CN114132306A - Parking remaining distance calculation and longitudinal control method and system and vehicle - Google Patents
Parking remaining distance calculation and longitudinal control method and system and vehicle Download PDFInfo
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- CN114132306A CN114132306A CN202111435263.1A CN202111435263A CN114132306A CN 114132306 A CN114132306 A CN 114132306A CN 202111435263 A CN202111435263 A CN 202111435263A CN 114132306 A CN114132306 A CN 114132306A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004364 calculation method Methods 0.000 title claims description 19
- 238000011217 control strategy Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
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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
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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Abstract
The invention discloses a method, a system and a vehicle for calculating the remaining parking distance and longitudinally controlling the remaining parking distance, which comprise the following steps: step 1, obtaining an expected parking position PTDesired heading angle θTCurrent position P and current course angle theta of vehicleC(ii) a Step 2, calculating PTThe straight-line distance d between the two points P; step 3, calculating PTTo the direction of P and thetaTThe included angle alpha of; step 4, calculating the remaining parking distance L, namely d is the expected heading angle thetaTThe projected length of (c). The invention can reasonably reflect the distance between the current vehicle pose and the expected pose.
Description
Technical Field
The invention relates to the technical field of automatic parking, in particular to a method and a system for calculating a parking remaining distance and longitudinally controlling parking and a vehicle.
Background
In recent years, the problem of difficulty in parking has become more prominent as the amount of automobiles kept has exponentially increased. This problem has attracted much attention from the outside world, especially in large host plants. Nowadays, intelligent driving is emerging, and vehicles equipped with autonomous parking systems are more and more popular. In an automatic parking system, parking in parallel parking spaces, parking in vertical parking spaces and parking in inclined parking spaces exist, and a gear is switched during parking. When the parking space is small, the car cannot be driven to the expected parking pose in one step, and the car needs to be parked and the gear is switched by kneading the garage during the parking process; and the parking system is hoped to be stopped at an expected pose well finally.
The existing method for calculating the expected parking distance mainly comprises two methods:
one is to directly calculate the distance between the current position and the desired position at two points, and the disadvantages are as follows: the result of the calculation cannot be negative, since in practice it is difficult for the vehicle to perfectly reach the desired position, and cannot reach 0, the control tracking error causes the minimum value of the calculation to be positive and uncertain. The results obtained by this method are difficult to use for longitudinal control. Due to the existence of equal kinematic constraint of the minimum turning radius of the vehicle in practice, the expected heading angle of the parked vehicle is different, the driving distance is different, but the calculation results of the method are consistent.
Secondly, the total required driving distance minus the driving distance is calculated, and the defects are as follows: when the control tracking effect is poor, the vehicle tracks and oscillates before approaching the expected parking pose, overshooting occurs, and the vehicle fluctuates left and right along the expected path, so that the calculation result is 0 in advance before the vehicle approaches the expected parking pose; before approaching the expected parking pose, the vehicle tracking response is not timely, so that the vehicle is far away from the expected parking pose, and the obtained calculation result is still positive.
Therefore, it is necessary to develop a method, a system and a vehicle for calculating a remaining parking distance and controlling a longitudinal direction.
Disclosure of Invention
The invention aims to provide a method and a system for calculating the remaining parking distance and controlling the longitudinal direction of a parked vehicle and a vehicle, which can reasonably reflect the distance between the current vehicle pose and the expected pose.
The invention discloses a method for calculating a parking remaining distance, which comprises the following steps:
step 1, obtaining an expected parking position PTDesired heading angle θTCurrent position P and current course angle theta of vehicleC；
Step 2, calculating PTThe straight-line distance d between the two points P;
step 3, calculating PTTo the direction of P and thetaTThe included angle alpha of;
step 4, calculating the remaining parking distance L, namely d is the expected heading angle thetaTThe projected length of (c).
Optionally, the PTCoordinate (P) ofT.x，PTY), the coordinates of P are (P.x, P.y), PTThe straight-line distance d between the two points P is calculated as follows:
optionally, the calculation formula of the remaining parking distance L is as follows:
L＝dcosα。
in a second aspect, the invention provides a parking and parking longitudinal control method, comprising the following steps:
step 1, calculating a parking remaining distance L, wherein the parking remaining distance L is calculated by adopting the parking remaining distance calculation method;
step 2, selecting a corresponding longitudinal control strategy according to the parking surplus distance L, wherein different longitudinal control strategies are designed according to the parking surplus distance, the driving experience and the mechanical performance of a vehicle brake accelerator system, and comprise a slow brake strategy, a relatively urgent brake strategy and a most urgent brake strategy; the method specifically comprises the following steps:
when b is more than L and less than or equal to a, adopting a slow braking strategy;
when L is more than 0 and less than or equal to b, an emergency braking strategy is adopted;
when the L is more than or equal to 0, the most urgent braking strategy is adopted;
and a and b are standard quantities.
In a third aspect, the present invention provides a system for calculating a remaining parking distance, comprising a memory and a controller, wherein the memory stores a computer readable program, and the computer readable program, when called by the controller, is capable of executing the steps of the method for calculating a remaining parking distance according to the present invention.
In a fourth aspect, the parking and parking longitudinal control system according to the present invention includes a memory and a controller, where the memory stores a computer readable program, and the computer readable program, when called by the controller, can execute the steps of the parking and parking longitudinal control method according to the present invention.
In a fifth aspect, the invention provides a vehicle using the system for calculating remaining parking distance according to the invention.
In a sixth aspect, the invention provides a vehicle, which adopts the parking longitudinal control system.
The invention has the following advantages: the invention can reasonably reflect the distance between the current vehicle pose and the expected pose, and when the vehicle approaches the expected parking pose, the remaining parking distance is positive and gradually reduced to 0; when the vehicle is far away from the expected parking pose, the remaining parking distance is a negative number and is continuously reduced; therefore, the times of switching the parking gear can be effectively reduced, and the time required by parking is reduced.
Drawings
Fig. 1 is a control schematic diagram of an automatic parking system in the present embodiment;
fig. 2 is a flowchart of a method for calculating a remaining parking distance in the present embodiment;
FIG. 3 is a flowchart of a parking and parking longitudinal control method according to the present embodiment;
fig. 4 is a schematic diagram of a method for calculating a remaining parking distance according to the present embodiment;
FIG. 5 is a schematic diagram of a vertical parking scenario in the present embodiment;
FIG. 6 is a second schematic diagram illustrating a vertical parking scenario in the present embodiment;
fig. 7 is a schematic view of a parallel parking scene in the present embodiment.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 2 and 4, in the present embodiment, a method for calculating a remaining parking distance includes the following steps:
step 1, obtaining an expected parking position PTDesired heading angle θTCurrent position P and current course angle theta of vehicleC；
Step 2, calculating PTThe straight-line distance d between the two points P;
step 3, calculating PTTo the direction of P and thetaTThe included angle alpha of;
step 4, calculating the remaining parking distance L, namely d is the expected heading angle thetaTThe projected length of (c).
In this embodiment, the PTCoordinate (P) ofT.x，PTY), the coordinates of P are (P.x, P.y), PTThe straight-line distance d between the two points P is calculated as follows:
in this embodiment, the calculation formula for calculating the remaining parking distance L is as follows:
L＝dcosα。
as shown in fig. 3, in the present embodiment, a parking and parking longitudinal control method includes the following steps:
step 1, calculating a parking remaining distance L, wherein the parking remaining distance L is calculated by adopting the parking remaining distance calculation method;
step 2, selecting a corresponding longitudinal control strategy according to the parking surplus distance L, wherein different longitudinal control strategies are designed according to the parking surplus distance, the driving experience and the mechanical performance of a vehicle brake accelerator system, and comprise a slow brake strategy, a relatively urgent brake strategy and a most urgent brake strategy; the method specifically comprises the following steps:
when b is more than L and less than or equal to a, adopting a slow braking strategy;
when L is more than 0 and less than or equal to b, an emergency braking strategy is adopted;
when the L is more than or equal to 0, the most urgent braking strategy is adopted;
and a and b are standard quantities.
In this embodiment, a system for calculating a remaining parking distance includes a memory and a controller, where the memory stores a computer-readable program, and the computer-readable program, when called by the controller, is capable of executing the steps of the method for calculating a remaining parking distance according to this embodiment.
In this embodiment, a parking and parking longitudinal control system includes a memory and a controller, where the memory stores a computer readable program, and the computer readable program, when called by the controller, can execute the steps of the parking and parking longitudinal control method as described in this embodiment.
In the present embodiment, a vehicle employs the system for calculating a remaining parking distance as described in the present embodiment.
In the present embodiment, a vehicle employs the parking and parking longitudinal control system as described in the present embodiment.
In a parking system, transverse and longitudinal decoupling is generally performed, and control is divided into transverse control and longitudinal control. The transverse control is responsible for controlling the angle of the steering wheel, so as to control the course angle of the vehicle; the longitudinal control is responsible for controlling the brake and the accelerator, thereby controlling the speed of the vehicle. As shown in fig. 1, the remaining parking distance is used as an input for longitudinal control, which will be based on the remaining parking distance and take into account the human driving experience and the mechanical behavior of the brake throttle system of the vehicle to design a different control algorithm. It is eventually desirable to stop the vehicle comfortably in the desired pose.
The present embodiment will be described in detail with reference to the following examples, in which the vehicle body parameters are all consistent, the vehicle length is 4.5m, the vehicle width is 1.855m, the minimum turning radius of the vehicle is 480cm, and the vehicle body coordinate system is established at the central point of the rear axle. The global coordinate system is established at the top right side of the parking space.
As shown in FIG. 5In the example, the vertical parking scene is shown, the path obtained by path planning is a total of 3 steps, the dotted line in the figure is the reverse gear path of the last step of planning, and the expected parking position P in fig. 5TThe desired stopping point for the last reverse gear. The coordinates of the expected parking position are known to be (-140, -400) with a heading of 90 °, the vehicle starting position is located at P1 with coordinates of (-73, 250) with a heading of 60 °; the path of the step is formed by a circular arc with the radius of 500cm and the length of 261cm and a straight line with the length of 400cm, and the length of 661 cm; pTThe straight line distance between the two points P1 is 653 cm; pTThe vector to P1 is (67, 650), calculating PTDirection to P1 and thetaTThe included angle is 6 degrees; and calculating the parking remaining distance to be 649cm according to the parking remaining distance calculation method. In the process of automatically tracking the path by the vehicle, the vehicle cannot perfectly follow the expected path due to factors such as sensing detection error and tracking error, and when the vehicle drives to the position P2, the actual driving point P2 of the vehicle is assumed to have coordinates of (-161, -200), the heading is 89 degrees, and P is considered to be the target of tracking the path automaticallyTThe straight line distance between the two points P2 is 201 cm; pTThe vector to P2 is (-21,200), and P is calculatedTDirection to P2 and thetaTThe included angle of the angle is 6 degrees; the parking remaining distance is calculated to be about 199cm according to the parking remaining distance calculation method.
As shown in FIG. 6, the example is a vertical parking scenario, the path obtained by path planning is a total of 3 steps, and the expected parking position PTThe desired stopping point for the first reverse gear. In the parking process, due to the fact that the road surface is uneven, the steering system does not respond timely and the like, control tracking errors are caused, due to constraints such as vehicle kinematics and dynamics, the vehicle cannot correct the errors in a short distance, and the automatic parking system expects the vehicle to be braked and stopped at the position closest to the expected parking pose. The expected parking position is (-140,0), the heading direction is 45 degrees, the current position of the vehicle is (-150, 10), and the heading direction is 45 degrees; pTThe straight-line distance between the two points P is 14 cm; calculating PTTo the direction of P and thetaTThe included angle of the angle is 90 degrees; and calculating the parking remaining distance to be 0cm according to the parking remaining distance calculation method.
As shown in FIG. 7, this example is parallel parkingAnd (4) setting the expected parking pose as a final expected parking pose in the scene. When the vehicle is started to a driving distance expected to stop is small, the vehicle often passes through an expected position scene. The expected parking position is known to be (-500, -160), the heading is 0 degrees, the current position of the vehicle is known to be (-520, -160), and the heading is 0 degrees; pTThe straight line distance between the two points P is 20 cm; calculating PTTo the direction of P and thetaTAt an angle of-180 °; and calculating the parking remaining distance to be-20 cm according to the parking remaining distance calculation method.
In this embodiment, the longitudinal control will design a different longitudinal control algorithm based on the remaining distance to park and taking into account the human driving experience and the mechanical performance of the vehicle brake throttle system. The accurate remaining parking distance will directly affect the performance of parking comfort, number of parking steps, etc. Such as: when the parking residual distance is 100cm, the longitudinal control adopts a slow braking strategy; when the remaining parking distance is 30cm, the longitudinal control adopts a relatively emergency braking strategy; when the remaining distance to park is negative, the longitudinal control will take the most urgent braking strategy.
Claims (8)
1. A method for calculating a remaining parking distance includes the steps of:
step 1, obtaining an expected parking position PTDesired heading angle θTCurrent position P and current course angle theta of vehicleC；
Step 2, calculating PTThe straight-line distance d between the two points P;
step 3, calculating PTTo the direction of P and thetaTThe included angle alpha of;
step 4, calculating the remaining parking distance L, namely d is the expected heading angle thetaTThe projected length of (c).
2. The parking remaining distance calculation method according to claim 1, characterized in that: the P isTCoordinate (P) ofT.x，PTY), the coordinates of P are (P.x, P.y), PTThe straight-line distance d between the two points P is calculated as follows:
3. the parking remaining distance calculating method according to claim 2, characterized in that: the calculation formula for calculating the remaining parking distance L is as follows:
L＝d cosα。
4. a parking and parking longitudinal control method is characterized by comprising the following steps:
step 1, calculating a remaining parking distance L, which is calculated by the remaining parking distance calculation method according to any one of claims 1 to 3;
step 2, selecting a corresponding longitudinal control strategy according to the parking surplus distance L, wherein different longitudinal control strategies are designed according to the parking surplus distance, the driving experience and the mechanical performance of a vehicle brake accelerator system, and comprise a slow brake strategy, a relatively urgent brake strategy and a most urgent brake strategy; the method specifically comprises the following steps:
when b is more than L and less than or equal to a, adopting a slow braking strategy;
when L is more than 0 and less than or equal to b, an emergency braking strategy is adopted;
when the L is more than or equal to 0, the most urgent braking strategy is adopted;
and a and b are standard quantities.
5. A parking remaining distance calculation system for a vehicle, characterized in that: comprising a memory and a controller, the memory having stored therein a computer-readable program, the computer-readable program being capable of executing the steps of the parking remaining distance calculating method according to any one of claims 1 to 3 when being called by the controller.
6. A parking longitudinal control system, characterized in that: comprising a memory and a controller, said memory having stored therein a computer readable program, said computer readable program, when being invoked by the controller, being capable of performing the steps of the parking longitudinal control method according to claim 4.
7. A vehicle, characterized in that: the parking remaining distance calculating system according to claim 5 is employed.
8. A vehicle, characterized in that: the parking longitudinal control system according to claim 6 is employed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111435263.1A CN114132306A (en) | 2021-11-29 | 2021-11-29 | Parking remaining distance calculation and longitudinal control method and system and vehicle |
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| CN202111435263.1A CN114132306A (en) | 2021-11-29 | 2021-11-29 | Parking remaining distance calculation and longitudinal control method and system and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115092121A (en) * | 2022-05-06 | 2022-09-23 | 同济大学 | A fully automatic parking system path following device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115092121A (en) * | 2022-05-06 | 2022-09-23 | 同济大学 | A fully automatic parking system path following device and method |
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