Limiting stopper recognition control method for automatic parking of electric automobile

Abstract

The invention provides an identification control method for a limiter for automatic parking of an electric vehicle, and the method comprises the steps: calculating and analyzing a change relation between a motor loading torque and a vehicle speed in a parking process through an automatic parking system according to a vehicle speed signal, a slope signal, a motor torque signal and a gear signal, and judging whether the vehicle rolls a higher object such as the limiter or not. When the condition meets the condition that the system recognizes that the vehicle rolls to the limiting stopper, the automatic parking system calculates the torque value needed by reverse low-speed running of the vehicle according to the gradient signal, and meanwhile the gear controller is requested to shift to the reverse gear of the current gear; and when the vehicle enters the reverse gear and travels for a certain distance, and the posture of the vehicle meets the front-back and left-right distance and deflection angle deviation range with the parking space line or surrounding obstacles, the system judges that the vehicle meets the parking completion condition, and parking is completed. The device can effectively improve the situation that when a vehicle presses the limiting block in the automatic parking process, a tire rolls the limiting block for a long time and is damaged, and the potential safety hazard that the vehicle crosses the limiting block is eliminated.

Description

technical field [0001] The invention relates to the technical field of automatic parking, in particular to a limiter identification control method for automatic parking of an electric vehicle. Background technique [0002] At present, major car companies and industry-related parts companies are committed to the development of the "new four modernizations" (electricalization, intelligence, networking and sharing) of automobiles, and have launched intelligent driving, automatic parking and other intelligent Function. In particular, the automatic parking function has almost become the highlight of the intelligent promotion of new models of major brands. The so-called automatic parking is to sense the environment through the sensors installed around the car body to recognize the parking space intelligently, and then establish the spatial coordinates to plan the corresponding trajectory. The driving device is controlled by the algorithm according to the pre-set mathematical mode...

AI Technical Summary

Problems solved by technology

It can be seen from the above scheme that Document 1 only involves the identification of the limiter. If the wheel rolls over the limiter, an alarm will be issued, and the subsequent driver will take over manually. Therefore, the automatic return function cannot be realized. fully automatic parking

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