CN111114536A - Automatic parking control method and device for vehicle - Google Patents
Automatic parking control method and device for vehicle Download PDFInfo
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- CN111114536A CN111114536A CN202010069641.8A CN202010069641A CN111114536A CN 111114536 A CN111114536 A CN 111114536A CN 202010069641 A CN202010069641 A CN 202010069641A CN 111114536 A CN111114536 A CN 111114536A
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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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Abstract
The invention discloses a method and a device for controlling automatic parking of a vehicle. In the automatic parking process, the path is updated according to the path information and the state information of the vehicle, so that the accurate tracking of the parking track is ensured, the automatic parking system is suitable for various scenes, and meanwhile, longitudinal and transverse control parameters can be generated, so that the control process is more accurate.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a method and a device for controlling automatic parking of a vehicle.
Background
Along with the development of the automobile auxiliary driving technology, the automobile intelligent development trend is rapid. As the number of cars increases and the available parking area is limited, the difficulty of parking is greatly increased and automatic parking systems have come to light.
An Automatic Parking System (APS) is mainly composed of a sensing unit, a central controller, a steering execution mechanism and a man-machine interaction module. In the existing automatic parking system, a central controller tracks and controls a trajectory based on PID (proportional integral derivative) state feedback, but the trajectory tracking and controlling process based on PID state feedback does not consider the dynamic characteristics of a vehicle system and the dynamic variation characteristics of a path, so that the robustness to external interference is poor, and in a special application scene, a tracking error of a parking path occurs, so that the automatic parking control is inaccurate.
Disclosure of Invention
In order to solve the problems, the invention provides a method and a device for controlling automatic parking of a vehicle, which realize real-time updating of parking tracks aiming at different path scenes, ensure accurate tracking of the tracks and improve the accuracy of automatic parking control.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic parking control method for a vehicle, the method comprising:
obtaining a parking track path;
updating the parking track path based on the information of the path where the vehicle is located and the information of the vehicle state to obtain a target parking track path;
generating longitudinal control parameters and transverse control parameters based on the target parking track path;
and outputting the longitudinal control parameter and the transverse control parameter value to the vehicle, so that the vehicle completes automatic parking based on the longitudinal control parameter and the transverse control parameter.
Optionally, the obtaining a parking trajectory path includes:
collecting vehicle data matched with a current vehicle;
and generating a parking track path according to the vehicle data.
Optionally, the generating longitudinal control parameters and transverse control parameters based on the target parking trajectory path includes:
generating longitudinal control parameters based on an error value of the current trajectory of the vehicle and the target parking trajectory path, the longitudinal control parameters including one or more of throttle opening, brake pressure, and acceleration;
the method comprises the steps of obtaining current front wheel steering angle parameters of a vehicle, and generating transverse control parameters based on the front wheel steering angle parameters, wherein the transverse control parameters represent steering wheel control parameters.
Optionally, the method further comprises:
and in the process of automatic parking of the vehicle, acquiring vehicle position information in real time, and updating the target parking path track based on the vehicle position information.
Optionally, the generating lateral control parameters includes:
generating lateral control parameters based on a pre-created lateral controller, wherein the lateral controller is obtained by designing a dynamic model according to LQR.
An automatic parking control apparatus for a vehicle, the apparatus comprising:
the parking track path acquiring unit is used for acquiring a parking track path;
the first updating unit is used for updating the parking track path based on the information of the path where the vehicle is located and the information of the vehicle state to obtain a target parking track path;
the parameter generating unit is used for generating longitudinal control parameters and transverse control parameters based on the target parking track path;
and the parameter output unit is used for outputting the longitudinal control parameters and the transverse control parameter values to enable the vehicle to finish automatic parking based on the longitudinal control parameters and the transverse control parameters.
Optionally, the obtaining unit includes:
the acquisition subunit is used for acquiring vehicle data matched with the current vehicle;
and the track generation subunit is used for generating a parking track path according to the vehicle data.
Optionally, the parameter generating unit includes:
a first generation subunit, configured to generate a longitudinal control parameter based on an error value between a current trajectory of the vehicle and the target parking trajectory path, where the longitudinal control parameter includes one or more of a throttle opening, a brake pressure, and an acceleration;
and the second generation subunit is used for acquiring the current front wheel steering angle parameter of the vehicle and generating a transverse control parameter based on the front wheel steering angle parameter, wherein the transverse control parameter represents a steering wheel control parameter.
Optionally, the apparatus further comprises:
and the second updating unit is used for acquiring vehicle position information in real time in the automatic parking process of the vehicle and updating the target parking path track based on the vehicle position information.
Optionally, the second generating subunit is specifically configured to:
generating lateral control parameters based on a pre-created lateral controller, wherein the lateral controller is obtained by designing a dynamic model according to LQR.
Compared with the prior art, the invention provides the automatic vehicle parking control method and the automatic vehicle parking control device, the parking track path is obtained, the parking track path is updated based on the information of the path where the vehicle is located and the vehicle state information to obtain the target parking track path, and the longitudinal control parameter and the transverse control parameter are generated based on the target parking track roadbed, so that the automobile can finish automatic parking based on the longitudinal control parameter and the transverse control parameter. In the automatic parking process, the path is updated according to the path information and the state information of the vehicle, so that the accurate tracking of the parking track is ensured, the automatic parking system is suitable for various scenes, and meanwhile, longitudinal and transverse control parameters can be generated, so that the control process is more accurate.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for preventing an EEPROM memory area verification erroneous judgment according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a method for preventing misjudgment in a first mode according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an apparatus for preventing erroneous determination of EEPROM storage area verification according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first" and "second," and the like in the description and claims of the present invention and the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not set forth for a listed step or element but may include steps or elements not listed.
In an embodiment of the present invention, a method for controlling automatic parking of a vehicle is provided, and referring to fig. 1, the method may include the steps of:
and S101, obtaining a parking track path.
In the embodiment of the invention, the parking track path is obtained by collecting the vehicle data matched with the current vehicle; and generating a parking track path according to the vehicle data. The collection of vehicle data matched with the current vehicle refers to the collection of various sensor data on the vehicle, such as a camera, an ultrasonic radar, vehicle data and the like, and a parking track path is generated through an internal track planning algorithm.
And S102, updating the parking track path based on the information of the path where the vehicle is located and the information of the vehicle state to obtain a target parking track path.
In the embodiment of the invention, the parking track path generated by the algorithm is not directly used as the path for guiding automatic parking, but discharge is used for updating the path information based on the path information of the vehicle and the vehicle state information to obtain the target parking track path.
S103, generating longitudinal control parameters and transverse control parameters based on the target parking track path;
and S104, outputting the longitudinal control parameters and the transverse control parameter values to the vehicle, so that the vehicle finishes automatic parking based on the longitudinal control parameters and the transverse control parameters.
In the invention, the vehicle motion control is divided into longitudinal control and transverse control, and the processing is simplified. The vehicle speed and acceleration are controlled longitudinally using a PID control algorithm. The transverse control system uses an LQR algorithm, introduces a vehicle dynamics mode and has a good tracking effect.
Specifically, the generating of the longitudinal control parameter and the transverse control parameter based on the target parking trajectory path includes:
generating longitudinal control parameters based on an error value of the current trajectory of the vehicle and the target parking trajectory path, the longitudinal control parameters including one or more of throttle opening, brake pressure, and acceleration;
the method comprises the steps of obtaining current front wheel steering angle parameters of a vehicle, and generating transverse control parameters based on the front wheel steering angle parameters, wherein the transverse control parameters represent steering wheel control parameters. Generating lateral control parameters based on a pre-created lateral controller, wherein the lateral controller is obtained by designing a dynamic model according to LQR.
Correspondingly, the method further comprises the following steps:
and in the process of automatic parking of the vehicle, acquiring vehicle position information in real time, and updating the target parking path track based on the vehicle position information.
The invention provides a vehicle automatic parking control method, which comprises the steps of obtaining a parking track path, updating the parking track path based on the information of the path where a vehicle is located and the vehicle state information to obtain a target parking track path, and generating a longitudinal control parameter and a transverse control parameter based on a target parking track roadbed, so that an automobile can finish automatic parking based on the longitudinal control parameter and the transverse control parameter. In the automatic parking process, the path is updated according to the path information and the state information of the vehicle, so that the accurate tracking of the parking track is ensured, the automatic parking system is suitable for various scenes, and meanwhile, longitudinal and transverse control parameters can be generated, so that the control process is more accurate.
The following describes specific features implemented in the present application. Referring to fig. 2, a flowchart of a trajectory tracking and control method according to an embodiment of the present invention is shown. The process comprises the following steps:
a decision module: various sensor data such as a camera, an ultrasonic radar, vehicle data and the like are collected, an optimal parking track is generated through an internal track planning algorithm and is issued to a track tracking module, and a path is updated in real time according to the real-time state of the vehicle and the surrounding environment.
A track management module: and uniformly managing and updating the track issued by the decision layer, updating the tracking path and the track tracking state in real time, and informing the current state and the tracking error information to the decision module. And when the whole parking path is tracked, returning to the dial. Meanwhile, the track management module can also monitor the gear information fed back by the vehicle in real time, and compares the gear information with the gear information in the currently tracked path to determine whether the gear needs to be replaced.
Longitudinal control: by means of a PID control method, errors generated by tracking a parking path are adjusted, and finally vehicle control instructions (such as throttle opening, brake pressure, acceleration and deceleration and the like) are output to a vehicle.
And (3) transverse control:
the transverse control module is mainly responsible for controlling a steering wheel, and the module adopts a simplified two-wheel model to carry out vehicle dynamics model modeling and carries out stress balance analysis on the lateral direction and the vertical direction of a vehicle. In an automatic parking scene, the vehicle speed is low, the slip angle of the tire is small at the moment, the lateral force of the tire is in direct proportion to the slip angle of the tire under the condition of small-angle slip angle according to a magic formula, the stress analysis of a dynamic model can be further simplified, and the tracking deviation state equation of the system is finally obtained.
The LQR algorithm uses the dynamic model to design a transverse controller, and the core of LQR solution is to design an energy function, and an optimal control track should enable the energy function to be minimum. The general form of the energy function is as follows:
wherein Q is a semi-positive definite matrix, R is a positive definite matrix, and the Q and R matrixes of the LQR objective function need to be adjusted according to specific vehicles and scenes to obtain better tracking performance. And obtaining the optimal front wheel corner through the LQR, obtaining the optimal steering wheel control quantity through conversion, and controlling the transverse direction.
A positioning module: and the vehicle data and the IMU data are used for self-parking position updating, and the Kalman filtering is used in the positioning module for position prediction and updating so as to provide high-precision self-parking position information for other modules.
And if the current track tracking state is in tracking, starting transverse and longitudinal control, acquiring the position of the vehicle in real time, calculating a current vehicle control command (steering wheel angle, brake pressure, throttle opening and the like), and sending the current vehicle control command to the controlled vehicle for execution.
In the embodiment of the invention, the decision layer can issue the whole parking track once or in sections, and the track management module can carry out unified management on the received track, judge the latest state of the current track tracking in real time and determine whether to switch the track to continue tracking or not. In the process of track tracking, the real-time state and related information of track tracking can be informed outwards in real time for a decision layer to use; the motion control of the vehicle is decoupled, so that the processing is simplified and the control is easy; the PID can control the vehicle speed and acceleration well. The LQR can well solve the steady-state tracking error during curve driving, and the steady-state error approaches to zero during medium-speed curve driving, so that the tracking performance is greatly improved. The LQR is very suitable for expressway with smooth paths and city driving scenes, and has better high-speed control performance of vehicles.
Referring to fig. 3, in an embodiment of the present invention, there is provided an automatic parking control apparatus for a vehicle, the apparatus including:
an obtaining unit 10, configured to obtain a parking trajectory path;
the first updating unit 20 is configured to update the parking trajectory path based on the information of the path where the vehicle is located and the information of the vehicle state, so as to obtain a target parking trajectory path;
a parameter generating unit 30, configured to generate a longitudinal control parameter and a lateral control parameter based on the target parking trajectory path;
and the parameter output unit 40 is used for outputting the longitudinal control parameters and the transverse control parameter values to enable the vehicle to finish automatic parking based on the longitudinal control parameters and the transverse control parameters.
On the basis of the above embodiment, the acquiring unit includes:
the acquisition subunit is used for acquiring vehicle data matched with the current vehicle;
and the track generation subunit is used for generating a parking track path according to the vehicle data.
On the basis of the above embodiment, the parameter generation unit includes:
a first generation subunit, configured to generate a longitudinal control parameter based on an error value between a current trajectory of the vehicle and the target parking trajectory path, where the longitudinal control parameter includes one or more of a throttle opening, a brake pressure, and an acceleration;
and the second generation subunit is used for acquiring the current front wheel steering angle parameter of the vehicle and generating a transverse control parameter based on the front wheel steering angle parameter, wherein the transverse control parameter represents a steering wheel control parameter.
On the basis of the above embodiment, the apparatus further includes:
and the second updating unit is used for acquiring vehicle position information in real time in the automatic parking process of the vehicle and updating the target parking path track based on the vehicle position information.
On the basis of the foregoing embodiment, the second generation subunit is specifically configured to:
generating lateral control parameters based on a pre-created lateral controller, wherein the lateral controller is obtained by designing a dynamic model according to LQR.
The invention provides an automatic vehicle parking control device, which is characterized in that a parking track path is obtained through an obtaining unit, a first updating unit updates the parking track path based on the information of the path where a vehicle is located and the state information of the vehicle to obtain a target parking track path, and a parameter generating unit and a parameter output unit generate longitudinal control parameters and transverse control parameters based on a target parking track roadbed, so that an automobile can finish automatic parking based on the longitudinal control parameters and the transverse control parameters. In the automatic parking process, the path is updated according to the path information and the state information of the vehicle, so that the accurate tracking of the parking track is ensured, the automatic parking system is suitable for various scenes, and meanwhile, longitudinal and transverse control parameters can be generated, so that the control process is more accurate.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An automatic parking control method for a vehicle, characterized by comprising:
obtaining a parking track path;
updating the parking track path based on the information of the path where the vehicle is located and the information of the vehicle state to obtain a target parking track path;
generating longitudinal control parameters and transverse control parameters based on the target parking track path;
and outputting the longitudinal control parameter and the transverse control parameter value to the vehicle, so that the vehicle completes automatic parking based on the longitudinal control parameter and the transverse control parameter.
2. The method of claim 1, wherein the obtaining a parking trajectory path comprises:
collecting vehicle data matched with a current vehicle;
and generating a parking track path according to the vehicle data.
3. The method of claim 1, wherein generating longitudinal control parameters and lateral control parameters based on the target parking trajectory path comprises:
generating longitudinal control parameters based on an error value of the current trajectory of the vehicle and the target parking trajectory path, the longitudinal control parameters including one or more of throttle opening, brake pressure, and acceleration;
the method comprises the steps of obtaining current front wheel steering angle parameters of a vehicle, and generating transverse control parameters based on the front wheel steering angle parameters, wherein the transverse control parameters represent steering wheel control parameters.
4. The method of claim 1, further comprising:
and in the process of automatic parking of the vehicle, acquiring vehicle position information in real time, and updating the target parking path track based on the vehicle position information.
5. The method of claim 3, wherein the generating lateral control parameters comprises:
generating lateral control parameters based on a pre-created lateral controller, wherein the lateral controller is obtained by designing a dynamic model according to LQR.
6. An automatic parking control apparatus for a vehicle, characterized in that the apparatus comprises:
the parking track path acquiring unit is used for acquiring a parking track path;
the first updating unit is used for updating the parking track path based on the information of the path where the vehicle is located and the information of the vehicle state to obtain a target parking track path;
the parameter generating unit is used for generating longitudinal control parameters and transverse control parameters based on the target parking track path;
and the parameter output unit is used for outputting the longitudinal control parameters and the transverse control parameter values to enable the vehicle to finish automatic parking based on the longitudinal control parameters and the transverse control parameters.
7. The apparatus of claim 6, wherein the obtaining unit comprises:
the acquisition subunit is used for acquiring vehicle data matched with the current vehicle;
and the track generation subunit is used for generating a parking track path according to the vehicle data.
8. The apparatus of claim 6, wherein the parameter generating unit comprises:
a first generation subunit, configured to generate a longitudinal control parameter based on an error value between a current trajectory of the vehicle and the target parking trajectory path, where the longitudinal control parameter includes one or more of a throttle opening, a brake pressure, and an acceleration;
and the second generation subunit is used for acquiring the current front wheel steering angle parameter of the vehicle and generating a transverse control parameter based on the front wheel steering angle parameter, wherein the transverse control parameter represents a steering wheel control parameter.
9. The apparatus of claim 6, further comprising:
and the second updating unit is used for acquiring vehicle position information in real time in the automatic parking process of the vehicle and updating the target parking path track based on the vehicle position information.
10. The apparatus according to claim 8, wherein the second generating subunit is specifically configured to:
generating lateral control parameters based on a pre-created lateral controller, wherein the lateral controller is obtained by designing a dynamic model according to LQR.
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| CN202010069641.8A CN111114536A (en) | 2020-01-21 | 2020-01-21 | Automatic parking control method and device for vehicle |
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| CN113419420A (en) * | 2021-06-30 | 2021-09-21 | 东风悦享科技有限公司 | Tracking control method and system for vehicle linear two-degree-of-freedom dynamic model |
| CN113753082A (en) * | 2021-09-17 | 2021-12-07 | 京东鲲鹏(江苏)科技有限公司 | Unmanned vehicle track updating method and device, control method and electronic equipment |
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