Automatic parking control system, probe module, vehicle and automatic parking control method

Abstract

The invention discloses an automatic parking control system. The system comprises a plurality of probe modules and a parking execution module. Each probe module comprises a probe unit and a chip unit,the probe unit is used for transmitting an ultrasonic signal and receiving an echo signal corresponding to the ultrasonic signal, the chip unit comprises a processing subunit, the processing subunitis used for, in the location mode, calculating the distance between a parking vehicle and an obstacle based on the ultrasonic signal and the echo signal and identifying the parking space according tothe distance, and in the automatic parking mode, determining the starting position of the parking vehicle based on the distance between the parking vehicle and the obstacle in the adjacent parking space and the vehicle body angle of the parking vehicle to the parking space, calculating the trajectory, and generating a parking control signal. The parking execution module is used for controlling theparking vehicle to park according to the parking control signal. The automatic parking control system can shorten the transmission time of a probe detection signal. The invention also discloses the probe module, a vehicle and an automatic parking control method.

Description

technical field [0001] The invention belongs to the technical field of vehicles, and in particular relates to an automatic parking control system, a probe module for automatic parking, a vehicle, and an automatic parking control method. Background technique [0002] Existing automatic parking control systems, such as figure 1 As shown, 4 parking probes and 6 reversing radar probes are installed on the periphery of the vehicle, and the parking ECU (Electronic Control Unit, electronic control unit) acts as the main controller (host), through direct sampling or LIN bus or CAN (Controller Area Network, controller area network bus) bus respectively reads 4 parking probes (slave) and 6 reversing radar probes (slave) in a polling manner, identifies and calculates parking space information and obstacle information, and then performs parking Car algorithm analysis and judgment, and communication with executive components through CAN bus, for example, smart key system, ESP (Electroni...

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Problems solved by technology

[0003] However, the probe passively waits to receive the control command from the parking ECU, and then performs configuration and measurement distance information transmission. Due to the large number of probes and the low bus transmission rate, too much time is wasted on polling and waiting, especially in When searching for a parking space, if the speed of the vehicle exceeds 20km/h, t

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