CN112339749A

CN112339749A - Short-range remote control parking system and control method thereof

Info

Publication number: CN112339749A
Application number: CN202011367169.2A
Authority: CN
Inventors: 王陆林; 刘贵如; 汪军; 刘涛; 刘华玉; 刘志军; 李和龙; 茆星宇; 张恒; 王舒婷
Original assignee: Anhui Polytechnic University
Current assignee: Anhui Polytechnic University
Priority date: 2020-11-27
Filing date: 2020-11-27
Publication date: 2021-02-09

Abstract

The invention discloses a short-range remote control parking system. PEPS, control system, TCU, ESP, EPB and ESP are all connected to a CAN bus and communicate through the CAN bus. The monitoring terminal communicates with the PEPS through a bluetooth signal and sends a remote ignition signal to the PEPS. , the monitoring terminal communicates with the control system through a bluetooth signal and sends a vehicle control signal to the control system, and the monitoring terminal is a remote control key and/or a mobile device. The system saves the trouble of co-development with PEPS and ESP suppliers, can effectively overcome the shortcomings of existing mainstream systems, and can also meet reliability and safety requirements.

Description

Short-range remote control parking system and control method thereof

Technical Field

The invention relates to the technical field of intelligent vehicles, in particular to a short-range remote control parking technology for an intelligent vehicle.

Background

At present, along with the continuous popularization of vehicles and the continuous increase of urban population, the vehicle parking space resources are more and more scarce, the parking spaces of garages or parking lots are more and more narrow, and particularly, under the condition that vehicles in the parking spaces beside the vehicles are inclined to stop, the embarrassment that a driver cannot get off the vehicle after the vehicles stop is caused. The existing short-range remote control parking technology can solve the problems and is a rigid requirement of an intelligent driving technology. Meanwhile, the parking difficulty of most drivers who are not good at parking can be solved.

At present, a mainstream short-range remote control parking system needs a peps (Passive Entry Passive start) keyless Entry and start system to be matched with an esp (electronic Stability program) vehicle body electronic Stability system to meet the requirements of corresponding asil (automatic safety integration level) vehicle safety integrity level and the design requirements of failure operation, and has the problems of difficult cooperation, high development cost and difficult subsequent safety risk responsibility division. The whole car factory and the part enterprise are urgently needed to jointly develop a set of short-range remote control parking system, the functional safety requirements are met, meanwhile, the safety independence is achieved, the system is not dependent on other part systems, the system development difficulty is reduced, and meanwhile, the safety risk responsibility is determined.

Disclosure of Invention

The invention aims to solve the technical problems that the existing short-range remote control parking auxiliary system has strong dependence on a PEPS (passive optical center) system and an ESP (electronic stability program) system, is difficult to collaborate and develop, has high development cost and is difficult to divide safety responsibility risks, and provides the short-range remote control parking system on the basis of the existing parking auxiliary system and the existing chassis control system.

In order to achieve the purpose, the invention adopts the technical scheme that: a PEPS, a control system, a TCU, an ESP, an EPB and an ESP are all connected with a CAN bus and communicate through the CAN bus, a monitoring terminal communicates with the PEPS through a Bluetooth signal and sends a remote ignition signal to the PEPS, the monitoring terminal communicates with the control system through the Bluetooth signal and sends a vehicle control signal to the control system, and the monitoring terminal is a remote control key and/or a mobile device.

Control system includes main control unit and standby controller through SPI communication, the CAN bus is all connected to main control unit and standby controller, main control unit and standby controller all communicate with monitor terminal through bluetooth signal.

The control system is connected with the ultrasonic radar, the ultrasonic radar is equipped with 12, wherein four ultrasonic radar fix in the vehicle the place ahead be used for detecting vehicle the place ahead barrier and measure the distance of vehicle the place ahead and barrier, wherein four ultrasonic radar fix in the vehicle the back be used for detecting vehicle rear barrier and measure the distance of vehicle rear and barrier, the both sides of vehicle all are fixed with two ultrasonic radar and are used for detecting vehicle side barrier and measure the distance of vehicle side and barrier, when vehicle side position parking simultaneously, be used for detecting whether the side has the parking stall and assist and find suitable parking stall.

The control system is connected with cameras which are four fisheye cameras, are used for identifying vehicle lines around the vehicle, finding parking spaces, assisting ultrasonic radars in identifying pedestrians and barriers around the vehicle, and are applied to the panoramic parking assisting system.

The control method based on the short-range remote control parking system comprises the following steps:

the monitoring terminal is communicated with the PEPS, and remote ignition is realized through the PEPS;

the control system of the vehicle after ignition is communicated with the monitoring terminal, receives a parking instruction sent by the monitoring terminal, and executes the parking instruction by the control system;

the control system sends control information to the TCU and the ESP for longitudinal control through a finished automobile CAN bus, and the EPB is used as a standby module under the condition that the ESP fails;

the control system sends control information to the EPS through the whole CAN bus to perform steering control, and when the EPS fails, the vehicle is braked and stopped by a brake system ESP or EPB to implement braking.

The parking instruction comprises a remote control parking signal and an automatic parking signal;

when receiving a remote control parking signal, the control system controls a corresponding device to execute an instruction according to the remote control parking signal;

when receiving an automatic parking signal, the parking space is searched through the ultrasonic radar and the camera, when vehicles are arranged on two sides of the parking space, the ultrasonic radar is used as a main part for searching the parking space, when vehicles are not arranged on two sides of the vehicles, the camera is used as a main part for searching the parking space, and after the parking space is found, the vehicles are driven into the parking space according to a preset program.

In the process of executing the parking instruction, the obstacle and the distance measurement are identified through the ultrasonic radar and the camera, and when the distance between the vehicle and the obstacle is smaller than a set value, an alarm is given and a braking instruction is automatically executed;

and in the process of executing the parking instruction, the main controller of the control system continuously receives the interactive information sent by the monitoring terminal, and when the interactive information is not obtained within the set time, the main controller controls the TCU module and the ESP module to decelerate and brake the vehicle.

In the working process of the main controller, the standby controller communicates with the main controller in real time through the SPI communication interface to monitor the working state of the main controller, and when interactive handshake information sent by the main controller is not obtained or wrong information is received within set time, the standby controller replaces the main controller to communicate with the monitoring terminal and executes a parking instruction.

When the system works, the main controller and the standby controller carry out real-time state monitoring on the TCU, the EPS, the EPB and the ESP through a finished automobile CAN bus, and the TCU, the EPS, the EPB module 8 and the ESP carry out periodic information interaction with the main controller and the standby controller through the finished automobile CAN bus to monitor the states of the main controller and the standby controller.

Compared with the existing mainstream short-range remote control parking system, the short-range remote control parking system has the following advantages:

1. the system integrates the Bluetooth communication module in the short-range remote control parking system control system, directly communicates with the monitoring terminal, does not need to pass through a PEPS system, namely does not depend on the PEPS system, avoids the problem of collaborative development with the PEPS system, shortens the development period, reduces the system development cost of the whole car factory, is easy to realize functional safety design, ensures the system safety, and solves the problem that the safety responsibility risk is not easy to divide.

2. The system adds the main microcontroller and the standby microcontroller in the short-range remote control parking system control system, thereby meeting the safety design of the control system, and meanwhile, under the condition that the main controller fails, the standby controller takes over the control of the chassis system, thereby failing the failure operation of the control system and improving the safety of the system. The safety design does not depend on an ESP system, the problem of cooperative development with the ESP system is avoided, the development period is shortened, meanwhile, the system development cost of the whole vehicle factory is reduced, the functional safety design is easy to realize, the system safety is ensured, and the problem that the safety responsibility risk is not easy to divide is solved. The braking system can meet the design of functional safety requirements by adopting the existing ESP and EPB systems, and is not required to be developed again, so that the development cost of a whole vehicle plant is saved.

3. Meanwhile, when the ESP and EPB systems of the braking system cannot receive signals sent by the control system periodically, the vehicle is braked by self-braking, and the safety risk of the system is reduced.

4. When the system detects that the steering system also has a fault, a braking strategy is also adopted. The failure risk of the steering system is reduced, the steering system can meet the design of the system function safety requirement by adopting the existing steering system, redevelopment is not needed, and the development cost of the whole car factory is reduced.

Drawings

The following is a brief description of the contents of each figure and the symbols in the figures in the description of the invention:

FIG. 1 is a schematic block diagram of a short-range remote parking system;

FIG. 2 is a schematic view of an ultrasonic radar and a camera of the short-range remote control parking system;

the labels in the above figures are: 1. PEPS; 2. a monitoring terminal; 3. an ultrasonic radar; 4. a camera; 5. a control system; 51. a main controller; 52. a standby controller; 6. a TCU; 7. EPS; 8. EPB; 9. ESP is used.

Detailed Description

The following description of the embodiments with reference to the drawings is provided to describe the embodiments of the present invention, and the embodiments of the present invention, such as the shapes and configurations of the components, the mutual positions and connection relationships of the components, the functions and working principles of the components, the manufacturing processes and the operation and use methods, etc., will be further described in detail to help those skilled in the art to more completely, accurately and deeply understand the inventive concept and technical solutions of the present invention.

As shown in fig. 1, the short-range remote-control parking system includes a PEPS1, a monitor terminal 2, an ultrasonic radar 3, a camera 4, a control system 5, a TCU 6 (traction control system), an EPS7 (electric power steering system), an EPB8 (electronic parking brake system), and an ESP9 (vehicle stability control system).

Fig. 2 is a schematic layout diagram of the ultrasonic radar 3 and the camera 4 on the whole vehicle. Wherein, the ultrasonic radar 3 comprises 12 ultrasonic radar sensors, wherein, the four ultrasonic radar sensors 3 at the front part are used for detecting the obstacle in front of the vehicle and measuring the distance between the front of the vehicle and the obstacle; the two ultrasonic radars 3 on the right side are used for detecting obstacles on the right side of the vehicle and measuring the distance between the right side of the vehicle and the obstacles, and are used for detecting whether a parking space exists on the right side and assisting in finding a proper parking space when the vehicle is parked at the side position of the vehicle; the four ultrasonic radars 3 at the rear are used for detecting obstacles behind the vehicle and measuring the distance between the rear of the vehicle and the obstacles; the two ultrasonic radars 3 on the left side are used for detecting the obstacle on the left side of the vehicle and measuring the distance between the left side of the vehicle and the obstacle, and are used for detecting whether a parking space exists on the left side and assisting in finding a proper parking space when the vehicle is parked at the side position of the vehicle.

Camera 4 includes that 4 fisheye cameras subsection are around the vehicle for discernment car position line looks for the parking stall. Meanwhile, the ultrasonic radar is assisted to identify pedestrians and obstacles around, the safety of a system sensing system is improved, and the functional safety requirement is met. In addition, when no car is in the adjacent parking spaces, the parking spaces are searched. In addition, the four cameras are also used for a panoramic parking auxiliary system, the four cameras form 360-degree non-dead-angle panoramic images through seamless splicing, and the periphery of a vehicle can be locally enlarged during parking, so that the parking safety is improved.

When the remote control parking is carried out, remote ignition is needed firstly, a driver communicates with the PEPS1 through the monitoring terminal 2 or a vehicle key, the remote ignition is achieved through the PEPS1, the control right of the vehicle after ignition is taken over by the short-range remote control parking controller system 5, the short-range remote control parking controller system 5 receives a parking starting instruction sent by the monitoring terminal 2, and then automatic parking is started. The method and the system have the advantages that the Bluetooth communication module meeting the functional safety requirements is added on the basis of the existing parking auxiliary system, real-time communication with a near-field driver monitoring terminal is realized without the aid of the PEPS1, people are determined to be in near-field monitoring, the risk of a system sensing system is reduced, and meanwhile, the functional safety requirements on the sensing system are also reduced;

when the system works, the parking space is firstly searched through the ultrasonic radar 3 and the camera 4, and when vehicles exist on two sides of the parking space, the ultrasonic radar 3 is used as the main part to search the parking space. When the two sides of the vehicle are not provided with the vehicle, the camera 4 is taken as the main part to search the parking space. In the parking process, obstacles are identified and distance measurement is carried out through the ultrasonic radar 3 and the camera 4, so that the surrounding environment is sensed, and collision is avoided.

In the parking process, the main controller 51 of the control system 5 continuously receives the interactive information sent by the monitoring terminal 2, determines whether the parking process is under human monitoring, and if the interactive information cannot be received or the wrong interactive information is received in three receiving periods of 30 seconds continuously, the near field monitoring is considered to be invalid, and at the moment, the main controller 51 controls the TCU module 6 and the ESP module 9 to brake the vehicle in a decelerating manner. The standby controller 52 communicates with the main controller 51 in real time through the SPI communication interface, and monitors the state of the main controller 51. When the standby controller 52 does not receive the interactive handshake information sent by the main controller 51 or receives the wrong information for 3 continuous periods, the main controller 51 is considered to be invalid, and the standby controller 52 takes over the control right of the vehicle, so that the safety of the control system is improved, and the functional safety requirement of the invalid operation of the control system is met.

Besides adopting SPI communication interface to monitor each other, the main controller 51 and the standby controller 52 CAN also monitor through the entire vehicle CAN bus. By upgrading the functional safety level of hardware and software of a main controller of the parking assist system, and meanwhile, adding a standby microcontroller 52 to monitor the main controller 51 and taking over the main controller to realize the control of a vehicle chassis system under the condition that the main controller fails, the functional safety level of the system is improved.

The system enables a supplier of the short-range remote control parking auxiliary system to provide a system meeting functional safety requirements, does not need to be cooperatively developed with the PEPS1 and the ESP9, only needs to provide functional safety requirements and cooperative execution of related parts for the PEPS1 and the ESP9, reduces strong coupling among the systems, reduces the difficulty of joint development, only needs to continue using existing parts meeting vehicles for a whole vehicle factory, does not need to redevelop the short-range remote control parking auxiliary system, and reduces development cost. When a security risk occurs, the security responsibility is easily monitored and divided because the functions are relatively independent. For a part supplier of the short-range remote control parking assist system, the trouble of cooperative development with a PEPS1 supplier and an ESP9 supplier is also saved, the defects of the existing mainstream system can be effectively overcome, and the requirements on reliability and safety can be met.

The short-range ignition can be realized by communicating the monitoring terminal with the PEPS1, and after the ignition is successful, the short-range remote control parking system control system communicates with the monitoring terminal through the own Bluetooth communication module to confirm whether a person monitors the parking process. And when the control system cannot receive the monitoring signal or receives an error monitoring signal, the control system considers that the near-field manual monitoring fails, controls the chassis system to brake, and brakes the vehicle. The function and the function safety design of the monitoring part are realized.

The main controller 51 sends control information to the TCU module 6 and the ESP module 9 for longitudinal control via the vehicle-wide CAN bus. In case of failure of the ESP module 9, the EPB module 8 takes over the braking, braking the vehicle. The speed of the vehicle is low during remote parking, and the EPB module 8 can completely brake the vehicle without damaging the EPB module 8. Compared with a mainstream remote control parking system, the brake is implemented by the ibooster module, and the cost is lower.

The main controller 51 sends control information to the EPS module 7 through the vehicle CAN bus to perform steering control, and when the EPS module 7 fails, the vehicle is braked by implementing braking through the braking system ESP module 9 or the EPB module 8. Because the vehicle speed is lower, the duration is less than 500ms from the beginning of failure of the EPS module 7 to the braking of the vehicle, the lateral displacement of the vehicle is smaller, and the risk caused by the lateral displacement is controllable, the existing steering system ESP module 9 can completely meet the steering requirement under the scene, and the steering system ESP module 9 does not need to meet the failure operation requirement, so that the cost of the whole vehicle is reduced.

The main controller 51 and the standby controller 52 perform real-time state monitoring on the TCU module 6, the EPS module 7, the EPB module 8 and the ESP module 9 through a whole vehicle CAN bus. The TCU module 6, the EPS module 7, the EPB module 8 and the ESP module 9 also perform periodic information interaction with the main controller 51 and the standby controller 52 through the entire vehicle CAN bus, and monitor the states of the main controller 51 and the standby controller 52.

Although the whole vehicle CAN bus has no redundancy, the braking system is realized by the ESP module 9 and the EPB module 8 in a redundant mode, and the state of the CAN bus is monitored respectively. In the event of a failure of the CAN bus, the ESP module 9 preferably brakes the vehicle. If page 9 of the ESP module fails, braking is applied by the EPB module 8, braking the vehicle.

When the chassis system needs to be controlled, the main controller sends braking commands to the braking system ESP9 and the EPB8 system of the chassis through the redundant CAN bus. The ESP9 system preferably performs braking, when the ESP9 system fails, the EPB8 system performs braking, the ESP9 system and the EPB8 system are monitored through CAN bus communication during the system operation, and the short-range remote parking system control system also monitors the states of the ESP9 system and the EPB8 system.

The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.

Claims

1. a short-range remote control parking system, PEPS, control system, TCU, ESP, EPB, ESP all connect CAN bus and communicate by CAN bus, it is characterized in that: monitoring terminal communicates with PEPS by bluetooth signal and sends out remote to PEPS. Ignition signal, the monitoring terminal communicates with the control system through a bluetooth signal and sends a vehicle control signal to the control system, and the monitoring terminal is a remote control key and/or a mobile device.

2. The short-range remote control parking system according to claim 1, wherein the control system comprises a main controller and a backup controller through SPI communication, and the main controller and the backup controller are both connected to the CAN bus , the main controller and the backup controller both communicate with the monitoring terminal through the bluetooth signal.

3. The short-range remote control parking system according to claim 1 or 2, characterized in that: the control system is connected with an ultrasonic radar, the ultrasonic radar is provided with 12, and four ultrasonic radars are fixed in front of the vehicle for use It is used to detect obstacles in front of the vehicle and measure the distance in front of the vehicle and obstacles. Four ultrasonic radars are fixed behind the vehicle to detect obstacles behind the vehicle and measure the distance from the obstacles behind the vehicle. Two ultrasonic radars are fixed on both sides of the vehicle. An ultrasonic radar is used to detect obstacles on the side of the vehicle and measure the distance between the side of the vehicle and the obstacle. At the same time, when the vehicle is parked on the side of the vehicle, it is used to detect whether there is a parking space on the side and assist in finding a suitable parking space.

4. The short-range remote control parking system according to claim 3 is characterized in that: the control system is connected with a camera, and the camera is four fisheye cameras, which are respectively used for identifying parking space lines around the vehicle, searching for Parking spaces, auxiliary ultrasonic radars identify surrounding pedestrians and obstacles, and are used in panoramic parking assistance systems.

5. based on the control method of the described short-range remote control parking system of claim 1-4, it is characterized in that:

The monitoring terminal communicates with PEPS, and realizes remote ignition through PEPS;

After ignition, the control system of the vehicle communicates with the monitoring terminal, receives the parking instruction issued by the monitoring terminal, and executes the parking instruction by the control system;

The control system sends control information to the TCU and ESP through the vehicle CAN bus for longitudinal control, and the EPB acts as a backup module in the event of ESP failure;

The control system sends control information to the EPS through the vehicle CAN bus for steering control. When the EPS fails, the braking system ESP or EPB implements braking to stop the vehicle.

6. The control method according to claim 5, wherein the parking instruction comprises a remote control parking signal and an automatic parking signal;

When receiving the remote control parking signal, the control system controls the corresponding device to execute the instruction according to the remote control parking signal;

When receiving the automatic parking signal, the ultrasonic radar and the camera are used to find the parking space. When there are cars on both sides of the parking space, the ultrasonic radar is the main method to find the parking space. When there are no cars on both sides of the vehicle, the camera is used to find the parking space. After finding a parking space, drive the vehicle into the parking space according to the preset program.

7. The control method according to claim 5 or 6, characterized in that: in the process of executing the parking instruction, obstacles and distance measurement are identified by ultrasonic radar and camera, and when the distance between the vehicle and the obstacle is less than the set value, an alarm is issued and the distance is measured. Automatically execute braking commands;

During the execution of the parking instruction, the main controller of the control system continuously receives the interactive information sent by the monitoring terminal. When the interactive information is not obtained within the set time, the main controller will control the TCU module and the ESP module to decelerate and brake the vehicle. , brake the vehicle.

8. control method according to claim 7 is characterized in that: in main controller working process, standby controller communicates with main controller in real time through SPI communication interface, monitors the working state of main controller, when setting time If the interactive handshake information sent by the main controller is not obtained or the wrong information is received, the standby controller replaces the main controller to communicate with the monitoring terminal and executes the parking instruction.

9. The control method according to claim 5 or 8, characterized in that: when the system is in operation, the main controller and the backup controller carry out real-time state monitoring to TCU, EPS, EPB, ESP through the vehicle CAN bus, TCU, EPS , EPB module 8, ESP performs periodic information exchange with the main controller and the backup controller through the vehicle CAN bus, and monitors the status of the main controller and the backup controller.