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Herringbone vertical auxiliary parking method and device

A kind of auxiliary parking, herringbone type technology, applied in the direction of the control device, etc., can solve the problem of not using the herringbone vertical parking auxiliary parking method and the like

Inactive Publication Date: 2018-10-09
CHERY AUTOMOBILE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, there is no auxiliary parking method using herringbone vertical parking on the market

Method used

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  • Herringbone vertical auxiliary parking method and device
  • Herringbone vertical auxiliary parking method and device
  • Herringbone vertical auxiliary parking method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0071] This embodiment provides a herringbone vertical auxiliary parking method, such as figure 1 As shown, steps S101 , S102 , S103 , S104 , S105 , S106 , S107 , S108 , S109 , S110 and S111 are included, and each step will be described in detail below.

[0072] In step S101, when the vehicle is moving forward, the width of the parking space beside the vehicle measured by the ultrasonic sensor on the vehicle side and the wheel speed pulse sensor is received. The first distance traveled by the vehicle measured by the wheel speed pulse sensor between the first moment when the lateral distance on one side of the parking space jumps from small to large and the second moment when it jumps from large to small.

[0073] In step S102, according to the width of the parking space beside the vehicle, it is judged whether the parking space beside the vehicle is a parking space that can be parked.

[0074] In step S103, when it is determined that the parking space next to the vehicle is a...

Embodiment 2

[0101] The herringbone vertical assisted parking method that present embodiment provides, as figure 2 As shown, steps S201, S202, S203, S204, S205, S206, S207, S208, S209, S210 and S211 are included.

[0102] The scheme flow chart of the herringbone vertical auxiliary parking method provided by the embodiment of the present invention is as follows image 3 As shown, taking the parking space on the right side of the vehicle as an example, the specific process is as follows: the vehicle drives forward, measures the width of the parking space next to the vehicle, and judges whether the parking space next to the vehicle is a parking space that can be parked. If the parking space can be parked, the driver will be prompted to continue driving forward. If it is judged that the parking space next to the car is a parking space that can be parked, the vehicle will be stopped and reversed. When the rear wheels of the vehicle enter the parking space, the first driving Distance threshold...

Embodiment 3

[0177] This embodiment provides a herringbone vertical auxiliary parking device, such as Figure 6 As shown, it includes an environmental parameter receiving module 301, a parking space judgment module 302, a first stage module 303, a second stage module 304, a third stage module 305, a fourth stage module 306, a fifth stage module 307, and a sixth stage module 308 , the seventh stage module 309 , the eighth stage module 310 and the ninth stage module 311 .

[0178] The scheme flow diagram that the embodiment of the present invention provides is as follows image 3 As shown, taking the parking space on the right side of the vehicle as an example, the specific process is as follows: the vehicle drives forward, measures the width of the parking space next to the vehicle, and judges whether the parking space next to the vehicle is a parking space that can be parked. If the parking space can be parked, the driver will be prompted to continue driving forward. If it is judged that ...

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PUM

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Abstract

The invention provides a herringbone vertical auxiliary parking method and device, and belongs to the technical field of automatic driving. The herringbone vertical auxiliary parking method comprise the steps that a vehicle drives ahead, when an available parking space is judged according to the measured width of a parking space near the vehicle, the vehicle is stopped and begins to back up, whenrear wheels of the vehicle enter the parking space and the vehicle drives a first driving distance threshold again, the vehicle is stopped and a steering wheel is controlled to steer to the other sideof the available parking space to the limit position, and the vehicle drives ahead; when the distance between a vehicle head and an obstacle in the front is a first safety distance threshold, the vehicle is stopped and a first turning angle is calculated; the vehicle backs up, the steering wheel is steered to the side of the available parking space to the limit position, and a second turning angle is calculated in real time; when an angle valve obtained by summing the second turning angle and the first turning angle is equal to a first angle threshold, the steering wheel is returned to the center; and when the distance between the tail portion of the vehicle and an obstacle in the rear is a second safe distance threshold, the vehicle is stopped. Therefore, the vehicle can imitate a skilled driver, and herringbone vertical parking can be better realized.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a herringbone vertical auxiliary parking method and device. Background technique [0002] In recent years, with the continuous improvement of people's quality of life, the number of family cars has continued to increase, making the originally narrow public parking area more and more tense. Parking in a parking space with a small space and complex environment is a problem that most drivers need to face. Due to the lack of driving experience, new drivers often cannot complete the parking quickly and accurately at one time, and need to try again and again, which will not only increase the driver's sense of tension and impatience, but also may cause traffic jams and even cause traffic accidents. Statistical results show that: accidents caused by parking have accounted for 44% of all traffic accidents. [0003] Parking has its own skills, and skilled drivers can use corres...

Claims

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Application Information

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IPC IPC(8): B60W30/06B60W50/14
CPCB60W30/06B60W50/14B60W2050/146B60W2520/28
Inventor 贺容波杜金枝邓书朝
Owner CHERY AUTOMOBILE CO LTD