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Automatic driving vehicle parking control method and device

A technology of automatic driving and control method, applied in the direction of control device, etc., can solve the problems of uneven parking brake, large change of deceleration, uneven parking brake, etc., to achieve accurate parking, improve comfort, guarantee The effect of smoothness

Active Publication Date: 2021-02-12
ZHENGZHOU YUTONG BUS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a parking control method for an automatic driving vehicle, which is used to solve the problem that the existing control method takes speed as the output PID control, and the deceleration changes greatly during parking, resulting in uneven parking brake; at the same time, it also provides a A parking control device for an automatic driving vehicle, which is used to solve the problem that the PID control of the existing control device takes speed as the output, and the deceleration changes greatly during parking, resulting in uneven parking braking.

Method used

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  • Automatic driving vehicle parking control method and device
  • Automatic driving vehicle parking control method and device
  • Automatic driving vehicle parking control method and device

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Embodiment Construction

[0023] Embodiment of the parking control method of the automatic driving vehicle:

[0024] The self-driving vehicle parking control method proposed in this embodiment is based on figure 1 The vehicle entry control system shown includes a detection unit, a control unit and an execution unit. The detection unit includes a positioning system, an inertial navigation system, and a vehicle speed sensor, the control unit includes a controller, and the execution unit includes a braking system (ie, a brake). TCP / IP) carries out data communication, adopts CAN bus line to carry out communication in the present embodiment. Of course, the implementation of the method is not limited to this vehicle entry control system.

[0025] The positioning system is used to measure the current position of the vehicle and the position of the target stop to obtain the actual distance from the station; the inertial navigation system is used to measure the current acceleration / deceleration of the vehicle...

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Abstract

The invention relates to an automatic driving vehicle parking control method and device, and belongs to the technical field of automatic driving passenger cars. The control method comprises the following steps of obtaining the actual off-station distance between a vehicle and a front parking point, the current deceleration of the vehicle and the current vehicle speed, and estimating the braking distance according to the current deceleration of the vehicle and the current vehicle speed; obtaining a parking control error according to the difference between the actual off-station distance and thebraking distance; obtaining a given deceleration through PID control according to the parking control error; controlling the brake using the difference between the given deceleration and the currentdeceleration as a controlled variable for brake control or using the given deceleration as a controlled variable for brake control. According to the method, the deceleration is controlled according tothe error between the actual off-station distance and the estimated braking distance, and then the brake is controlled to decelerate, so that the vehicle can be stably parked.

Description

technical field [0001] The invention relates to a parking control method and device for an automatic driving vehicle, and belongs to the technical field of automatic driving passenger cars. Background technique [0002] In the process of driving the vehicle to stop, the existing drivers mostly step on the brakes intermittently until the vehicle stops, and there are also situations in which they step on the brakes until the vehicle stops. The ideal vehicle braking process should be to apply the braking force gradually and gradually. To ensure high-efficiency parking while avoiding poor human experience caused by large deceleration changes, the existing automatic control technology requires more stringent control of vehicle parking in order to be closer to human judgment when controlling vehicle parking. The automatic control technology generally controls the vehicle speed through PID based on the distance, and finally realizes the automatic control of vehicle parking. However...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/06B60W40/02B60W40/10B60W40/105B60W50/00
CPCB60W30/06B60W40/02B60W40/10B60W40/105B60W50/00B60W2050/0011
Inventor 左帅朱敏李钰锐李兴佳蔡礼松张立增
Owner ZHENGZHOU YUTONG BUS CO LTD
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