CN110775049A - Parking system and parking control method - Google Patents
Parking system and parking control method Download PDFInfo
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- CN110775049A CN110775049A CN201810846355.0A CN201810846355A CN110775049A CN 110775049 A CN110775049 A CN 110775049A CN 201810846355 A CN201810846355 A CN 201810846355A CN 110775049 A CN110775049 A CN 110775049A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
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Abstract
The invention discloses a parking system and a parking control method, wherein the height variation of a vehicle is obtained through a self-adaptive headlamp device which can monitor the height variation of the vehicle in real time; according to the obtained height variation of the vehicle, the parking regulator correspondingly adjusts the sensitivity according to the preset corresponding relation between the height variation and the sensitivity; and the ultrasonic sensor monitors the obstacles according to the adjusted sensitivity, so that the parking controller controls the vehicle to park according to the corresponding parking route according to the monitoring result of the ultrasonic sensor. Therefore, the parking system monitors the height change of the vehicle by means of the adaptive headlamp device, adaptively adjusts the sensitivity of the ultrasonic sensor, ensures that the parking system can accurately detect the obstacles under various load working conditions, improves the detection performance of the parking system on the obstacles, realizes adaptive intelligent parking, and has great significance for reducing traffic accidents and protecting life safety.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a parking system and a parking control method.
Background
The parking system is an important component of automatic parking and unmanned driving functions, and gradually becomes the standard allocation of vehicles along with the increasing demand of users. The accuracy and the degree of intelligence of the parking system affect the performance of other advanced functions of the vehicle, and further affect the user experience.
Currently, a parking system calculates a distance between a vehicle and an obstacle by means of an ultrasonic sensor, the detection performance of which refers to an accuracy degree of being able to detect the obstacle, and the detection performance is closely related to the calibration of sensitivity. On one hand, in order to ensure that the ultrasonic sensor can detect a short obstacle, the sensitivity of the ultrasonic sensor can be calibrated to a higher value, and at the moment, the detection performance of the vehicle on the short obstacle during no-load can be met; however, when the vehicle is fully loaded, since the vehicle height is lowered, the ultrasonic sensor with higher sensitivity is calibrated, and sand and stones on the road surface may be mistakenly used as obstacles, thereby generating false alarm. On the other hand, in order to avoid the problem that the ultrasonic sensor generates false alarm when the vehicle is fully loaded, the sensitivity of the ultrasonic sensor can be marked as the value of the sensitivity corresponding to the fully loaded condition of the vehicle, and at the moment, although the condition that the false alarm is not generated when the vehicle is fully loaded can be met, the detection performance under the condition is improved; however, when the vehicle is unloaded, since the height of the vehicle is increased, the ultrasonic sensor of lower sensitivity is calibrated, and a short obstacle around the vehicle may not be detected, sacrificing some of the detection performance.
Therefore, the ultrasonic sensor in the existing parking system cannot realize the balance of detection performance under the two conditions of no load and full load of the vehicle, so that the ultrasonic sensor cannot be suitable for the accurate detection of obstacles under various load working conditions, and the detection performance of the parking system is low. Therefore, how to provide a parking system capable of accurately detecting obstacles and having high detection performance is a problem to be solved at present.
Disclosure of Invention
The invention aims to provide a parking system and a parking control method, so that the detection performance of the parking system on obstacles can be improved.
Therefore, the technical scheme for solving the technical problem is as follows:
in a first aspect, the present invention provides a parking system comprising:
a parking regulator, a parking controller, an ultrasonic sensor, and an adaptive headlamp apparatus;
the parking regulator and the parking controller are respectively connected with the ultrasonic sensor, and the parking regulator is connected with the adaptive headlamp device;
the adaptive headlamp device is used for monitoring the height change of a vehicle and obtaining the height change quantity of the vehicle;
the parking adjuster is used for acquiring the height variation and correspondingly adjusting the sensitivity according to the height variation according to a preset corresponding relation between the height variation and the sensitivity;
the ultrasonic sensor is used for acquiring the sensitivity and monitoring the obstacles according to the sensitivity to obtain a monitoring result;
and the parking controller is used for controlling the vehicle to park according to the monitoring result.
Optionally, the adaptive headlight device comprises a height sensor and a calculation module;
the height sensor is used for monitoring an electric signal corresponding to the height change of the vehicle and sending the electric signal to the computing module;
the calculation module is used for calculating the height variation of the vehicle according to the electric signal.
Optionally, the height sensor is a hall height sensor.
Optionally, the parking adjuster includes: the device comprises an echo height threshold value calibration unit and a sensitivity calibration unit;
the echo height threshold calibration unit is used for acquiring the height variation and calibrating the echo height threshold according to the corresponding relation between the preset height variation and the echo height threshold;
and the sensitivity calibration unit is used for acquiring the echo height threshold value and calibrating the sensitivity according to the preset corresponding relation between the echo height threshold value and the sensitivity.
Optionally, the preset correspondence between the height variation and the echo height threshold is represented as: when the height variation is a positive value, the echo height threshold is reduced;
the corresponding relation between the preset echo height threshold and the sensitivity is represented as follows: the sensitivity is increased when the echo height threshold is decreased.
Optionally, the ultrasonic sensor is specifically configured to acquire the sensitivity and perform obstacle monitoring according to the sensitivity, and if the sensitivity is higher, the obtained monitoring result is easier to include a short obstacle.
Optionally, the adaptive headlamp unit is connected to the parking adjuster via a CAN bus.
In a second aspect, the present invention also provides a parking control method, including:
monitoring the height change of a vehicle to obtain the height change of the vehicle;
according to the corresponding relation between the preset height variation and the sensitivity, correspondingly adjusting the sensitivity according to the height variation;
monitoring the obstacles according to the sensitivity to obtain a monitoring result;
and controlling the vehicle to park according to the monitoring result.
Optionally, the correspondingly adjusting the sensitivity according to the height variation according to the preset correspondence between the height variation and the sensitivity includes:
acquiring the height variation, and calibrating the echo height threshold according to a preset corresponding relation between the height variation and the echo height threshold;
and acquiring the echo height threshold, and calibrating the sensitivity according to a preset corresponding relation between the echo height threshold and the sensitivity.
Optionally, the preset correspondence between the height variation and the echo height threshold is represented as: when the height variation is a positive value, the echo height threshold is reduced;
the corresponding relation between the preset echo height threshold and the sensitivity is represented as follows: the sensitivity is increased when the echo height threshold is decreased.
According to the technical scheme, the invention has the following beneficial effects:
according to the parking system, a fixed sensitivity is calibrated for the ultrasonic sensor to sacrifice a part of detection performance of the ultrasonic sensor, so that relatively safe parking is realized, and the height variation of the vehicle is obtained through the self-adaptive headlamp device capable of monitoring the height variation of the vehicle in real time; according to the obtained height variation of the vehicle, the parking regulator correspondingly adjusts the sensitivity according to the preset corresponding relation between the height variation and the sensitivity; and the ultrasonic sensor monitors the obstacles according to the adjusted sensitivity, so that the parking controller controls the vehicle to park according to the corresponding parking route according to the monitoring result of the ultrasonic sensor. Therefore, the parking system provided by the invention can adaptively adjust the sensitivity of the ultrasonic sensor through the height change of the vehicle monitored by the adaptive headlamp device, ensure that the parking system can accurately detect the obstacles under various load working conditions, improve the detection performance of the parking system on the obstacles, realize adaptive intelligent parking, and have great significance for reducing traffic accidents and protecting life safety.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a parking system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another parking system according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an effect of the parking system according to the embodiment of the present invention;
fig. 4 is a schematic diagram illustrating another effect of the parking system according to the embodiment of the present invention;
fig. 5 is a flowchart of a parking control method according to an embodiment of the present invention.
Detailed Description
With the continuous improvement of the intelligent demand of the vehicle, the vehicle is provided with a parking system for guiding the vehicle to a parking position to realize parking operation. The parking system calculates the distance between the vehicle and the obstacle by means of an ultrasonic sensor, the detection performance of the ultrasonic sensor refers to the accuracy degree of the obstacle, and the detection performance of the ultrasonic sensor is closely related to the calibration of the sensitivity. At present, generally, only the corresponding sensitivity of a vehicle at a certain height is considered, the sensitivity is calibrated to be a fixed sensitivity value, under the sensitivity value, obstacle detection and parking are carried out, height change caused by load change of the vehicle is not considered, influence on a detection area of an ultrasonic sensor is avoided, the accuracy rate of detecting obstacles is low, an accurate parking route cannot be accurately determined, and then parking cannot be intelligently realized.
Specifically, the height change caused by the load change of the vehicle corresponds to the detection performance of the ultrasonic sensor as follows: on one hand, when the sensitivity of the ultrasonic sensor is high, a short obstacle can be detected, but if the height of the vehicle is reduced, sand and stones on the road surface are likely to be used as the obstacle, so that false alarm is caused, and the detection performance is influenced; on the other hand, when the sensitivity of the ultrasonic sensor is low, the problem of false alarm may be overcome, but if the vehicle height rises, it is highly likely that a short obstacle is not detected, and the detection performance is also affected.
Based on this, the inventors have found that, when the sensitivity corresponding to no load is used as the calibration value of the sensitivity, or when the sensitivity corresponding to full load is used as the calibration value of the sensitivity, the partial detection performance of the ultrasonic sensor is sacrificed. The obstacle can be accurately detected only by adjusting the calibration value of the sensitivity of the ultrasonic sensor in real time according to the height change of the vehicle, so that self-adaptive parking is performed.
Accordingly, the present invention provides a parking system comprising: a parking regulator, a parking controller, an ultrasonic sensor, and an adaptive headlamp apparatus; the parking regulator and the parking controller are respectively connected with the ultrasonic sensor, and the parking regulator is connected with the adaptive headlamp device. Specifically, the adaptive headlamp device can monitor the height change of the vehicle to obtain the height change of the vehicle; the parking regulator correspondingly adjusts the sensitivity according to the height variation; the ultrasonic sensor monitors the obstacles according to the sensitivity to obtain a monitoring result; and the parking controller controls the vehicle where the parking system is located to park according to the monitoring result.
Therefore, the parking system provided by the invention can be used for monitoring the height change of the vehicle through the self-adaptive headlamp device, adaptively adjusting the sensitivity of the ultrasonic sensor, ensuring that the parking system can accurately detect the obstacles under various load working conditions, improving the detection performance of the parking system on the obstacles, realizing self-adaptive intelligent parking, and further having great significance for reducing traffic accidents and protecting life safety.
In order to provide a scheme for accurately detecting obstacles and realizing adaptive parking, the embodiment of the invention provides a parking system and a parking control method, and the embodiment of the invention is described below with reference to the drawings in the specification, and it should be understood that the embodiment described herein is only used for explaining and explaining the invention, and is not used for limiting the invention. And the embodiments and features of the embodiments may be combined with each other without conflict.
Fig. 1 is a schematic structural diagram of a parking system according to an embodiment of the present invention, and as shown in fig. 1, the parking system includes: parking adjuster 110, parking controller 120, ultrasonic sensor 130, and adaptive headlamp apparatus 140.
The parking adjuster 110 and the parking controller 120 are respectively connected to the ultrasonic sensor 130, and the parking adjuster 110 and the adaptive headlamp apparatus 140 are connected to each other.
In concrete implementation, along with continuous intellectualization of the vehicle, the Adaptive Front-lighting System (AFS) 140 also starts to be popularized, and the Adaptive Front-lighting device 140 not only can intelligently switch the distance and the near light of the vehicle, ensure the sufficient illumination on the road condition of the vehicle, and provide the optimal illumination condition and the safe road condition; in addition, the adaptive headlight device 140 may also monitor the height change of the vehicle in real time to obtain the height change amount of the vehicle. For example, when the number of occupants in the vehicle is from 1 to 4, the adaptive headlamp apparatus 140 may monitor the height variation of the vehicle as: 2 cm, i.e. a vehicle height reduction of 2 cm.
As a possible implementation, as shown in fig. 2, the adaptive headlight unit 140 includes a height sensor 141 and a calculation module 142.
Among other things, the height sensor 141 may monitor a change in height of the vehicle and output an electrical signal corresponding to the change in height. When the height sensor 141 detects an electrical signal, the electrical signal may be sent to the calculation module 142.
The calculating module 142 may calculate a height variation amount corresponding to the electrical signal as the height variation amount of the vehicle according to the electrical signal transmitted by the height sensor 141.
It is understood that the height sensor 141 may be a hall height sensor.
At the moment, when the Hall height sensor monitors that the height of the vehicle changes, a Hall level signal is output; the calculating module 142, after receiving the hall level signal, may calculate, according to a calculation formula between the electrical signal and the height variation preset by itself, the height variation corresponding to the hall level signal in one example; in another example, the height variation corresponding to the received hall level signal may be found according to a correspondence between an electrical signal preset by the hall level signal and the height variation.
When the height change is detected by adaptive headlight device 140, the obtained height change amount may be transmitted to parking adjuster 110.
After receiving the height variation sent by the adaptive headlamp device 140, the parking adjuster 110 may adjust the sensitivity to the sensitivity corresponding to the currently received height variation according to a preset correspondence between the height variation and the sensitivity.
It is understood that the adaptive headlamp unit 140 is connected to the parking adjuster 110 via a CAN bus, and data communication between the adaptive headlamp unit 140 and the parking adjuster 110 is performed using the CAN bus. Specifically, adaptive headlamp apparatus 140 transmits the obtained height variation amount to parking adjuster 110 via the CAN bus.
The original adaptive headlamp device 140 on the vehicle is used for acquiring the height change of the vehicle and informing the parking adjuster 110 of the height change of the vehicle, and no additional component is needed to be added for testing the height change of the vehicle, so that the method is low in cost and easy to implement.
However, it should be noted that in the embodiment of the present application, the height change may be integrated into the parking system by integrating the height sensor 141 and the calculating module 142 inside the parking adjuster 110, so as to achieve the purpose of accurate parking.
In a specific implementation, as shown in fig. 2, the parking adjuster 110 may include: an echo height threshold calibration unit 111 and a sensitivity calibration unit 112.
It can be understood that the echo refers to a reflected wave formed after the ultrasonic sensor transmits the ultrasonic wave and meets an obstacle; the echo height threshold is a preset minimum amplitude of the echo which can be received by the ultrasonic receiver. When the actual echo amplitude is smaller than the preset echo height threshold, the ultrasonic sensor cannot receive the reflected wave; the ultrasonic sensor can receive the reflected wave only when the actual echo amplitude is greater than or equal to a preset echo height threshold.
The echo height threshold value calibration unit 111 may be directly connected to the adaptive headlamp apparatus 140, and the sensitivity calibration unit 112 is respectively connected to the echo height threshold value calibration unit 111 and the ultrasonic sensor 130. In the echo height threshold calibration unit 111, a preset correspondence relationship between the height variation and the echo height threshold is preset and stored; in the sensitivity calibration unit 112, a preset correspondence relationship between the echo height threshold and the sensitivity is preset and stored.
The echo height threshold value calibration unit 111 obtains the height variation sent by the adaptive headlamp apparatus 140, and the echo height threshold value calibration unit 111 determines the echo height threshold value corresponding to the received height variation according to the preset correspondence between the height variation and the echo height threshold value, and calibrates the determined echo height threshold value as the current echo height threshold value.
The sensitivity calibration unit 112 receives the echo height threshold calibrated by the echo height threshold calibration unit 111, determines the sensitivity corresponding to the received echo height threshold according to the preset correspondence between the echo height threshold and the sensitivity, and calibrates the current sensitivity with the determined sensitivity.
In some possible implementations, the correspondence between the height variation preset in the echo height threshold calibration unit 111 and the echo height threshold is represented as: when the height variation is a positive value, the echo height threshold is reduced; conversely, when the amount of altitude change is negative, the echo altitude threshold increases. The correspondence between the echo height threshold and the sensitivity preset in the sensitivity calibration unit 112 is represented as: when the echo height threshold is reduced, the sensitivity is increased; conversely, when the echo height threshold is increased, the sensitivity decreases.
In a specific implementation, as shown in FIG. 3, assume that the initial calibrated echo height threshold is y
0Initial calibration sensitivity is z
0The detection range is the region within the middle closed curve in fig. 3. In one case, when the height of the vehicle becomes high, the echo height threshold calibration unit 111 receives the height variation dx monitored by the adaptive headlamp device 140
1If the height variation is greater than zero, the echo height threshold calibration unit 111, according to the correspondence between the height variation dx and the echo height threshold y: y ═ f (dx), and the echo height threshold is calibrated to be y
1Since f () is an inverse proportional function, y
1Less than the initially calibrated echo height threshold y
0. At this time, the sensitivity calibration unit 112 receives the echo height threshold y calibrated by the echo height threshold calibration unit 111
1And y is
1<y
0Then, the sensitivity calibration unit 112 calculates the sensitivity according to the preset correspondence relationship between the echo height threshold y and the sensitivity z: z is g (y), and the sensitivity is calibrated to be z
1Since g () is an inverse proportional function, z
1Sensitivity z greater than initial calibration
0. Correspondingly, the detection range is the region within the outermost closed curve in fig. 3.
In another case, when the height of the vehicle becomes short, the echo height threshold calibration unit 111 receives the height variation dx monitored by the adaptive headlamp device 140
2If the height variation is smaller than zero, the echo height threshold calibration unit 111, according to the correspondence between the height variation dx and the echo height threshold y: y ═ f (dx), and the echo height threshold is calibrated to be y
2Since f () is an inverse proportional function, y
2Greater than the initially calibrated echo height threshold y
0. At this time, the sensitivity calibration unit 112 receives the echo height threshold y calibrated by the echo height threshold calibration unit 111
2And y is
2>y
0Then, the sensitivity calibration unit 112 calculates the sensitivity according to the preset correspondence relationship between the echo height threshold y and the sensitivity z: z is g (y), and the sensitivity is calibrated to be z
2Since g () is an inverse proportional function, z
2Sensitivity z less than initial calibration
0. Correspondingly, the detection range is the region within the innermost closed curve in fig. 3.
For convenience of understanding, the above correspondence relationship is explained by using a mathematical expression form, specifically: due to the preset correspondence relationship between the height variation dx and the echo height threshold y: f (dx), the preset corresponding relation between the echo height threshold value y and the sensitivity z: z ═ g (y). Where dx represents the amount of height change, y represents the echo height threshold, and z represents the sensitivity. It is understood that the corresponding relationship between the sensitivity z and the height change dx is: z is a radical of
i＝z
0+g[f(dx
i)]Wherein z is
0For initial calibration of sensitivity, dx
iFor the amount of change in the monitored height, z
iIs the sensitivity that should be calibrated currently. Then, when dx
i>0, f (dx)
i) Decrease, g [ f (dx)
i)]Increase, then z
i>z
0(ii) a When dx
i<0, f (dx)
i) Increase, g [ f (dx)
i)]Decrease, then z
i<z
0。
It is understood that, as shown in fig. 4, when the nominal unloaded height is the reference height value, the detection range of the ultrasonic sensor 130 is "exemplary detection area" illustrated as a in fig. 4; at this time, once the vehicle is loaded, the height of the vehicle is lowered, and then the detection range of the ultrasonic sensor 130 is "an example detection region" illustrated in b of fig. 4. It can be seen that when the vehicle height is lowered, the ultrasonic sensor 130 reduces the detection range due to the reduction in sensitivity, avoiding the problem of monitoring sand and the like of the road surface as an obstacle. When the calibrated full load height is the reference height value, the detection range of the ultrasonic sensor 130 is an "example detection region" illustrated in b in fig. 4; at this time, once the load of the vehicle is reduced, the height of the vehicle is increased, and then the detection range of the ultrasonic sensor 130 is "an example detection region" illustrated in a of fig. 4. It can be seen that when the vehicle height rises, the ultrasonic sensor 130 expands the detection range due to the increased sensitivity, and can accurately detect short obstacles around the vehicle.
Therefore, when the vehicle is changed from no-load to full-load, namely the height is reduced, the sensitivity calibrated by the parking regulator 110 is reduced, the false alarm of sand and stone is avoided, and accurate parking is realized; when the vehicle is unloaded from a full load state, that is, the vehicle height is increased, the sensitivity calibrated by the parking adjuster 110 is increased, so that the detection area of the ultrasonic sensor 130 is enlarged, and the obstacle can be accurately detected, thereby accurately parking the vehicle.
It should be noted that the parking regulator 110 calibrates the sensitivity by using a method of calibrating the sensitivity according to the correspondence between the echo height threshold and the sensitivity. In a specific implementation, the echo height threshold and the echo width threshold may be combined together, and sensitivity calibration is performed according to a correspondence between the echo height threshold and the echo width threshold and sensitivity, which is not described in detail in this embodiment. After the parking adjuster 110 calibrates the sensitivity, the sensitivity needs to be sent to the ultrasonic sensor 130 connected to the parking adjuster, so that the ultrasonic sensor 130 transmits the ultrasonic wave corresponding to the sensitivity according to the sensitivity to perform obstacle monitoring, and obtain a monitoring result.
In a specific implementation, when the vehicle height rises, the sensitivity calibrated and sent by the parking adjuster 110 is larger, and the ultrasonic sensor 130 monitors the obstacle according to the sensitivity, so that relatively, the monitoring range is larger, and a shorter obstacle is easier to monitor, and the detection performance of the ultrasonic sensor 130 is ensured. On the contrary, when the vehicle height is reduced, if the sensitivity calibrated and transmitted by the parking adjuster 110 is smaller, the ultrasonic sensor 130 monitors the obstacle according to the sensitivity, and relatively speaking, the smaller the monitoring range is, the easier it is to avoid the problem that the sand and gravel on the road surface are mistakenly monitored as the obstacle due to the reduction of the vehicle height, and the same ensures the detection performance of the ultrasonic sensor 130.
Therefore, due to the fact that the vehicle height variation is fused, the sensitivity of the ultrasonic sensor 130 can be adjusted flexibly according to the vehicle height variation accurately, and the obstacle can be monitored accurately as a monitoring result.
After the ultrasonic sensor 130 obtains the monitoring result, the monitoring result needs to be sent to the parking controller 120 connected to the ultrasonic sensor, so that the parking controller 120 controls the vehicle to park according to the monitoring result.
In a specific implementation, as an example, the parking controller 120 may draw a parking path of the vehicle at this time according to the monitoring result, and control the vehicle to park according to the drawn parking path. The parking path is a route from the current position of the vehicle to the parking position by bypassing the obstacle.
As another example, the parking controller 120 may send the monitoring result to the map software on board the vehicle, or to the map software on the user terminal; and installing the received monitoring result by the map software, drawing a parking path of the vehicle at the moment, returning the parking path to the parking controller 120, and controlling the vehicle to park correspondingly by the received parking path installed by the parking controller 120.
It can be understood that the parking controller 120 may guide the driver of the vehicle to park the vehicle at a designated location in the form of indication information such as voice or text, so as to complete parking; the parking controller 120 may also directly control a steering wheel of the vehicle to control the vehicle to enter a designated parking place, so as to complete parking.
According to the parking system, the height variation of the vehicle is obtained through the self-adaptive headlamp device capable of monitoring the height variation of the vehicle in real time; according to the obtained height variation of the vehicle, the parking regulator correspondingly adjusts the sensitivity according to the preset corresponding relation between the height variation and the sensitivity; and the ultrasonic sensor monitors the obstacles according to the adjusted sensitivity, so that the parking controller controls the vehicle to park according to the corresponding parking route according to the monitoring result of the ultrasonic sensor. Therefore, the parking system provided by the invention can adaptively adjust the sensitivity of the ultrasonic sensor according to the height change of the vehicle and the height change of the vehicle through the adaptive headlamp device, so that the parking system can accurately detect the obstacles under various load working conditions, the detection performance of the parking system on the obstacles is improved, the adaptive intelligent parking is realized, and the parking system has great significance for reducing traffic accidents and protecting life safety.
The embodiment of the invention also provides a parking control method, and referring to fig. 5, a flowchart of the parking control method provided by the embodiment of the invention is shown. The method comprises the following steps:
step 501, monitoring the height change of a vehicle to obtain the height change of the vehicle;
step 502, correspondingly adjusting the sensitivity according to the height variation according to a preset corresponding relation between the height variation and the sensitivity;
step 503, monitoring the obstacle according to the sensitivity to obtain a monitoring result;
and step 504, controlling the vehicle to park according to the monitoring result.
Optionally, the monitoring the height change of the vehicle and obtaining the height change amount of the vehicle includes:
monitoring an electrical signal corresponding to a change in height of the vehicle;
and calculating the height variation of the vehicle according to the electric signal.
Optionally, the correspondingly adjusting the sensitivity according to the height variation according to the preset correspondence between the height variation and the sensitivity includes:
acquiring the height variation, and calibrating the echo height threshold according to a preset corresponding relation between the height variation and the echo height threshold;
and acquiring the echo height threshold, and calibrating the sensitivity according to a preset corresponding relation between the echo height threshold and the sensitivity.
Optionally, the preset correspondence between the height variation and the echo height threshold is represented as: when the height variation is a positive value, the echo height threshold is reduced;
the corresponding relation between the preset echo height threshold and the sensitivity is represented as follows: the sensitivity is increased when the echo height threshold is decreased.
Optionally, the obstacle monitoring is performed according to the sensitivity to obtain a monitoring result, specifically:
and acquiring the sensitivity, and monitoring the obstacles according to the sensitivity, wherein if the sensitivity is higher, the monitoring result is easier to include short obstacles.
The above description is a parking control method, wherein specific implementation manners and achieved effects can be referred to the description of the embodiment of the parking system shown in fig. 1 or fig. 2, and are not described again here.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (10)
1. A parking system, characterized by comprising:
a parking regulator, a parking controller, an ultrasonic sensor, and an adaptive headlamp apparatus;
the parking regulator and the parking controller are respectively connected with the ultrasonic sensor, and the parking regulator is connected with the adaptive headlamp device;
the adaptive headlamp device is used for monitoring the height change of a vehicle and obtaining the height change quantity of the vehicle;
the parking adjuster is used for acquiring the height variation and correspondingly adjusting the sensitivity according to the height variation according to a preset corresponding relation between the height variation and the sensitivity;
the ultrasonic sensor is used for acquiring the sensitivity and monitoring the obstacles according to the sensitivity to obtain a monitoring result;
and the parking controller is used for controlling the vehicle to park according to the monitoring result.
2. The parking system of claim 1, wherein the adaptive headlamp arrangement comprises a height sensor and a calculation module;
the height sensor is used for monitoring an electric signal corresponding to the height change of the vehicle and sending the electric signal to the computing module;
the calculation module is used for calculating the height variation of the vehicle according to the electric signal.
3. The vehicle parking system of claim 2 wherein the height sensor is a hall height sensor.
4. A parking system according to any one of claims 1 to 3 wherein the parking modulator comprises: the device comprises an echo height threshold value calibration unit and a sensitivity calibration unit;
the echo height threshold calibration unit is used for acquiring the height variation and calibrating the echo height threshold according to the corresponding relation between the preset height variation and the echo height threshold;
and the sensitivity calibration unit is used for acquiring the echo height threshold value and calibrating the sensitivity according to the preset corresponding relation between the echo height threshold value and the sensitivity.
5. The vehicle parking system of claim 4 wherein,
the corresponding relationship between the preset height variation and the echo height threshold is represented as follows: when the height variation is a positive value, the echo height threshold is reduced;
the corresponding relation between the preset echo height threshold and the sensitivity is represented as follows: the sensitivity is increased when the echo height threshold is decreased.
6. The vehicle parking system of claim 5 wherein,
the ultrasonic sensor is specifically configured to acquire the sensitivity and perform obstacle monitoring according to the sensitivity, and if the sensitivity is higher, the obtained monitoring result is easier to include a short obstacle.
7. The parking system according to any one of claims 1 to 3,
the adaptive headlamp device is connected with the parking regulator through a CAN bus.
8. A parking control method characterized by comprising:
monitoring the height change of a vehicle to obtain the height change of the vehicle;
according to the corresponding relation between the preset height variation and the sensitivity, correspondingly adjusting the sensitivity according to the height variation;
monitoring the obstacles according to the sensitivity to obtain a monitoring result;
and controlling the vehicle to park according to the monitoring result.
9. The vehicle parking control method according to claim 8, wherein the adjusting the sensitivity according to the altitude change amount according to the preset correspondence between the altitude change amount and the sensitivity includes:
acquiring the height variation, and calibrating the echo height threshold according to a preset corresponding relation between the height variation and the echo height threshold;
and acquiring the echo height threshold, and calibrating the sensitivity according to a preset corresponding relation between the echo height threshold and the sensitivity.
10. The vehicle parking control method according to claim 9,
the corresponding relationship between the preset height variation and the echo height threshold is represented as follows: when the height variation is a positive value, the echo height threshold is reduced;
the corresponding relation between the preset echo height threshold and the sensitivity is represented as follows: the sensitivity is increased when the echo height threshold is decreased.
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