Parking control method, device and equipment based on motor rotation angle and storage medium

Abstract

The invention discloses a parking control method, device and equipment based on a motor rotation angle and a storage medium, and relates to the technical field of vehicle control, and the parking control method comprises the steps that the motor rotation angle, vehicle driving information and an actual parking distance are acquired, and the vehicle driving distance is obtained according to the motor rotation angle and the vehicle driving information; and comparing the running distance of the vehicle with the actual parking distance to obtain a residual parking distance, and controlling the parking of the vehicle based on the residual parking distance. The vehicle driving distance is accurately calculated through the motor rotation angle and compared with the actual parking distance, accurate parking control is achieved, the accuracy of the parking driving distance is improved, and the driving experience is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a parking control method, device, equipment and storage medium based on a motor rotation angle. Background Art

[0002] With the rapid development of the new energy vehicle market, fully automatic parking function (APA) has gradually become a standard feature of many models. This function can not only significantly reduce the driver's driving burden, but also provide a safer and more convenient parking experience, especially for novice drivers. However, since different manufacturers use different control strategies when developing the APA function, the performance of the APA function in actual use varies, and the user experience also varies.

[0003] At present, the realization of fully automatic parking systems mainly relies on ultrasonic sensors and image recognition technology. Among them, image-based automatic parking systems are widely used due to their high popularity. Such systems use on-board cameras to capture environmental information, identify parking spaces through image processing technology, and guide the vehicle to complete parking actions. In contrast, although the system based on ultrasonic sensors is lower in cost, its detection range is limited and there are certain blind spots, especially in complex parking environments, and its performance may be limited.

[0004] Although the existing automatic parking technology has made certain progress, there are still some obvious shortcomings. First, in low-speed scenarios, when using wheel speed signals or motor speed signals to calculate the vehicle speed, due to the characteristics of the signal itself, the calculated vehicle speed is often too high, which in turn affects the accuracy of the vehicle's driving trajectory. Secondly, when the vehicle is starting, accelerating, decelerating, etc., the control system is not precise enough to control the vehicle speed, which is prone to speed overshoot, making the driver feel uneasy. In addition, excessive braking may occur during braking, resulting in excessive deceleration, which brings an uncomfortable riding experience to passengers. These problems not only affect the user's experience, but may also lead to user complaints about the product. Therefore, improving the accuracy of vehicle distance calculation in the automatic parking system and improving the smoothness and accuracy of vehicle driving control have become key issues that need to be solved urgently. Summary of the invention

[0005] The main purpose of the present application is to provide a parking control method, device and equipment based on motor angle, aiming to solve the technical problem of how to improve the accuracy of the driving distance of a parked vehicle.

[0006] To achieve the above objectives, the present application proposes a parking control method based on motor rotation angle, the method comprising:

[0007] Obtain motor rotation angle, vehicle driving information and actual parking distance;

[0008] Obtaining a vehicle travel distance according to the motor rotation angle and the vehicle travel information;

[0009] Comparing the vehicle travel distance with the actual parking distance to obtain a remaining parking distance;

[0010] Parking of the vehicle is controlled based on the remaining parking distance.

[0011] In one embodiment, the step of controlling the parking of the vehicle based on the remaining parking distance further includes:

[0012] According to the vehicle driving information, obtaining the current vehicle speed;

[0013] setting a target vehicle speed according to the remaining parking distance;

[0014] Calculating based on the current vehicle speed and the target vehicle speed through a PI control strategy to obtain an adjusted motor speed;

[0015] The current vehicle speed is adjusted based on the adjusted motor speed, thereby controlling the parking of the vehicle.

[0016] In one embodiment, the step of calculating based on the current vehicle speed and the target vehicle speed through a PI control strategy to obtain an adjusted motor speed includes:

[0017] Obtaining a deviation value according to the current vehicle speed and the target vehicle speed;

[0018] According to the PI control strategy, a proportional gain and an integral gain are determined;

[0019] Obtaining a proportional term according to the deviation value and the proportional gain;

[0020] Obtaining an integral term according to the deviation value and the integral gain;

[0021] Calculating according to the proportional term and the integral term to obtain an adjusted motor speed;

[0022] After the step of calculating according to the proportional term and the integral term to obtain the adjusted motor speed, the method further includes:

[0023] Real-time monitoring of the vehicle's current speed;

[0024] The proportional gain and the integral gain are adjusted according to the current speed of the vehicle to obtain the motor speed under different driving conditions.

[0025] In one embodiment, the step of obtaining the vehicle travel distance according to the motor rotation angle and the vehicle travel information includes:

[0026] According to the vehicle driving information, a tire rolling radius, a motor rotation number and a motor speed are obtained;

[0027] Calculate the tire rolling length according to the number of revolutions of the motor and the rotation speed;

[0028] Calculate the vehicle speed according to the tire rolling radius and the motor speed;

[0029] The vehicle travel distance is obtained based on the motor rotation angle and the vehicle speed.

[0030] In one embodiment, the step of obtaining the motor rotation angle includes:

[0031] Get the voltage signal of the motor;

[0032] amplifying the voltage signal to obtain a processed signal;

[0033] filtering the processed signal to obtain a filtered signal;

[0034] Converting the filtered signal to obtain a digital signal;

[0035] Decoding the digital signal by using an inverse tangent function to obtain a decoded signal;

[0036] The motor rotation angle is obtained according to the decoded signal.

[0037] In one embodiment, after the step of controlling the parking of the vehicle based on the remaining parking distance, the following steps are performed:

[0038] Acquiring real-time parking progress, wherein the real-time parking progress includes current parking status, estimated remaining time, and parking path;

[0039] The real-time parking progress is sent to the vehicle screen for display.

[0040] In one embodiment, after the step of obtaining the real-time parking progress, the following steps are included:

[0041] Uploading the real-time parking progress to the cloud platform so that all vehicles connected to the cloud platform can receive the real-time parking progress and obtain real-time traffic rules and parking space usage;

[0042] The parking path is adjusted according to the real-time traffic rules and the parking space usage of the parking lot.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a parking control device based on a motor rotation angle, and the parking control device based on a motor rotation angle comprises:

[0044] An acquisition module is used to obtain the motor rotation angle, vehicle driving information and actual parking distance;

[0045] A calculation module, used for obtaining a vehicle travel distance according to the motor rotation angle and the vehicle travel information;

[0046] A comparison module, configured to compare the vehicle travel distance with the actual parking distance to obtain a remaining parking distance;

[0047] An execution module is used to control the parking of the vehicle based on the remaining parking distance.

[0048] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable medium, and a computer program is stored on the medium. When the computer program is executed by a processor, the steps of the parking control method based on the motor angle as described above are implemented.

[0049] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the parking control method based on the motor angle as described above are implemented.

[0050] This application obtains the motor rotation angle, vehicle driving information and actual parking distance, obtains the vehicle driving distance according to the motor rotation angle and vehicle driving information, obtains the remaining parking distance according to the vehicle driving distance and the actual parking distance, and controls the vehicle parking based on the remaining parking distance. The motor rotation angle is used to accurately calculate the vehicle driving distance, and compared with the actual parking distance to achieve precise parking control, improve the accuracy of the parking driving distance, and improve the driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0052] Figure 1 This is a flow chart of a first embodiment of a parking control method based on a motor rotation angle of the present application;

[0053] Figure 2 This is a flow chart of a second embodiment of a parking control method based on a motor rotation angle of the present application;

[0054] Figure 3 This is a schematic diagram of the module structure of the parking control device based on the motor angle according to an embodiment of the present application;

[0055] Figure 4 Schematic diagram of the device structure of the hardware operating environment involved in the parking control method based on the motor angle in the embodiment of the present application.

[0056] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0057] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0058] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0059] The main solution of the embodiment of the present application is: by acquiring the motor rotation angle, vehicle driving information and actual parking distance, the vehicle driving distance is obtained according to the motor rotation angle and vehicle driving information, the remaining parking distance is obtained by comparing the vehicle driving distance and the actual parking distance, and the vehicle parking is controlled based on the remaining parking distance.

[0060] Based on this, the embodiment of the present application provides a parking control method based on the motor angle, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the parking control method based on the motor angle of the present application.

[0061] In this embodiment, the parking control method based on the motor angle includes steps S10 to S40:

[0062] Step S10, obtaining the motor rotation angle, vehicle driving information and actual parking distance.

[0063] It should be noted that the motor rotation angle is obtained through the resolver sensor installed on the motor. The sensor can output a voltage signal that is a sine and cosine function of the motor rotor angular displacement. After being processed by a decoding circuit or algorithm, the motor rotation angle can be accurately calculated. Vehicle driving information includes but is not limited to the vehicle's speed, acceleration, direction, etc. This information is collected in real time by the vehicle's various sensors and transmitted to the control system. The actual parking distance is obtained based on the on-board map navigation information.

[0064] Furthermore, step S10 includes: acquiring a voltage signal of the motor, amplifying the voltage signal to obtain a processed signal, then filtering the processed signal to obtain a filtered signal, then converting the filtered signal to obtain a digital signal, then decoding the digital signal through an inverse tangent function to obtain a decoded signal, and finally obtaining the motor rotation angle according to the decoded signal. Specifically, the signal needs to be amplified first. The amplification process can be achieved using an operational amplifier. By setting the appropriate gain, the signal strength is ensured to be moderate while keeping the original characteristics of the signal as intact as possible. Although the strength of the amplified signal has been improved, there may still be noise interference. Therefore, the signal needs to be filtered next. Common filtering methods include low-pass filtering, high-pass filtering, and band-pass filtering. Selecting a suitable filter according to the actual situation can effectively remove high-frequency noise and interference and retain useful signal components. The filtered signal is already a relatively clean analog signal, but in order to meet the processing requirements of modern electronic systems, it needs to be converted into a digital signal. This process is usually achieved through an analog-to-digital converter (ADC), which converts the continuously changing analog signal into a discrete digital signal for further processing by a digital signal processor (DSP) or other microprocessor. Finally, the digital signal is decoded by the inverse tangent function. This process involves mathematical processing of the signal, the purpose of which is to extract the specific position information of the motor rotor from the digital signal. The inverse tangent function can calculate the motor rotation angle based on the input sine and cosine signals, thereby achieving accurate measurement of the motor rotor position. The decoded signal can be directly used to calculate the vehicle's driving distance.

[0065] Step S20, obtaining the vehicle travel distance according to the motor rotation angle and the vehicle travel information.

[0066] It should be noted that due to the fixed transmission ratio between the motor and the wheel, the rotation angle of the motor can directly reflect the rotation of the wheel, and then deduce the vehicle's travel distance. Specifically, the vehicle's driving information includes the vehicle's speed, acceleration, direction, etc. This information is collected in real time by multiple sensors of the vehicle and transmitted to the control system. Combined with the motor rotation angle and vehicle driving information, the actual driving distance of the vehicle can be calculated more accurately. For example, when the vehicle is driving in a low-speed scenario, the traditional wheel speed sensor will cause a large calculation error due to the low signal frequency, while the calculation through the motor rotation angle can significantly improve the accuracy. In addition, the high-resolution characteristics of the motor rotation angle (for example, an accuracy of up to 1°) make the calculation results more accurate, which can effectively avoid the poor driving experience caused by overshooting of the vehicle speed or excessive braking.

[0067] Further, step S20 also includes: according to the vehicle driving information, obtaining the tire rolling radius, the number of motor rotations and the motor speed. Then, according to the number of motor rotations and the speed, the tire rolling length is calculated. Specifically, the relationship between the motor rotation angle and the wheel rolling distance can be calculated by the following formula: wheel rolling distance = (motor rotation angle / 360) × (2π × wheel radius) × transmission ratio, wherein the motor rotation angle is in degrees, the wheel radius refers to the rolling radius of the wheel, and the transmission ratio is the mechanical transmission ratio between the motor and the wheel. For example, assuming that the motor speed is 60rpm / min, the wheel radius is 0.377 meters, and the transmission ratio is 10.55, the tire rolling length is 0.224 meters for each rotation of the motor.

[0068] Further, the vehicle speed is calculated based on the tire rolling radius and the motor speed, and the vehicle travel distance is obtained based on the motor rotation angle and the vehicle speed. Specifically, the vehicle speed can be accurately obtained by calculating the tire rolling radius and the motor speed, and then the vehicle travel distance is calculated based on the motor rotation angle. First, the motor speed (n) is usually expressed in revolutions per minute (rpm / min), which needs to be converted into revolutions per second (rpm / s), that is, n'=n / 60. Then, using the wheel rolling radius (R_tire) and the motor speed, the vehicle speed (v, in km / h) and the vehicle speed (v', in m / s) can be calculated. The specific calculation formula is as follows: v=(2*π*R_tire*n*fac) / 60, v'=v / 3.6, where fac is the transmission ratio between the motor and the wheel. For example, assuming the motor speed is 60rpm / min, the wheel rolling radius is 0.377 meters, and the transmission ratio is 10.55, the vehicle speed v = 0.224km / h, converted into m / s, v' = 0.062m / s. Through the motor rotation angle (a, in degrees) and the vehicle speed, the vehicle travel distance s = v'*t*(a / 360) can be calculated, where t is time (seconds) and a is the motor rotation angle. In this way, even in low-speed scenarios, the vehicle travel distance can be accurately measured through high-precision motor rotation angle and vehicle speed calculations.

[0069] Step S30, comparing the vehicle travel distance with the actual parking distance to obtain the remaining parking distance.

[0070] It should be noted that the actual parking distance refers to the distance from the starting parking point to the target parking space. This distance can be measured in advance by ultrasonic sensors or cameras and other devices before parking begins and stored in the system. By comparing the calculated vehicle driving distance with the actual parking distance in real time, the remaining parking distance can be obtained.

[0071] Step S40: Controlling the parking of the vehicle based on the remaining parking distance.

[0072] It should be noted that advanced control strategies such as feedforward control and PI closed-loop control are used to further improve the accuracy and smoothness of the parking process. Feedforward control adjusts the motor speed in advance according to the difference between the target vehicle speed and the current vehicle speed to reduce response delay. PI closed-loop control fine-tunes the motor speed through the calculation of proportional and integral terms to eliminate steady-state errors and improve control accuracy. The combined use of these control strategies can achieve precise control of the vehicle parking process, ensuring parking safety and efficiency even in complex parking environments.

[0073] Further, after step S40, it also includes: obtaining real-time parking progress, the real-time parking progress includes the current parking state, the estimated remaining time and the parking path, and sending the real-time parking progress to the vehicle screen for display. Specifically, the remaining parking distance is calculated according to the actual parking distance and the distance traveled, and the estimated remaining time is predicted in combination with the current vehicle speed and the preset parking path. The parking path is to ensure that the vehicle can smoothly reach the target parking space through the planned optimal path before the parking starts. The system integrates this information into real-time parking progress, including the current parking state (such as "reversing", "adjusting direction", "about to be completed", etc.), the estimated remaining time (such as "estimated to be completed in 30 seconds") and the parking path (such as "turn left 15 degrees, go forward 2 meters, and then turn right 10 degrees"), and displays this information to the driver in real time through the vehicle display screen, so that the driver can understand the progress of parking at any time, reduce his psychological pressure, and improve the safety and comfort of parking. When an obstacle is detected ahead, a warning message will be displayed on the screen to prompt the driver to avoid it; when the vehicle approaches the target position, the "almost completed" status will be displayed on the screen, prompting the driver to prepare to end the parking action. In addition, an animated demonstration of the parking path can be displayed on the screen to help the driver intuitively understand the vehicle's moving direction and distance, ensuring a smooth parking process.

[0074] Furthermore, in step S40, it also includes: uploading the real-time parking progress to the cloud platform so that all vehicles connected to the cloud platform receive the real-time parking progress, obtain the real-time traffic rules and the parking space usage of the parking lot, and adjust the parking path according to the real-time traffic rules and the parking space usage of the parking lot. Specifically, the real-time parking progress is uploaded to the cloud platform through the vehicle communication module, and the cloud platform is responsible for receiving and processing these data, and then broadcasting the real-time parking progress to all connected vehicles. In this way, drivers of other vehicles can view the parking status of surrounding vehicles through the vehicle screen, avoid congestion and conflict, and improve parking efficiency. At the same time, the cloud platform can also obtain real-time traffic rules and parking space usage of the parking lot, which comes from traffic management departments and other sensor networks. For example, the cloud platform can obtain information such as the number and location of free parking spaces in a parking lot, and whether there is temporary traffic control. Based on these real-time data, the cloud platform can dynamically adjust the parking path to provide the vehicle with the best parking solution. For example, if the parking spaces in a parking lot are full, it is recommended that the vehicle go to other nearby parking lots; if there is traffic control on the current road section, the parking path is replanned to avoid the affected area.

[0075] This embodiment provides a parking control method based on the motor rotation angle, by obtaining the motor rotation angle, vehicle driving information and actual parking distance, according to the motor rotation angle and vehicle driving information, the vehicle driving distance is obtained, according to the comparison between the vehicle driving distance and the actual parking distance, the remaining parking distance is obtained, and the vehicle parking is controlled based on the remaining parking distance. The vehicle driving distance is accurately calculated using the motor rotation angle, and compared with the actual parking distance, so as to achieve precise parking control, improve the accuracy of the parking driving distance, and improve the driving experience.

[0076] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 2 The parking control method based on the motor rotation angle step S40 further includes steps S401 to S404:

[0077] Step S401, obtaining the current vehicle speed according to the vehicle driving information.

[0078] It should be noted that the vehicle speed is calculated by analyzing vehicle driving information, such as wheel speed sensor data, motor speed signals or other related sensor inputs. This data is collected and transmitted to the vehicle in real time, and the information is processed using advanced algorithms to determine the current speed of the vehicle. The calculation of vehicle speed may also take into account the vehicle's acceleration, deceleration, and possible external factors, such as wind speed and road slope.

[0079] Step S402, setting a target vehicle speed according to the remaining parking distance.

[0080] It should be noted that the appropriate target speed is calculated based on the distance between the vehicle and the target parking space, combined with the vehicle's dynamic performance and environmental conditions. The above speed should not only take into account the curvature of the parking path and the road conditions, but also take into account possible obstacles and pedestrians around to avoid sudden braking or collisions. The setting of the target speed will also refer to the vehicle's historical parking data and the driver's parking habits to provide a personalized parking experience. In addition, the difference between the actual speed of the vehicle and the target speed is monitored in real time, and the speed is accurately controlled by adjusting the motor speed or other control means to ensure that the vehicle approaches the parking space at the most appropriate speed.

[0081] Step S403, calculating based on the vehicle speed and the target vehicle speed through the PI control strategy to obtain an adjusted motor speed.

[0082] It should be noted that the PI control strategy is an effective method for achieving precise vehicle speed control. The system calculates the required adjustment by comparing the actual vehicle speed with the preset target speed. The proportional term (P) is calculated based on the instantaneous value of the vehicle speed deviation to reduce the deviation. The integral term (I) takes into account the accumulation of vehicle speed deviation over time, ensuring that the system can eliminate steady-state errors and achieve precise control. By combining the proportional term and the integral term, the PI control strategy can dynamically adjust the motor speed to achieve precise control of the vehicle speed.

[0083] Further, step S403 includes: obtaining a deviation value according to the vehicle speed and the target vehicle speed, determining a proportional gain and an integral gain according to the PI control strategy; obtaining a proportional term according to the deviation value and the proportional gain, and then obtaining an integral term according to the deviation value and the integral gain, and finally calculating according to the proportional term and the integral term to obtain an adjusted motor speed. Specifically, firstly, the deviation value between the actual vehicle speed and the target vehicle speed is calculated, which is the input of the PI control strategy. The proportional gain and the integral gain are the core parameters of the control strategy, which are precisely set according to the performance requirements and stability standards of the system. The proportional term is obtained by multiplying the deviation value by the proportional gain, which reflects the immediate response to the deviation. The integral term is obtained by multiplying the deviation value by the integral gain and performing an integral operation, which ensures that the system can eliminate steady-state errors. The proportional term and the integral term are added to obtain a control quantity, which is used to adjust the motor speed to achieve precise control of the vehicle speed. After obtaining the adjusted motor speed, the current speed of the vehicle is monitored in real time, and the proportional gain and the integral gain are adjusted according to the current speed of the vehicle to obtain the motor speed under different driving conditions.

[0084] Step S404, adjusting the current vehicle speed based on the adjusted motor speed, thereby controlling the parking of the vehicle.

[0085] It should be noted that the motor speed adjustment calculated by the PI control strategy can accurately adjust the actual speed of the vehicle to match the target speed. This adjustment is not only based on the current speed deviation, but also takes into account the cumulative effect of the deviation over time, ensuring the accuracy and stability of the control. Real-time adjustment of the motor speed allows the vehicle to approach the parking space at a steady speed, reducing parking errors caused by too fast or too slow speed. In addition, this control method can adapt to different driving environments and conditions, such as different road conditions and traffic density, to ensure safe and efficient parking in various situations.

[0086] This embodiment obtains the current vehicle speed according to the vehicle driving information, sets the target vehicle speed according to the remaining parking distance, calculates the motor speed based on the current vehicle speed and the target vehicle speed through the PI control strategy, obtains the adjusted motor speed, and adjusts the current vehicle speed based on the adjusted motor speed, thereby controlling the vehicle parking. The PI control strategy is used to adjust the motor speed according to the difference between the vehicle speed and the target vehicle speed, thereby achieving precise parking control, improving parking accuracy, and enhancing driving comfort and safety.

[0087] This application also provides a parking control device based on motor angle, please refer to Figure 3 , the device comprises:

[0088] The acquisition module 10 is used to acquire the motor rotation angle, vehicle driving information and actual parking distance.

[0089] The calculation module 20 is used to obtain the vehicle travel distance according to the motor rotation angle and the vehicle travel information.

[0090] The comparison module 30 is used to compare the vehicle travel distance with the actual parking distance to obtain the remaining parking distance.

[0091] The execution module 40 is used to control the parking of the vehicle based on the remaining parking distance.

[0092] The parking control device based on motor rotation angle provided in the present application adopts the parking control method based on motor rotation angle in the above embodiment, which can solve the technical problem of how to improve the accuracy of the driving distance of the parked vehicle. Compared with the prior art, the beneficial effects of the parking control device based on motor rotation angle provided in the present application are the same as the beneficial effects of the parking control method based on motor rotation angle provided in the above embodiment, and other technical features in the parking control device based on motor rotation angle are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0093] In one embodiment, the execution module 40 is further used to obtain the current vehicle speed according to the vehicle driving information; set the target vehicle speed according to the remaining parking distance; calculate based on the current vehicle speed and the target vehicle speed through the PI control strategy to obtain the adjusted motor speed; adjust the current vehicle speed based on the adjusted motor speed, thereby controlling the parking of the vehicle.

[0094] In one embodiment, the execution module 40 is also used to obtain a deviation value according to the current vehicle speed and the target vehicle speed; determine a proportional gain and an integral gain according to the PI control strategy; obtain a proportional term according to the deviation value and the proportional gain; obtain an integral term according to the deviation value and the integral gain; calculate according to the proportional term and the integral term to obtain an adjusted motor speed; after the step of calculating according to the proportional term and the integral term to obtain the adjusted motor speed, it also includes: real-time monitoring of the current speed of the vehicle; adjusting the proportional gain and the integral gain according to the current speed of the vehicle to obtain the motor speed under different driving conditions.

[0095] In one embodiment, the calculation module 20 is also used to obtain the tire rolling radius, the number of motor rotations and the motor speed according to the vehicle driving information; calculate according to the number of motor rotations and the speed to obtain the tire rolling length; calculate according to the tire rolling radius and the motor speed to obtain the vehicle speed; and obtain the vehicle driving distance according to the vehicle speed based on the motor rotation angle.

[0096] In one embodiment, the acquisition module 10 is also used to acquire the voltage signal of the motor; amplify the voltage signal to obtain a processed signal; filter the processed signal to obtain a filtered signal; convert the filtered signal to obtain a digital signal; decode the digital signal through an inverse tangent function to obtain a decoded signal; and obtain the motor rotation angle based on the decoded signal.

[0097] In one embodiment, the execution module 40 is further used to obtain real-time parking progress, which includes the current parking state, the estimated remaining time and the parking path; and send the real-time parking progress to the vehicle screen for display.

[0098] In one embodiment, the execution module 40 is also used to upload the real-time parking progress to the cloud platform so that all vehicles connected to the cloud platform receive the real-time parking progress, obtain the real-time traffic rules and the parking lot space usage; adjust the parking path according to the real-time traffic rules and the parking lot space usage.

[0099] The present application provides a parking control device based on a motor angle, and the parking control device based on a motor angle includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the parking control method based on the motor angle in the above-mentioned embodiment 1.

[0100] Reference below Figure 4 , which shows a schematic diagram of the structure of a parking control device based on a motor rotation angle suitable for implementing an embodiment of the present application. The parking control device based on a motor rotation angle in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The motor angle-based parking control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0101] like Figure 4As shown, the parking control device based on the motor angle may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the parking control device based on the motor angle are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the motor angle-based parking control device to communicate with other devices wirelessly or by wire to exchange data. Although the motor angle-based parking control device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0102] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0103] The parking control device based on motor rotation angle provided by the present application adopts the parking control method based on motor rotation angle in the above embodiment, which can solve the technical problem of how to improve the accuracy of the driving distance of the parked vehicle. Compared with the prior art, the beneficial effects of the parking control device based on motor rotation angle provided by the present application are the same as the beneficial effects of the parking control method based on motor rotation angle provided by the above embodiment, and other technical features in the parking control device based on motor rotation angle are the same as the features disclosed in the method of the above embodiment, which will not be repeated here.

[0104] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0105] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0106] The present application provides a computer-readable medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the parking control method based on the motor rotation angle in the above-mentioned embodiment.

[0107] The computer-readable medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0108] The computer-readable medium may be included in the parking control device based on the motor rotation angle; or may exist independently without being assembled into the parking control device based on the motor rotation angle.

[0109] The computer readable medium carries one or more programs. When the one or more programs are executed by the motor angle-based parking control device, the motor angle-based parking control device can write computer program codes for performing the operations of the present application in one or more programming languages ​​or a combination thereof. The programming languages ​​include object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, through the Internet using an Internet service provider).

[0110] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0111] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0112] The readable medium provided in the present application is a computer-readable medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned parking control method based on motor rotation angle, and can solve the technical problem of how to improve the accuracy of the driving distance of the parked vehicle. Compared with the prior art, the beneficial effects of the computer-readable medium provided in the present application are the same as the beneficial effects of the parking control method based on motor rotation angle provided in the above-mentioned embodiment, and will not be repeated here.

[0113] The present application also provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, the steps of the parking control method based on the motor rotation angle as described above are implemented.

[0114] The computer program product provided in this application can solve the technical problem of how to improve the accuracy of the distance traveled by the parking vehicle. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the parking control method based on the motor rotation angle provided in the above embodiment, which will not be elaborated here.

[0115] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A parking control method based on motor angle, characterized in that: The method comprises: Obtain motor rotation angle, vehicle driving information and actual parking distance; Obtaining a vehicle travel distance according to the motor rotation angle and the vehicle travel information; Comparing the vehicle travel distance with the actual parking distance to obtain a remaining parking distance; Parking of the vehicle is controlled based on the remaining parking distance.

2. The method according to claim 1, characterized in that The step of controlling the parking of the vehicle based on the remaining parking distance further includes: According to the vehicle driving information, obtaining the current vehicle speed; setting a target vehicle speed according to the remaining parking distance; Calculating based on the current vehicle speed and the target vehicle speed through a PI control strategy to obtain an adjusted motor speed; The current vehicle speed is adjusted based on the adjusted motor speed, thereby controlling the parking of the vehicle.

3. The method according to claim 2, characterized in that The step of calculating based on the current vehicle speed and the target vehicle speed through a PI control strategy to obtain an adjusted motor speed comprises: Obtaining a deviation value according to the current vehicle speed and the target vehicle speed; According to the PI control strategy, a proportional gain and an integral gain are determined; Obtaining a proportional term according to the deviation value and the proportional gain; Obtaining an integral term according to the deviation value and the integral gain; Calculating according to the proportional term and the integral term to obtain an adjusted motor speed; After the step of calculating according to the proportional term and the integral term to obtain the adjusted motor speed, the method further includes: Real-time monitoring of the vehicle's current speed; The proportional gain and the integral gain are adjusted according to the current speed of the vehicle to obtain the motor speed under different driving conditions.

4. The method according to claim 1, characterized in that The step of obtaining the vehicle travel distance according to the motor rotation angle and the vehicle travel information comprises: According to the vehicle driving information, a tire rolling radius, a motor rotation number and a motor speed are obtained; Calculate the tire rolling length according to the number of revolutions of the motor and the rotation speed; Calculate the vehicle speed according to the tire rolling radius and the motor speed; The vehicle travel distance is obtained based on the motor rotation angle and the vehicle speed.

5. The method according to claim 1, characterized in that The step of obtaining the motor rotation angle comprises: Get the voltage signal of the motor; amplifying the voltage signal to obtain a processed signal; filtering the processed signal to obtain a filtered signal; Converting the filtered signal to obtain a digital signal; Decoding the digital signal by using an inverse tangent function to obtain a decoded signal; The motor rotation angle is obtained according to the decoded signal.

6. The method according to claim 1, characterized in that After the step of controlling the parking of the vehicle based on the remaining parking distance, the method further comprises: Acquiring real-time parking progress, wherein the real-time parking progress includes current parking status, estimated remaining time, and parking path; The real-time parking progress is sent to the vehicle screen for display.

7. The method according to claim 6, characterized in that After the step of obtaining the real-time parking progress, the following steps are included: Uploading the real-time parking progress to the cloud platform so that all vehicles connected to the cloud platform can receive the real-time parking progress and obtain real-time traffic rules and parking space usage; The parking path is adjusted according to the real-time traffic rules and the parking space usage of the parking lot.

8. A parking control device based on motor rotation angle, characterized in that: The device comprises: An acquisition module is used to obtain the motor rotation angle, vehicle driving information and actual parking distance; A calculation module, used for obtaining a vehicle travel distance according to the motor rotation angle and the vehicle travel information; A comparison module, configured to compare the vehicle travel distance with the actual parking distance to obtain a remaining parking distance; An execution module is used to control the parking of the vehicle based on the remaining parking distance.

9. A parking control device based on motor rotation angle, characterized in that: The device includes: a memory, a processor, and a motor angle-based parking control program stored in the memory and executable on the processor, wherein the motor angle-based parking control program is configured to implement the steps of the motor angle-based parking control method as described in any one of claims 1 to 7.

10. A medium, characterized in that The medium stores a parking control program based on a motor rotation angle, and when the parking control program based on a motor rotation angle is executed by a processor, the steps of the parking control method based on a motor rotation angle as claimed in any one of claims 1 to 7 are implemented.

Images