit; and the connection modes of the third pin and the fourth pin of each distance detection sensor in a group of distance detection modules are different, so that a control unit electrically connected with the distance detection modules can realize the identification of the Identity (ID) of the distance detection sensors according to the difference of signal combinations transmitted by the two pins, thereby realizing the identification of the distribution positions of the distance detection sensors on the motor vehicle and further providing a basis for realizing automatic parking or semi-automatic parking. Because a special parking controller is not required to be arranged in the parking auxiliary system, the cost of the parking auxiliary system is reduced, the control authority of a transmission system of the motor vehicle is not required to be opened for the parking auxiliary system, and the design difficulty of the motor vehicle is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a parking assist system in the prior art;
fig. 2 is a schematic structural diagram of an auxiliary parking system according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a distribution of distance detection sensors in a set of distance detection modules according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a distance detection sensor according to an embodiment of the present application;
fig. 5 is a schematic diagram illustrating a connection relationship between a distance detection module formed by distance detection sensors of a LIN scheme and a control unit according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a distance detection sensor according to another embodiment of the present application;
fig. 7 is a schematic diagram illustrating a connection relationship between a distance detection module formed by distance detection sensors of a CAN scheme and a control unit according to an embodiment of the present application;
fig. 8 is a distribution diagram of a parking assist system according to an embodiment of the present application.
Detailed Description
As described in the background art, as shown in fig. 1, the parking assistance system in the prior art not only includes twelve ultrasonic probes a1, but also needs to provide a special parking controller a2 connected to the twelve ultrasonic probes a1, and controls the motor vehicle to complete a parking action in combination with the distribution positions of the ultrasonic probes a1 on the basis of receiving the surrounding environment information detected by the ultrasonic probes a 1. The separate parking controller a2 not only increases the overall cost of the assisted parking system, but also requires the control authority of the drive train for which the motor vehicle is open, and increases the probability of the drive train of the motor vehicle being controlled by mistake to some extent in the case where the number of controllers possessing the control authority of the drive train is increased.
In view of the above, an embodiment of the present application provides a parking assist system for a motor vehicle including at least one control unit, the parking assist system including:
a plurality of sets of distance detection modules, each of the distance detection modules comprising a first distance detection sensor, a second distance detection sensor, a third distance detection sensor and a fourth distance detection sensor; wherein the content of the first and second substances,
the first pins and the second pins of the first distance detection sensor, the second distance detection sensor, the third distance detection sensor and the fourth distance detection sensor are connected with the control unit and used for receiving driving power supply signals;
a third pin of the first distance sensor is connected with the control unit, and a fourth pin of the first distance sensor receives a high-level signal;
a third pin and a fourth pin of the second distance sensor are both connected with a third pin of the first distance sensor;
a third pin of the third distance sensor receives a high-level signal, and a fourth pin of the third distance sensor is connected with a third pin of the first distance sensor;
and a third pin of the fourth distance sensor receives a low-level signal, and a fourth pin of the fourth distance sensor is connected with the third pin of the first distance sensor.
The parking assistance system divides the included distance detection sensors into a plurality of groups of distance detection modules, and electrically connects the distance detection modules with one of at least one control unit included in the motor vehicle, so as to achieve the purpose of providing the control unit with distance information (representing the surrounding environment of the motor vehicle) detected by the distance detection sensors; and the connection modes of the third pin and the fourth pin of each distance detection sensor in a group of distance detection modules are different, so that a control unit electrically connected with the distance detection modules can realize the identification of the Identity (ID) of the distance detection sensors according to the difference of signal combinations transmitted by the two pins, thereby realizing the identification of the distribution positions of the distance detection sensors on the motor vehicle and further providing a basis for realizing automatic parking or semi-automatic parking. Because a special parking controller is not required to be arranged in the parking auxiliary system, the cost of the parking auxiliary system is reduced, the control authority of a transmission system of the motor vehicle is not required to be opened for the parking auxiliary system, and the design difficulty of the motor vehicle is reduced.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
An embodiment of the present application provides a parking assist system, as shown in fig. 2, applied to a motor vehicle including at least one control unit a10, the parking assist system including:
a plurality of sets of distance detection modules 100, each of the distance detection modules 100 including a first distance detection sensor, a second distance detection sensor, a third distance detection sensor, and a fourth distance detection sensor; wherein the content of the first and second substances,
the first pin and the second pin of the first distance detection sensor, the second distance detection sensor, the third distance detection sensor and the fourth distance detection sensor are connected with the control unit A10 and used for receiving a driving power supply signal;
a third pin of the first distance sensor is connected with the control unit A10, and a fourth pin of the first distance sensor receives a high-level signal;
a third pin and a fourth pin of the second distance sensor are both connected with a third pin of the first distance sensor;
a third pin of the third distance sensor receives a high-level signal, and a fourth pin of the third distance sensor is connected with a third pin of the first distance sensor;
and a third pin of the fourth distance sensor receives a low-level signal, and a fourth pin of the fourth distance sensor is connected with the third pin of the first distance sensor.
To more clearly illustrate the types of signals received or transmitted by the third pin and the fourth pin of the distance detection sensor in the distance detection module 100, the following description is made in the form of a table, and referring to table 1, table 1 is the types of signals received or transmitted by the third pin and the fourth pin of the distance detection sensor in the distance detection module 100;
table 1: pin signal type of distance detection sensor in distance detection module 100
As can be seen from table 1, the combinations of the signals received or transmitted by the third pin and the fourth pin of the first distance sensor, the second distance sensor, the third distance sensor and the fourth distance sensor are different, so that the control unit a10 connected to the distance detection module 100 can recognize the identity of the distance sensor according to the difference between the combinations of the signals of the two pins, for example, when the control unit a10 receives a signal that the signal of the third pin is a signal whose level changes with the detection signal, and the signal of the fourth pin is a high-level signal, it can determine that the distance information transmitted by the third pin is the distance information detected by the first distance sensor, so as to combine the setting position of the first distance sensor on the motor vehicle, and obtain the distance information between the position and the environmental obstacle.
Referring to fig. 3, it is assumed that four distance detection sensors in a certain group of distance detection modules 100 are respectively disposed on both sides of a motor vehicle, wherein a first distance detection sensor 101 is disposed on the front left of the motor vehicle (forward in the motor vehicle traveling direction FR), a second distance detection sensor 102 is disposed on the front right of the motor vehicle, a third distance detection sensor 103 is disposed on the rear left of the motor vehicle, and a fourth distance detection sensor 104 is disposed on the rear right of the motor vehicle. After the identity of the distance detection sensor is identified in the above way, the distance between the position of the motor vehicle and the environmental barrier can be obtained by combining the setting position of the distance detection sensor; for example, after recognizing that certain distance information (e.g., L1 ═ 30cm) is obtained for detection by the first distance detection sensor 101, in combination with information that the first distance detection sensor 101 is disposed in the left front of the motor vehicle, it is possible to obtain that the distance from the left front of the motor vehicle to the environmental obstacle is 30 cm. Likewise, the distance information between the right front, left rear and right rear of the motor vehicle from the environmental obstacle may be realized by the second distance detecting sensor 102, the third distance detecting sensor 103 and the fourth distance detecting sensor 104; the distance information detected by the other group or groups of distance detection modules 100 can be obtained in the same manner, and the control unit a10 controls the motor vehicle to complete the parking action after obtaining the distance information.
As can be understood from the above analysis, the parking assist system divides the included distance detection sensors into a plurality of groups of distance detection modules 100, and electrically connects the distance detection modules 100 to one of the at least one control unit a10 included in the motor vehicle, for the purpose of providing the control unit a10 with distance information (representing the surrounding environment of the motor vehicle) detected by the distance detection sensors; and the connection modes of the third pin and the fourth pin of each distance detection sensor in a group of distance detection modules 100 are different, so that the control unit a10 electrically connected with the distance detection modules 100 can recognize the Identity (ID) of the distance detection sensor according to the difference of the signal combinations transmitted by the two pins, thereby recognizing the distribution positions of the distance detection sensors on the motor vehicle, and further providing a basis for realizing automatic parking or semi-automatic parking. Because a special parking controller is not required to be arranged in the parking auxiliary system, the cost of the parking auxiliary system is reduced, and the control authority of a transmission system of the motor vehicle is not required to be opened for the parking auxiliary system, the design difficulty of the motor vehicle is reduced, and the probability of misoperation of the transmission system by the controller is reduced to a certain extent.
On the basis of the foregoing embodiments, in an embodiment of the present application, a distance sensor scheme of a local area interconnect network lin (local interconnect network) bus protocol is provided, as shown in fig. 4, where the distance sensor includes:
a distance sensor probe 20 and an interface module 30 connected to the distance sensor probe 20;
the distance sensor probe 20 is configured to detect distance information and transmit the distance information to the interface module 30;
the interface module 30 is configured to convert the communication protocol of the distance information into a local area internet Lin bus protocol format, and transmit the converted communication protocol to the control unit a 10.
In this embodiment, a third pin of the first distance sensor is configured to transmit distance information in a Lin bus protocol format, and a fourth pin of the first distance sensor is configured to transmit a received high-level signal as identification information;
a third pin of the second distance sensor is used for transmitting distance information in an Lin bus protocol format, and a fourth pin of the second distance sensor is used for transmitting the distance information in the Lin bus protocol format as identity identification information;
a third pin of the third distance sensor is used for transmitting a received high-level signal as identity identification information, and a fourth pin of the third distance sensor is used for transmitting distance information in an Lin bus protocol format;
and a third pin of the fourth distance sensor is used for transmitting the received low-level signal as identity identification information, and a fourth pin of the third distance sensor is used for transmitting the distance information in the Lin bus protocol format.
In the LIN solution, fig. 5 is referred to for the connection of the first distance detection sensor 101, the second distance detection sensor 102, the third distance detection sensor 103 and the fourth distance detection sensor 104 in one distance detection module 100 to the control unit a 10. In fig. 5, the first distance detecting sensor 101, the second distance detecting sensor 102, the third distance detecting sensor 103, and the fourth distance detecting sensor 104 are connected to the control unit a10 through LIN lines; the fourth pin of the first distance detection sensor 101 provides identification information of a high-level signal in a floating manner.
In the LIN scheme, the first distance sensor is further configured to receive, at preset intervals, distance information in the LIN bus protocol format and identification information of each of the distance information in the LIN bus protocol format, which are transmitted by the second distance sensor, the third distance sensor, and the fourth distance sensor, and transmit, after receiving the wake-up signal, the distance information in the LIN bus protocol format, the identification information of the first distance sensor, and the received distance information and identification information in the LIN bus protocol format, which are detected by the first distance sensor, to the control unit a 10.
Optionally, the preset time is 40 ms.
On the basis of the foregoing embodiments, in another embodiment of the present application, there is provided a distance sensor solution of a controller Area network can (controller Area network) bus protocol, as shown in fig. 6, where the distance detection sensor includes: a distance sensor probe 20, an interface module 30 connected with the distance sensor probe 20, and a CAN transceiver module 40 connected with the interface module 30;
the distance sensor probe 20 is configured to detect distance information and transmit the distance information to the interface module 30;
the interface module 30 is configured to convert a communication protocol of the distance information into a local area internet Lin bus protocol format;
the CAN transceiver module 40 is configured to send the distance information in the Lin bus protocol format to the control unit a 10.
In this embodiment, the third pin and the fourth pin of the distance sensor are both composed of a first CAN pin (CANH) and a second CAN pin (CANL).
In the CAN scheme, a first distance detection sensor 101, a second distance detection sensor 102, a third distance detection sensor 103, and a fourth distance detection sensor 104 in a group of distance detection modules 100 are connected to a control unit a10 in a manner as shown in fig. 7. In fig. 7, the first distance detecting sensor 101, the second distance detecting sensor 102, the third distance detecting sensor 103, and the fourth distance detecting sensor 104 are connected to the control unit a10 through CAN lines.
Compared to the distance sensor solution of the LIN bus protocol, the distance sensor solution of the CAN bus protocol has the following advantages:
the CAN has high transmission rate and large transmission data volume, and original data (time stamp, echo width and the like) of the waveform CAN be output;
the ultrasonic wave can be supported to expand multi-frequency emission, so that the updating period is improved;
on the basis of the above embodiment, in a further embodiment of the present application, the number of the distance detection modules 100 is three, and as shown in fig. 8, the three distance detection modules 100 are respectively located in front of the traveling direction of the motor vehicle, behind the traveling direction, and on both sides of the motor vehicle.
Correspondingly, the embodiment of the application also provides a motor vehicle, which comprises: at least one control unit and a parking assistance system connected to the one control unit;
the parking assist system is the parking assist system according to any one of the embodiments;
and the control unit connected with the parking auxiliary system is used for controlling the motor vehicle to park according to the information acquired by the parking auxiliary system.
In summary, the embodiment of the present application provides a parking assist system and a motor vehicle, wherein the parking assist system divides the included distance detection sensors into a plurality of groups of distance detection modules, and electrically connects the distance detection modules with one of at least one control unit included in the motor vehicle, so as to achieve the purpose of providing the control unit with distance information (representing the surrounding environment of the motor vehicle) detected by the distance detection sensors; and the connection modes of the third pin and the fourth pin of each distance detection sensor in a group of distance detection modules are different, so that a control unit electrically connected with the distance detection modules can realize the identification of the Identity (ID) of the distance detection sensors according to the difference of signal combinations transmitted by the two pins, thereby realizing the identification of the distribution positions of the distance detection sensors on the motor vehicle and further providing a basis for realizing automatic parking or semi-automatic parking. Because a special parking controller is not required to be arranged in the parking auxiliary system, the cost of the parking auxiliary system is reduced, the control authority of a transmission system of the motor vehicle is not required to be opened for the parking auxiliary system, and the design difficulty of the motor vehicle is reduced.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A parking assistance system for a motor vehicle, the motor vehicle comprising at least one control unit, the parking assistance system comprising:
a plurality of sets of distance detection modules, each of the distance detection modules comprising a first distance detection sensor, a second distance detection sensor, a third distance detection sensor and a fourth distance detection sensor; wherein the content of the first and second substances,
the first pins and the second pins of the first distance detection sensor, the second distance detection sensor, the third distance detection sensor and the fourth distance detection sensor are connected with the control unit and used for receiving driving power supply signals;
a third pin of the first distance sensor is connected with the control unit, and a fourth pin of the first distance sensor receives a high-level signal;
a third pin and a fourth pin of the second distance sensor are both connected with a third pin of the first distance sensor;
a third pin of the third distance sensor receives a high-level signal, and a fourth pin of the third distance sensor is connected with a third pin of the first distance sensor;
and a third pin of the fourth distance sensor receives a low-level signal, and a fourth pin of the fourth distance sensor is connected with the third pin of the first distance sensor.
2. The system of claim 1, wherein the distance sensor comprises:
the device comprises a distance sensor probe and an interface module connected with the distance sensor probe;
the distance sensor probe is used for detecting distance information and transmitting the distance information to the interface module;
the interface module is used for converting the communication protocol of the distance information into a local area internet Lin bus protocol format and transmitting the distance information to the control unit.
3. The system according to claim 2, wherein the third pin of the first distance sensor is configured to transmit distance information in a Lin bus protocol format, and the fourth pin of the first distance sensor is configured to transmit a received high-level signal as identification information;
a third pin of the second distance sensor is used for transmitting distance information in an Lin bus protocol format, and a fourth pin of the second distance sensor is used for transmitting the distance information in the Lin bus protocol format as identity identification information;
a third pin of the third distance sensor is used for transmitting a received high-level signal as identity identification information, and a fourth pin of the third distance sensor is used for transmitting distance information in an Lin bus protocol format;
and a third pin of the fourth distance sensor is used for transmitting the received low-level signal as identity identification information, and a fourth pin of the third distance sensor is used for transmitting the distance information in the Lin bus protocol format.
4. The system of claim 3, wherein the first distance sensor is further configured to receive, at preset intervals, the distance information in the Lin bus protocol format and the respective identification information transmitted by the second distance sensor, the third distance sensor, and the fourth distance sensor, and after receiving the wake-up signal, transmit the distance information in the Lin bus protocol format, the identification information of the first distance sensor, and the received distance information and identification information in the Lin bus protocol format, which are detected by the first distance sensor, to the control unit.
5. The system of claim 4, wherein the preset time is 40 ms.
6. The system of claim 1, wherein the distance detection sensor comprises: the device comprises a distance sensor probe, an interface module connected with the distance sensor probe and a CAN transceiver module connected with the interface module;
the distance sensor probe is used for detecting distance information and transmitting the distance information to the interface module;
the interface module is used for converting the communication protocol of the distance information into a local area internet Lin bus protocol format;
and the CAN transceiver module is used for sending the distance information in the Lin bus protocol format to the control unit.
7. The system of claim 6, wherein the third pin and the fourth pin of the distance sensor are each comprised of a first CAN pin and a second CAN pin.
8. The system of claim 1, wherein the number of distance detection modules is three.
9. A motor vehicle, characterized by comprising: at least one control unit and a parking assistance system connected to the one control unit;
the parking assist system is the parking assist system according to any one of claims 1 to 9;
and the control unit connected with the parking auxiliary system is used for controlling the motor vehicle to park according to the information acquired by the parking auxiliary system.
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