CN113879285A - Automatic parking control method and device and electric automobile - Google Patents
Automatic parking control method and device and electric automobile Download PDFInfo
- Publication number
- CN113879285A CN113879285A CN202010626223.4A CN202010626223A CN113879285A CN 113879285 A CN113879285 A CN 113879285A CN 202010626223 A CN202010626223 A CN 202010626223A CN 113879285 A CN113879285 A CN 113879285A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- automatic parking
- information
- parking
- steering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000010586 diagram Methods 0.000 description 5
- 208000019914 Mental Fatigue Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses an automatic parking control method, an automatic parking control device and an electric automobile, and relates to the technical field of electric automobiles, wherein the method comprises the following steps: receiving an automatic parking instruction, acquiring steering lamp information when the working state of the vehicle is a starting state and the gear information is a forward gear, and controlling the search direction of the radar; when the vehicle speed is less than or equal to a preset vehicle speed, in a searching direction, acquiring a target parking space which is more than or equal to a preset distance away from the current position of the vehicle, sending a command for starting parking, and when the vehicle is in a braking state, the gear information is a reverse gear and the steering wheel control information is not controlled, acquiring distance information between the vehicle and an obstacle sent by a radar and steering information sent by an electric power steering controller; and acquiring a target steering angle, sending the target steering angle to the electric power steering controller, sending a control command, driving the electric power steering controller to steer, and finishing automatic parking. The scheme of the invention can realize automatic parking and improve the parking efficiency.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to an automatic parking control method and device and an electric automobile.
Background
With the improvement of living standard of people, people demand automobiles not only to be used as a tool for riding instead of walk, but also to put forward higher comfort requirements. For many drivers, parking into and out of a parking place is a painful experience, parking space in a large city is limited, and driving a car into a narrow space becomes a necessary skill. There are few situations where the vehicle is parked without taking a turn, and the parking process may cause traffic congestion, mental fatigue, and bumper jostling. An automatic parking method is urgently needed, a driver can conveniently park in a narrow space, the operation of the driver is reduced, the parking efficiency is improved, and the use feeling of the driver is improved.
Disclosure of Invention
In order to solve the technical problem, the invention provides an automatic parking control method and device and an electric automobile, and solves the problem that a driver is difficult to park.
According to an aspect of the present invention, there is provided an automatic parking control method applied to an automatic parking controller, including:
receiving an automatic parking instruction, and acquiring the working state and gear information of a vehicle when detecting that the vehicle is in a no-fault state currently;
when the working state is a starting state and the gear information is a forward gear, acquiring the steering lamp information of the vehicle;
controlling the searching direction of the radar according to the automatic parking instruction and the steering lamp information;
acquiring the current speed of the vehicle, acquiring a target parking space which is more than or equal to a preset distance away from the current position of the vehicle in the searching direction when the speed is less than or equal to a preset speed, sending a command for prompting a driver to start parking, and acquiring the current working state, gear information and steering wheel control information of the vehicle;
when the working state is a braking state, the gear information is a reverse gear and the steering wheel control information is not controlled, obtaining distance information between the vehicle and an obstacle sent by the radar and steering information sent by an electric power steering controller;
and acquiring a target steering angle according to the vehicle speed, the gear information, the distance information and the steering information, sending the target steering angle to an electric power steering controller of the vehicle, sending a control command to the electric power steering controller, driving the electric power steering controller to steer according to the target steering angle, and finishing automatic parking.
Optionally, controlling a search direction of a radar according to the automatic parking instruction and the turn signal information includes:
when the automatic parking instruction is a first parking instruction, controlling a radar to search a parking space on the right side of the vehicle body, wherein the parking space is parallel to the vehicle body;
when the automatic parking instruction is a second parking instruction, controlling a radar to search a parking space on the right side of the vehicle body, wherein the parking space is vertical to the vehicle body; or
When the automatic parking instruction is a first parking instruction and the steering lamp information is left-turning information, controlling a radar to search a parking space on the left side of the vehicle body, wherein the parking space is parallel to the vehicle body; or
And when the automatic parking instruction is a second parking instruction and the steering lamp information is left-turning information, controlling the radar to search a parking space on the left side of the vehicle body, wherein the parking space is vertical to the vehicle body.
Optionally, the obtaining a current vehicle speed of the vehicle, obtaining, within the search direction, a target parking space that is greater than or equal to a preset distance from a current position of the vehicle when the vehicle speed is less than or equal to a preset vehicle speed, sending a command for prompting a driver to start parking, and obtaining the current working state, the gear information, and steering wheel control information of the vehicle includes:
when the search direction is a parking space where the right side of the vehicle body is parallel to the vehicle body or a parking space where the left side of the vehicle body is parallel to the vehicle body, acquiring a target parking space which is away from the current position of the vehicle by a first preset distance or more; or
When the search direction is a parking space where the right side of the vehicle body is vertical to the vehicle body or a parking space where the left side of the vehicle body is vertical to the vehicle body, acquiring a target parking space which is away from the current position of the vehicle by a second preset distance or more; or
And in the searching direction, not obtaining a target parking space which is more than or equal to a preset distance away from the current position of the vehicle, sending an instruction for prompting a driver to keep the forward running at a speed less than or equal to the preset speed, and controlling the radar to search the direction.
Optionally, the method further comprises:
and obtaining the current speed of the vehicle, and quitting automatic parking when the speed of the vehicle is greater than a preset speed.
The invention also provides an automatic parking control method, which is applied to an electric power steering controller and comprises the following steps:
acquiring a corner signal, a torque signal and a target steering angle sent by an automatic parking controller;
after receiving a control instruction sent by the automatic parking controller, calculating a rotation angle required by an electric power-assisted steering motor according to the corner signal, the torque signal and the target steering angle;
and driving the electric power-assisted steering motor to work according to the rotation angle, and achieving the target steering angle to finish automatic parking.
Optionally, the method further comprises:
and driving the electric power steering motor to work according to the rotation angle, and recalculating the rotation angle required by the electric power steering motor according to the current rotation angle signal, the current torque signal and the target steering angle when the target steering angle is not reached until the electric power steering motor is driven to work to reach the target steering angle, thereby completing automatic parking.
Optionally, before acquiring the rotation angle signal and the torque signal, and the target steering angle sent by the automatic parking controller, the method includes:
acquiring current vehicle speed, gear information and steering wheel control information of a vehicle forwarded by the automatic parking controller;
when the vehicle speed, the gear information and the steering wheel control information meet a preset automatic parking condition, determining that the vehicle is in a controllable state, wherein in the controllable state, the electric power steering controller waits for the control instruction sent by the automatic parking controller; or
And when the vehicle speed, the gear information and the steering wheel control information do not meet a preset automatic parking condition, determining that the vehicle is in a temporary prohibition state, wherein the electric power steering controller ignores a control instruction sent by the automatic parking controller in the temporary prohibition state.
Optionally, when the vehicle speed, the gear information, and the steering wheel control information meet a preset automatic parking condition, determining that the vehicle is in a controllable state, and after waiting for the control instruction sent by the automatic parking controller, the method includes:
and when receiving a control instruction sent by the automatic parking controller, the electric power steering controller is switched to an activated state, executes the control instruction and completes automatic parking.
Optionally, after determining to be in the controllable state, the method includes:
and when the vehicle speed is greater than the preset vehicle speed, switching to a temporary prohibition state.
Optionally, after determining to be in the temporary prohibition state, the method includes:
and when the vehicle speed is less than or equal to the preset vehicle speed, switching to a controllable state.
Optionally, after switching to the active state, the method includes:
and switching to a temporary prohibition state when the steering wheel control information is acquired that the driver interference torque reaches a preset torque and lasts for a preset time or when the vehicle speed is greater than a preset vehicle speed.
The invention also provides an automatic parking control device, which is applied to an automatic parking controller and comprises:
the receiving module is used for automatically receiving a parking instruction and acquiring the working state and gear information of the vehicle when detecting that the vehicle is in a no-fault state currently;
the first obtaining submodule is used for obtaining the steering lamp information of the vehicle when the working state is a starting state and the gear information is a forward gear;
the control module is used for controlling the searching direction of the radar according to the automatic parking instruction and the steering lamp information;
the second obtaining submodule is used for obtaining the current speed of the vehicle, obtaining a target parking space which is more than or equal to a preset distance away from the current position of the vehicle in the searching direction when the speed is less than or equal to a preset speed, sending a command for prompting a driver to start parking, and obtaining the current working state, gear information and steering wheel control information of the vehicle;
the third obtaining submodule is used for obtaining the distance information between the vehicle and the obstacle sent by the radar and the steering information sent by the electric power steering controller when the working state is a braking state, the gear information is a reverse gear and the steering wheel control information is not controlled;
and the driving module is used for acquiring a target steering angle according to the vehicle speed, the gear information, the distance information and the steering information, sending the target steering angle to an electric power steering controller of the vehicle, sending a control command to the electric power steering controller, driving the electric power steering controller to steer according to the target steering angle, and completing automatic parking.
The invention also provides an automatic parking control device, which is applied to an electric power steering controller and comprises:
the acquisition module is used for acquiring a corner signal, a torque signal and a target steering angle sent by the automatic parking controller;
the calculation module is used for calculating a rotation angle required by an electric power-assisted steering motor according to the corner signal, the torque signal and the target steering angle after receiving a control instruction sent by the automatic parking controller;
and the steering module is used for driving the electric power steering motor to work according to the rotation angle, and achieving the target steering angle to finish automatic parking.
The invention also provides an electric automobile which comprises the automatic parking control device.
The embodiment of the invention has the beneficial effects that:
in the scheme, the steering lamp information when the working state of the vehicle is the starting state and the gear information is the forward gear is obtained by receiving the automatic parking instruction, and the searching direction of the radar is controlled; when the vehicle speed is less than or equal to a preset vehicle speed, in a searching direction, acquiring a target parking space which is more than or equal to a preset distance away from the current position of the vehicle, sending a command for starting parking, and when the vehicle is in a braking state, the gear information is a reverse gear and the steering wheel control information is not controlled, acquiring distance information between the vehicle and an obstacle sent by a radar and steering information sent by an electric power steering controller; the target steering angle is obtained and sent to the electric power steering controller, the control command is sent and the electric power steering controller is driven to steer, automatic parking is completed, and parking efficiency can be remarkably improved.
Drawings
Fig. 1 is a step diagram of an automatic parking control method according to an embodiment of the present invention;
fig. 2 is a diagram showing another step of the automatic parking control method according to the embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an operation of an electric power steering controller in the automatic parking control method according to the embodiment of the present invention;
fig. 4 is a schematic view of an automatic parking control apparatus according to an embodiment of the present invention;
fig. 5 is another schematic diagram of the automatic parking control apparatus according to the embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The embodiment of the invention provides an automatic parking control method and device and an electric automobile, aiming at the problem of difficulty in parking of a driver in the prior art.
As shown in fig. 1, an embodiment of the present invention provides an automatic parking control method applied to an automatic parking controller, including:
step S11, receiving an automatic parking instruction, and acquiring the working state and gear information of the vehicle when detecting that the vehicle is in a no-fault state currently;
in the step, an automatic parking instruction is received, an automatic parking system is started, and the working state and gear information of the vehicle are acquired after detecting that relevant systems of the vehicle, such as a radar system, an automatic parking controller, an electric power steering system and an electronic stability system, are free of faults.
Step S12, when the working state is the starting state and the gear information is the forward gear, obtaining the steering lamp information of the vehicle;
when the vehicle is in the starting state and the gear information is the forward gear, the turn signal information of the vehicle needs to be acquired, and whether to turn on the left turn signal is judged.
Step S13, controlling the search direction of the radar according to the automatic parking instruction and the steering lamp information;
in the step, when a first parking instruction is obtained, parallel parking is started, and parking spaces parallel to a vehicle body are searched; and after a second parking instruction is obtained, starting vertical parking, and searching the parking space vertical to the vehicle body. The search direction of the default control radar is the right side of the vehicle, and when the left steering lamp information is acquired, the search direction of the default control radar is the left side of the vehicle.
Step S14, acquiring the current speed of the vehicle, acquiring a target parking space which is more than or equal to a preset distance away from the current position of the vehicle in the searching direction when the speed is less than or equal to a preset speed, sending a command for prompting a driver to start parking, and acquiring the current working state, gear information and steering wheel control information of the vehicle;
and acquiring the current speed of the vehicle, selecting a target parking space which is more than or equal to a preset distance from the current position of the vehicle in the searching direction determined in the previous step when the speed is less than or equal to 30km/h, and continuing the automatic parking process. It should be noted that, when parking in parallel, a target parking space which is greater than or equal to a first preset distance away from the current position of the vehicle is selected; and when the vehicle is parked vertically, selecting a target parking space which is more than or equal to a second preset distance away from the current position of the vehicle.
Step S15, when the working state is a braking state, the gear information is a reverse gear and the steering wheel control information is not controlled, obtaining the distance information between the vehicle and the obstacle sent by the radar and the steering information sent by the electric power steering controller;
after the target parking space is searched according to the steps, when the vehicle is in a braking state, the gear is a reverse gear and the steering wheel is not controlled, the distance information between the vehicle and the obstacle detected by the radar and the steering information sent by the electric power steering controller are obtained.
And step S16, acquiring a target steering angle according to the vehicle speed, the gear information, the distance information and the steering information, sending the target steering angle to the electric power steering controller, sending a control command to the electric power steering controller, driving the electric power steering controller to steer according to the target steering angle, and completing automatic parking.
In this step, a target steering angle to be executed by the electric power steering controller is calculated according to the vehicle speed, the gear information, the distance information and the steering information. The electric power steering controller controls the rotation angle of the motor according to the target steering angle in a steering mode so as to ensure that a steering wheel or wheels reach the target steering angle, and automatic parking is finished. And if the target steering angle is not reached, recalculating, and inputting and driving the electric power steering controller again to steer.
The automatic parking control method provided by the embodiment of the invention is convenient for a driver to park in and out, obviously reduces the time consumed by parking, improves the parking efficiency, improves the comfort and improves the feeling of the driver in using the vehicle.
In an optional embodiment of the present invention, in step S13, controlling a search direction of a radar according to the automatic parking instruction and the turn signal information includes:
when the automatic parking instruction is a first parking instruction, controlling a radar to search a parking space on the right side of the vehicle body, wherein the parking space is parallel to the vehicle body;
when the automatic parking instruction is a second parking instruction, controlling a radar to search a parking space on the right side of the vehicle body, wherein the parking space is vertical to the vehicle body; or
When the automatic parking instruction is a first parking instruction and the steering lamp information is left-turning information, controlling a radar to search a parking space on the left side of the vehicle body, wherein the parking space is parallel to the vehicle body; or
And when the automatic parking instruction is a second parking instruction and the steering lamp information is left-turning information, controlling the radar to search a parking space on the left side of the vehicle body, wherein the parking space is vertical to the vehicle body.
In the embodiment of the invention, the first parking instruction is a parallel parking starting instruction, and a radar searches for a parking space parallel to a vehicle body; the second parking instruction is a vertical parking starting instruction, and the radar searches for a parking space vertical to the vehicle body. When the steering lamp information is not acquired, the radar is controlled by default to search the parking space on the right side of the vehicle body; when the information of the right-turning steering lamp is acquired, controlling a radar to search a parking space on the right side of the vehicle body; and when the left steering lamp information is acquired, controlling the radar to search the parking space on the left side of the vehicle body.
In an optional embodiment of the present invention, in step S14, acquiring a current vehicle speed of the vehicle, acquiring a target parking space that is greater than or equal to a preset distance from a current position of the vehicle in the search direction when the vehicle speed is less than or equal to a preset vehicle speed, sending a parking instruction prompting a driver to start parking, and acquiring the current working state, the gear information, and steering wheel control information of the vehicle, includes:
when the search direction is a parking space where the right side of the vehicle body is parallel to the vehicle body or a parking space where the left side of the vehicle body is parallel to the vehicle body, acquiring a target parking space which is away from the current position of the vehicle by a first preset distance or more; or
When the search direction is a parking space where the right side of the vehicle body is vertical to the vehicle body or a parking space where the left side of the vehicle body is vertical to the vehicle body, acquiring a target parking space which is away from the current position of the vehicle by a second preset distance or more; or
And in the searching direction, not obtaining a target parking space which is more than or equal to a preset distance away from the current position of the vehicle, sending an instruction for prompting a driver to keep the forward running at a speed less than or equal to the preset speed, and controlling the radar to search the direction.
The search direction of the radar is determined based on the automatic parking instruction. And in the searching direction, selecting a target parking space meeting the distance condition, if the target parking space meeting the distance condition is not selected, sending an instruction for prompting a driver to keep a preset vehicle speed to advance, and controlling the radar to continuously search the target parking space according to the searching condition.
In an optional embodiment of the present invention, the method further includes:
and obtaining the current speed of the vehicle, and quitting automatic parking when the speed of the vehicle is greater than a preset speed.
In this embodiment of the present invention, when the current vehicle speed of the vehicle does not satisfy the preset vehicle speed, the current automatic parking process is exited, and when the vehicle speed satisfies the preset vehicle speed, the automatic parking is restarted.
As shown in fig. 2, an embodiment of the present invention further provides an automatic parking control method applied to an electric power steering controller, including:
step S21, acquiring a corner signal, a torque signal and a target steering angle sent by an automatic parking controller;
step S22, after receiving a control instruction sent by the automatic parking controller, calculating a rotation angle required by an electric power steering motor according to the corner signal, the torque signal and the target steering angle;
and step S23, driving the electric power steering motor to work according to the rotation angle, and achieving the target steering angle to finish automatic parking.
The automatic parking control method can realize vertical parking, parallel parking, vertical parking and parallel parking. The problem of driver's difficulty of parking is solved, efficiency of parking is improved, reduce the time of wasting on parking, promote the driving comfort.
In an optional embodiment of the present invention, the method further includes:
and driving the electric power steering motor to work according to the rotation angle, and recalculating the rotation angle required by the electric power steering motor according to the current rotation angle signal, the current torque signal and the target steering angle when the target steering angle is not reached until the electric power steering motor is driven to work to reach the target steering angle, thereby completing automatic parking.
In the embodiment of the invention, if the one-time steering does not reach the target steering angle, the rotation angle required by the electric power steering motor is recalculated, the steering is executed again, the steering wheel or the wheels is ensured to reach the target steering angle, and the automatic parking is finished.
It should be noted that, when the target steering angle is reached and the vehicle finishes parking and reaches the target parking space, the vehicle body can be controlled to perform small adjustment in the target parking space, so that the vehicle is away from the surrounding obstacles by the optimal distance.
As shown in fig. 3, in an alternative embodiment of the present invention, before step S21, the method includes:
acquiring current vehicle speed, gear information and steering wheel control information of a vehicle forwarded by the automatic parking controller;
when the vehicle speed, the gear information and the steering wheel control information meet a preset automatic parking condition, determining that the vehicle is in a controllable state, wherein in the controllable state, the electric power steering controller waits for the control instruction sent by the automatic parking controller; or
And when the vehicle speed, the gear information and the steering wheel control information do not meet a preset automatic parking condition, determining that the vehicle is in a temporary prohibition state, wherein the electric power steering controller ignores a control instruction sent by the automatic parking controller in the temporary prohibition state.
In this embodiment of the present invention, the preset automatic parking condition is that the vehicle speed is less than or equal to a preset vehicle speed, the gear information is a forward gear, and the steering wheel control information is not controlled by the driver. And when the electric power steering controller has hardware or software faults, judging the electric power steering controller to be in a failure state. When the electric power steering controller is in a non-failure state and meets the preset automatic parking condition, judging the electric power steering controller to be in a controllable state, and waiting for receiving a control instruction sent by the automatic parking controller; when the electric power steering controller is in a non-failure state and the preset automatic parking condition is judged not to be met, judging that the electric power steering controller is in a temporary prohibition state; and when the vehicle is in a controllable state and receives a control instruction sent by the automatic parking controller, switching to an activated state, executing the control instruction, realizing automatic rotation of the steering wheel and starting automatic parking.
It should be noted that, as shown in fig. 3, an operation schematic diagram of the electric power steering controller is shown, and the states of the electric power steering controller can be switched.
Specifically, when the vehicle speed, the gear information, and the steering wheel control information meet a preset automatic parking condition, determining that the vehicle speed, the gear information, and the steering wheel control information are in a controllable state, and after waiting for the control instruction sent by the automatic parking controller, the method includes:
and when receiving a control instruction sent by the automatic parking controller, switching to an activated state, executing the control instruction, and finishing automatic parking.
Further, after determining to be in the controllable state, the method includes:
and when the vehicle speed is greater than the preset vehicle speed, switching to a temporary prohibition state, wherein the electric power steering controller ignores a control instruction sent by the automatic parking controller in the temporary prohibition state.
Further, after determining to be in the temporary prohibition state, the method includes:
and when the vehicle speed is less than or equal to a preset vehicle speed, switching to a controllable state, wherein in the controllable state, the electric power steering controller waits for the control instruction sent by the automatic parking controller.
Specifically, after switching to the active state, the method includes:
and switching to a temporary prohibition state when the steering wheel control information is acquired that the driver interference torque reaches a preset torque and lasts for a preset time or when the vehicle speed is greater than a preset vehicle speed.
Here, the activated state is switched to the controllable state when the automatic parking controller does not need to control the electric power steering controller.
In this embodiment of the present invention, when hardware or software of the electric power steering controller fails, the electric power steering controller may be directly switched from the temporarily disabled state, the controllable state, and the activated state to the disabled state. After entering the failure state, the electric power steering controller cannot execute any operation until the failure is eliminated.
As shown in fig. 4, an embodiment of the present invention further provides an automatic parking control apparatus applied to an automatic parking controller, including:
the receiving module 41 is configured to receive an automatic parking instruction, and when it is detected that a vehicle is currently in a non-fault state, obtain a working state and gear information of the vehicle;
the first obtaining submodule 42 is configured to obtain turn signal information of the vehicle when the operating state is a starting state and the gear information is a forward gear;
the control module 43 is configured to control a search direction of the radar according to the automatic parking instruction and the turn light information;
the second obtaining submodule 44 is configured to obtain a current vehicle speed of the vehicle, obtain, when the vehicle speed is less than or equal to a preset vehicle speed, a target parking space that is greater than or equal to a preset distance from a current position of the vehicle in the search direction, send a command for prompting a driver to start parking, and obtain the current working state, the gear information, and steering wheel control information of the vehicle;
a third obtaining submodule 45, configured to obtain distance information between the vehicle and an obstacle sent by the radar and steering information sent by the electric power steering controller when the operating state is a braking state, the gear information is a reverse gear, and the steering wheel control information is not controlled;
and the driving module 46 is configured to obtain a target steering angle according to the vehicle speed, the gear information, the distance information, and the steering information, send the target steering angle to the electric power steering controller, send a control instruction to the electric power steering controller, and drive the electric power steering controller to steer according to the target steering angle to complete automatic parking.
Specifically, the control module 43 is configured to:
when the automatic parking instruction is a first parking instruction, controlling a radar to search a parking space on the right side of the vehicle body, wherein the parking space is parallel to the vehicle body;
when the automatic parking instruction is a second parking instruction, controlling a radar to search a parking space on the right side of the vehicle body, wherein the parking space is vertical to the vehicle body; or
When the automatic parking instruction is a first parking instruction and the steering lamp information is left-turning information, controlling a radar to search a parking space on the left side of the vehicle body, wherein the parking space is parallel to the vehicle body; or
And when the automatic parking instruction is a second parking instruction and the steering lamp information is left-turning information, controlling the radar to search a parking space on the left side of the vehicle body, wherein the parking space is vertical to the vehicle body.
The second obtaining sub-module 44 is configured to:
when the search direction is a parking space where the right side of the vehicle body is parallel to the vehicle body or a parking space where the left side of the vehicle body is parallel to the vehicle body, acquiring a target parking space which is away from the current position of the vehicle by a first preset distance or more; or
When the search direction is a parking space where the right side of the vehicle body is vertical to the vehicle body or a parking space where the left side of the vehicle body is vertical to the vehicle body, acquiring a target parking space which is away from the current position of the vehicle by a second preset distance or more; or
And in the searching direction, not obtaining a target parking space which is more than or equal to a preset distance away from the current position of the vehicle, sending an instruction for prompting a driver to keep the forward running at a speed less than or equal to the preset speed, and controlling the radar to search the direction.
The apparatus is further configured to:
and obtaining the current speed of the vehicle, and quitting automatic parking when the speed of the vehicle is greater than a preset speed.
As shown in fig. 5, an embodiment of the present invention further provides an automatic parking control device applied to an electric power steering controller, including:
the acquisition module 51 is used for acquiring a corner signal, a torque signal and a target steering angle sent by the automatic parking controller;
the calculation module 52 is configured to calculate a rotation angle required by the electric power steering motor according to the corner signal, the torque signal and the target steering angle after receiving a control instruction sent by the automatic parking controller;
and the steering module 53 is configured to drive the electric power steering motor to work according to the rotation angle, and achieve the target steering angle to complete automatic parking.
Specifically, the apparatus is further configured to:
and driving the electric power steering motor to work according to the rotation angle, and recalculating the rotation angle required by the electric power steering motor according to the current rotation angle signal, the current torque signal and the target steering angle when the target steering angle is not reached until the electric power steering motor is driven to work to reach the target steering angle, thereby completing automatic parking.
Before acquiring the turning angle signal and the torque signal and the target steering angle sent by the automatic parking controller, the automatic parking controller is used for:
acquiring current vehicle speed, gear information and steering wheel control information of a vehicle forwarded by the automatic parking controller;
when the vehicle speed, the gear information and the steering wheel control information meet a preset automatic parking condition, determining that the vehicle is in a controllable state, wherein in the controllable state, the electric power steering controller waits for the control instruction sent by the automatic parking controller; or
And when the vehicle speed, the gear information and the steering wheel control information do not meet a preset automatic parking condition, determining that the vehicle is in a temporary prohibition state, wherein the electric power steering controller ignores a control instruction sent by the automatic parking controller in the temporary prohibition state.
And when receiving a control instruction sent by the automatic parking controller, switching to an activated state, executing the control instruction, and completing automatic parking.
After determining to be in the controllable state, for:
and when the vehicle speed is greater than the preset vehicle speed, switching to a temporary prohibition state.
After determining to be in the temporary inhibit state, for:
and when the vehicle speed is less than or equal to the preset vehicle speed, switching to a controllable state.
After switching to the active state, for:
and switching to a temporary prohibition state when the steering wheel control information is acquired that the driver interference torque reaches a preset torque and lasts for a preset time or when the vehicle speed is greater than a preset vehicle speed.
Embodiments of the present invention also provide an electric vehicle including the automatic parking control apparatus described above.
In the embodiment of the invention, the electric automobile adopting the automatic parking control device can realize automatic vertical parking, automatic parallel parking, automatic vertical parking and automatic parallel parking, and solves the problems of difficult parking and long time consumption of a driver.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (14)
1. An automatic parking control method is applied to an automatic parking controller and is characterized by comprising the following steps:
receiving an automatic parking instruction, and acquiring the working state and gear information of a vehicle when detecting that the vehicle is in a no-fault state currently;
when the working state is a starting state and the gear information is a forward gear, acquiring the steering lamp information of the vehicle;
controlling the searching direction of the radar according to the automatic parking instruction and the steering lamp information;
acquiring the current speed of the vehicle, acquiring a target parking space which is more than or equal to a preset distance away from the current position of the vehicle in the searching direction when the speed is less than or equal to a preset speed, sending a command for prompting a driver to start parking, and acquiring the current working state, gear information and steering wheel control information of the vehicle;
when the working state is a braking state, the gear information is a reverse gear and the steering wheel control information is not controlled, obtaining distance information between the vehicle and an obstacle sent by the radar and steering information sent by an electric power steering controller;
and acquiring a target steering angle according to the vehicle speed, the gear information, the distance information and the steering information, sending the target steering angle to an electric power steering controller of the vehicle, sending a control command to the electric power steering controller, driving the electric power steering controller to steer according to the target steering angle, and finishing automatic parking.
2. The automatic parking control method according to claim 1, wherein controlling a search direction of a radar according to the automatic parking instruction and the turn signal information includes:
when the automatic parking instruction is a first parking instruction, controlling a radar to search a parking space on the right side of the vehicle body, wherein the parking space is parallel to the vehicle body;
when the automatic parking instruction is a second parking instruction, controlling a radar to search a parking space on the right side of the vehicle body, wherein the parking space is vertical to the vehicle body; or
When the automatic parking instruction is a first parking instruction and the steering lamp information is left-turning information, controlling a radar to search a parking space on the left side of the vehicle body, wherein the parking space is parallel to the vehicle body; or
And when the automatic parking instruction is a second parking instruction and the steering lamp information is left-turning information, controlling the radar to search a parking space on the left side of the vehicle body, wherein the parking space is vertical to the vehicle body.
3. The automatic parking control method according to claim 2, wherein the step of obtaining a current vehicle speed of the vehicle, obtaining a target parking space which is a distance greater than or equal to a preset distance from a current position of the vehicle within the search direction when the vehicle speed is less than or equal to a preset vehicle speed, sending a command for prompting a driver to start parking, and obtaining the current working state, the gear information, and steering wheel control information of the vehicle comprises the steps of:
when the search direction is a parking space where the right side of the vehicle body is parallel to the vehicle body or a parking space where the left side of the vehicle body is parallel to the vehicle body, acquiring a target parking space which is away from the current position of the vehicle by a first preset distance or more; or
When the search direction is a parking space where the right side of the vehicle body is vertical to the vehicle body or a parking space where the left side of the vehicle body is vertical to the vehicle body, acquiring a target parking space which is away from the current position of the vehicle by a second preset distance or more; or
And in the searching direction, not obtaining a target parking space which is more than or equal to a preset distance away from the current position of the vehicle, sending an instruction for prompting a driver to keep the forward running at a speed less than or equal to the preset speed, and controlling the radar to search the direction.
4. The automatic parking control method according to claim 1, characterized by further comprising:
and obtaining the current speed of the vehicle, and quitting automatic parking when the speed of the vehicle is greater than a preset speed.
5. An automatic parking control method is applied to an electric power steering controller and is characterized by comprising the following steps:
acquiring a corner signal, a torque signal and a target steering angle sent by an automatic parking controller;
after receiving a control instruction sent by the automatic parking controller, calculating a rotation angle required by an electric power-assisted steering motor according to the corner signal, the torque signal and the target steering angle;
and driving the electric power-assisted steering motor to work according to the rotation angle, and achieving the target steering angle to finish automatic parking.
6. The automatic parking control method according to claim 5, characterized by further comprising:
and driving the electric power steering motor to work according to the rotation angle, and recalculating the rotation angle required by the electric power steering motor according to the current rotation angle signal, the current torque signal and the target steering angle when the target steering angle is not reached, until the electric power steering motor is driven to work, and the target steering angle is reached, thereby completing automatic parking.
7. The automatic parking control method according to claim 5, comprising, before acquiring the steering angle signal and the torque signal, and the target steering angle transmitted by the automatic parking controller:
acquiring current vehicle speed, gear information and steering wheel control information of a vehicle forwarded by the automatic parking controller;
when the vehicle speed, the gear information and the steering wheel control information meet a preset automatic parking condition, determining that the vehicle is in a controllable state, wherein in the controllable state, the electric power steering controller waits for the control instruction sent by the automatic parking controller; or
And when the vehicle speed, the gear information and the steering wheel control information do not meet a preset automatic parking condition, determining that the vehicle is in a temporary prohibition state, wherein the electric power steering controller ignores a control instruction sent by the automatic parking controller in the temporary prohibition state.
8. The automatic parking control method according to claim 7, wherein determining that the vehicle is in a controllable state waiting for the control instruction sent by the automatic parking controller when the vehicle speed, the shift information, and the steering wheel control information satisfy a preset automatic parking condition, comprises:
and when receiving a control instruction sent by the automatic parking controller, the electric power steering controller is switched to an activated state, executes the control instruction and completes automatic parking.
9. The automatic parking control method according to claim 7, characterized by, after determining that it is in the controllable state, comprising:
and when the vehicle speed is greater than the preset vehicle speed, switching to a temporary prohibition state.
10. The automatic parking control method according to claim 7, characterized by, after determining that it is in the temporary prohibition state, comprising:
and when the vehicle speed is less than or equal to the preset vehicle speed, switching to a controllable state.
11. The automatic parking control method according to claim 8, characterized by comprising, after switching to the active state:
and switching to a temporary prohibition state when the steering wheel control information is acquired that the driver interference torque reaches a preset torque and lasts for a preset time or when the vehicle speed is greater than a preset vehicle speed.
12. An automatic parking control device is applied to an automatic parking controller and is characterized by comprising:
the receiving module is used for receiving an automatic parking instruction and acquiring the working state and gear information of the vehicle when detecting that the vehicle is in a no-fault state currently;
the first obtaining submodule is used for obtaining the steering lamp information of the vehicle when the working state is a starting state and the gear information is a forward gear;
the control module is used for controlling the searching direction of the radar according to the automatic parking instruction and the steering lamp information;
the second obtaining submodule is used for obtaining the current speed of the vehicle, obtaining a target parking space which is more than or equal to a preset distance away from the current position of the vehicle in the searching direction when the speed is less than or equal to a preset speed, sending a command for prompting a driver to start parking, and obtaining the current working state, gear information and steering wheel control information of the vehicle;
the third obtaining submodule is used for obtaining the distance information between the vehicle and the obstacle sent by the radar and the steering information sent by the electric power steering controller when the working state is a braking state, the gear information is a reverse gear and the steering wheel control information is not controlled;
and the driving module is used for acquiring a target steering angle according to the vehicle speed, the gear information, the distance information and the steering information, sending the target steering angle to an electric power steering controller of the vehicle, sending a control command to the electric power steering controller, driving the electric power steering controller to steer according to the target steering angle, and completing automatic parking.
13. An automatic parking control device is applied to an electric power steering controller and is characterized by comprising:
the acquisition module is used for acquiring a corner signal, a torque signal and a target steering angle sent by the automatic parking controller;
the calculation module is used for calculating a rotation angle required by an electric power-assisted steering motor according to the corner signal, the torque signal and the target steering angle after receiving a control instruction sent by the automatic parking controller;
and the steering module is used for driving the electric power steering motor to work according to the rotation angle, and achieving the target steering angle to finish automatic parking.
14. An electric vehicle, characterized by comprising the automatic parking control apparatus according to claim 12 or 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010626223.4A CN113879285A (en) | 2020-07-01 | 2020-07-01 | Automatic parking control method and device and electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010626223.4A CN113879285A (en) | 2020-07-01 | 2020-07-01 | Automatic parking control method and device and electric automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113879285A true CN113879285A (en) | 2022-01-04 |
Family
ID=79012340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010626223.4A Pending CN113879285A (en) | 2020-07-01 | 2020-07-01 | Automatic parking control method and device and electric automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113879285A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016150593A (en) * | 2015-02-16 | 2016-08-22 | 三菱電機株式会社 | Vehicle control device and vehicle control device |
| CN107697064A (en) * | 2017-08-18 | 2018-02-16 | 智车优行科技（北京）有限公司 | Automobile side is parked control device, method and automobile and storage medium |
| CN108556841A (en) * | 2018-06-25 | 2018-09-21 | 四川野马汽车股份有限公司 | A kind of system and its working method that electric vehicle is automatically parked |
| CN109017766A (en) * | 2018-08-03 | 2018-12-18 | 湖北汽车工业学院 | A kind of parallel space for automatic driving vehicle is automatically parked control system |
| WO2019056872A1 (en) * | 2017-09-19 | 2019-03-28 | 广州汽车集团股份有限公司 | Fully automated parking method, and fully automated parking system |
| CN109591810A (en) * | 2018-11-07 | 2019-04-09 | 江苏敏安电动汽车有限公司 | A kind of full-automatic parking system, control method and vehicle |
| CN109624969A (en) * | 2018-12-24 | 2019-04-16 | 北京新能源汽车股份有限公司 | Automatic parking control method and device and electric automobile |
| CN110316182A (en) * | 2018-03-29 | 2019-10-11 | 深圳市航盛电子股份有限公司 | A kind of automated parking system and method |
-
2020
- 2020-07-01 CN CN202010626223.4A patent/CN113879285A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016150593A (en) * | 2015-02-16 | 2016-08-22 | 三菱電機株式会社 | Vehicle control device and vehicle control device |
| CN107697064A (en) * | 2017-08-18 | 2018-02-16 | 智车优行科技（北京）有限公司 | Automobile side is parked control device, method and automobile and storage medium |
| WO2019056872A1 (en) * | 2017-09-19 | 2019-03-28 | 广州汽车集团股份有限公司 | Fully automated parking method, and fully automated parking system |
| CN110316182A (en) * | 2018-03-29 | 2019-10-11 | 深圳市航盛电子股份有限公司 | A kind of automated parking system and method |
| CN108556841A (en) * | 2018-06-25 | 2018-09-21 | 四川野马汽车股份有限公司 | A kind of system and its working method that electric vehicle is automatically parked |
| CN109017766A (en) * | 2018-08-03 | 2018-12-18 | 湖北汽车工业学院 | A kind of parallel space for automatic driving vehicle is automatically parked control system |
| CN109591810A (en) * | 2018-11-07 | 2019-04-09 | 江苏敏安电动汽车有限公司 | A kind of full-automatic parking system, control method and vehicle |
| CN109624969A (en) * | 2018-12-24 | 2019-04-16 | 北京新能源汽车股份有限公司 | Automatic parking control method and device and electric automobile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3622329B2 (en) | Vehicle steering device | |
| JP3936204B2 (en) | Parking assistance device | |
| CN111683861B (en) | Remotely controllable parking assistance system with autonomous determination of the presence of a parking situation or a parking situation and corresponding parking method | |
| KR20140085136A (en) | The parking steering assist system | |
| JP6196518B2 (en) | Driving assistance device | |
| CN108082285B (en) | Method and device for controlling vehicle running | |
| JP7360095B2 (en) | Vehicle control device | |
| JP2019043209A (en) | Steering assist device | |
| CN113825691B (en) | Vehicle travel control method and travel control device | |
| CN110884430B (en) | Vehicle control device and vehicle control method | |
| JP2001151137A (en) | Steering assistance device for vehicle | |
| CN115140157A (en) | Steering control method and device for vehicle, storage medium and vehicle | |
| CN109649379B (en) | Automatic parking control method and device | |
| JP3866223B2 (en) | Vehicle travel support device | |
| CN113492831B (en) | Vehicle control device and vehicle | |
| CN110027611A (en) | Response policy of the electric boosting steering system to Lane Keeping System torque request | |
| CN113879285A (en) | Automatic parking control method and device and electric automobile | |
| JP2022015103A (en) | Vehicle control device | |
| US20200079282A1 (en) | Parking control device, parking control method, vehicle, and computer readable non-transitory recording medium storing a program | |
| CN113401217B (en) | Steering control method for automatic driving and steering wheel steering unit | |
| JP2001310679A (en) | Rearview mirror device | |
| CN109733387B (en) | Parking method capable of automatically switching parking modes and control device | |
| KR20130142345A (en) | Smart electric vehicle and smart operation method thereof | |
| CN113246857A (en) | Vehicle periphery monitoring device | |
| CN112550131A (en) | Vehicle capable of automatically driving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |