Parking control method and device, motor controller, computer equipment and medium

Abstract

The invention discloses a parking control method and device, a motor controller, computer equipment and a medium, and relates to the technical field of parking control, and the method comprises the following steps: obtaining a target driving distance and a target vehicle speed required by parking; according to the current gear speed ratio and the tire radius, the target driving distance is converted into a motor target angle, and the motor target rotating speed is obtained through the motor target angle and the target vehicle speed; and the motor torque is adjusted through the target rotating speed of the motor, so that parking is completed. According to the invention, the motor responds to the position signal of the ADAS system to carry out position control, and accurate fixed-point parking is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of parking control, and in particular to a parking control method, device, motor controller, computer equipment and medium. Background Art

[0002] In scenarios where new energy vehicles, especially heavy vehicles such as dock transport vehicles, need to park precisely, relying solely on the Advanced Driving Assistance System (ADAS) to plan the parking trajectory and send target torque to the power system to control the vehicle speed and position will result in low accuracy and poor responsiveness in executing the planned route. Summary of the invention

[0003] The embodiments of the present invention provide a parking control method, device, motor controller, computer equipment and medium, which utilize a motor to respond to an ADAS system position signal to perform position control and achieve precise fixed-point parking.

[0004] In a first aspect, the present invention provides a parking control method, comprising:

[0005] Obtain the target driving distance and target vehicle speed required for parking;

[0006] According to the current gear ratio and tire radius, the target driving distance is converted into a motor target angle, and the motor target speed is obtained from the motor target angle and the target vehicle speed;

[0007] The motor torque is adjusted according to the motor target speed to complete parking.

[0008] In some instances, the motor target angle At is obtained by At=360*(L*r / (2*π*R)), and the motor target speed w0 is obtained by w0=At / (L / v), wherein r represents the current gear ratio, R represents the tire radius, L represents the target driving distance, and v represents the target vehicle speed.

[0009] In some examples, the motor torque is adjusted by the motor target speed to complete parking, including:

[0010] Torque adjustment is performed on the deviation between the current speed and the target speed to complete parking.

[0011] In some examples, performing torque adjustment on the deviation between the current speed and the target speed includes:

[0012] calculating the difference between the angle actually achieved during parking and the target angle of the motor;

[0013] If the difference between the actual completed angle and the motor target angle is less than the preset target angle value, torque adjustment is performed according to the deviation between the current speed and the preset speed value;

[0014] If the difference between the actual achieved angle and the motor target angle is not less than the preset target angle value, the torque is adjusted according to the deviation between the current speed and the target speed.

[0015] In some examples, adjusting the torque according to the deviation between the current speed and the preset speed value includes:

[0016] The target speed is reduced to a target value at a preset slope, the speed during parking is set to a preset speed value, and the torque is adjusted according to a deviation between the current speed and the preset speed value.

[0017] In some examples, the interaction cycle between the motor controller and the ADAS is several times greater than the motor's regulation cycle for achieving the target speed.

[0018] In some examples, if the difference between the actually achieved angle and the motor target angle is less than a preset target angle value, a new target driving distance is received, and a step of converting the new target driving distance into a motor target angle is performed.

[0019] In a second aspect, the present invention provides a parking control device, comprising:

[0020] An acquisition module, used to acquire a target driving distance and a target vehicle speed required for parking;

[0021] A speed calculation module, used to convert the target driving distance into a motor target angle according to the current gear ratio and the tire radius, and obtain the motor target speed from the motor target angle and the target vehicle speed;

[0022] The torque adjustment module is used to adjust the motor torque through the motor target speed to complete parking.

[0023] In some examples, the torque adjustment module is used to perform torque adjustment on a deviation between a current speed and the target speed to complete parking.

[0024] In some examples, the torque regulation module includes:

[0025] An angle difference calculation unit, used to calculate the difference between the angle actually achieved during parking and the motor target angle;

[0026] A first torque adjustment unit, configured to adjust the torque according to a deviation between a current rotational speed and a preset rotational speed value when a difference between the actually achieved angle and the motor target angle is less than a preset target angle value;

[0027] The second torque adjustment unit is used to adjust the torque according to the deviation between the current rotation speed and the target rotation speed when the difference between the actual completed angle and the motor target angle is not less than a preset target angle value.

[0028] In a third aspect, the present invention provides a motor controller comprising any one of the above parking control devices.

[0029] In a fourth aspect, the present invention provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above methods when executing the computer program.

[0030] In a fifth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of any of the above methods when executed by a processor.

[0031] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0032] The present invention obtains the target driving distance and target vehicle speed required for parking; according to the current gear ratio and tire radius, the target driving distance is converted into the motor target angle, and the motor target speed is obtained from the motor target angle and target vehicle speed; the motor torque is adjusted according to the motor target speed to complete parking. The motor is used to respond to the position signal of the ADAS system for position control to complete precise fixed-point parking. The characteristics of fast motor control response speed and high precision can be fully utilized to make the position control of the whole vehicle more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 is a schematic diagram of a parking control method provided by an embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of a parking control method provided by an embodiment of the present invention;

[0036] Figure 3is a schematic diagram of a parking control device provided by an embodiment of the present invention;

[0037] Figure 4 It is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0039] In the following description, specific embodiments of the present invention will be described with reference to steps and symbols performed by one or more computers, unless otherwise specified. Therefore, these steps and operations will be mentioned several times as being performed by a computer, and computer execution referred to herein includes operations by a computer processing unit of electronic signals representing data in a structured form. This operation converts the data or maintains it at a location in the computer's memory system, which can be reconfigured or otherwise change the operation of the computer in a manner familiar to testers in the field. The data structure maintained by the data is a physical location in the memory, which has specific characteristics defined by the data format. However, the principles of the present invention are described in the above text, which does not represent a limitation, and testers in the field will understand that the following various steps and operations can also be implemented in hardware.

[0040] The term "module" or "unit" used herein can be regarded as a software object executed on the computing system. The different components, modules, engines and services in this article can be regarded as implementation objects on the computing system. The apparatus and method in this article are preferably implemented in software, but can also be implemented in hardware, all within the scope of protection of the present invention.

[0041] Those skilled in the art will appreciate that, unless expressly stated otherwise, the singular forms "a", "an", "" and "the" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other elements, or there may be intermediate elements. In addition, "connected" or "coupled" as used herein may include wireless connections or wireless couplings. The term "and / or" as used herein includes all or any unit and all combinations of one or more associated listed items.

[0042] The motor controller unit (MCU) needs to have an electric braking function (electric braking refers to using the rectifier function of the MCU to make the drive motor generate a braking force in the opposite direction of the motor speed, reducing the vehicle's driving speed while converting the vehicle's driving kinetic energy into electrical energy and storing it in the high-voltage battery). In order to ensure that the vehicle can achieve the braking and parking function when moving forward and backward, the drive motor is required to have an electric braking function in both forward and reverse states. The drive motor needs to be equipped with a sensor for collecting the drive motor speed and direction, and the MCU can collect the sensor signal in real time to calculate the drive motor speed and direction.

[0043] There needs to be a communication function between the MCU and the electronic control unit (Vehicle Control Unit, VCU). According to certain communication rules, the VCU obtains the direction and size of the drive motor speed in real time. The VCU sends instructions to the MCU in real time according to the direction and size of the drive motor speed and the requirements of automatic parking. The MCU executes corresponding actions in real time according to the instructions received from the VCU, and feeds back the execution status to the VCU. The above communication functions include one or more of the CAN bus, Lin bus, FlexRay bus, and Ethernet.

[0044] In the first embodiment of the present invention, a parking control method is provided. First, the path planning is still performed by the ADAS system. The ADAS sends the current motor target driving distance to the motor controller (Motor Controller Unit, MCU) in real time. The MCU achieves the target driving distance through position control. Figure 1 As shown, the following steps are included:

[0045] S101: Obtaining a target driving distance and a target vehicle speed required for parking;

[0046] S102: converting the target driving distance into a motor target angle according to the current gear ratio and the tire radius, and obtaining the motor target speed from the motor target angle and the target vehicle speed;

[0047] S103: Adjusting the motor torque by the motor target speed to complete parking.

[0048] The path realization includes two inputs: direction and distance. The direction input is completed by the ADAS system itself, and the target driving distance L and target vehicle speed v are sent to the MCU via CAN for execution.

[0049] In some instances, the motor target angle At is obtained by At=360*(L*r / (2*π*R)), and the motor target speed w0 is obtained by w0=At / (L / v), where r represents the current gear ratio, R represents the tire radius, L represents the target driving distance, and v represents the target vehicle speed.

[0050] In some examples, the motor torque is adjusted by the motor target speed to complete parking, including:

[0051] The torque is adjusted based on the deviation between the current speed and the target speed to complete parking.

[0052] Furthermore, the motor adopts speed closed-loop PI control to perform torque closed-loop adjustment on the deviation w-w0 between the current speed and the motor target speed to adjust the torque

[0053] In some examples, the torque adjustment based on the deviation between the current speed and the target speed includes:

[0054] Calculate the difference between the actual angle achieved during parking and the motor target angle;

[0055] If the difference between the actual angle achieved and the motor target angle is less than the preset target angle value, the torque is adjusted according to the deviation between the current speed and the preset speed value;

[0056] If the difference between the actual angle achieved and the motor target angle is not less than the preset target angle value, the torque is adjusted according to the deviation between the current speed and the target speed.

[0057] In some examples, the torque adjustment according to the deviation between the current speed and the preset speed value includes:

[0058] The target speed is reduced to the target value at a preset slope, the speed during parking is set to the preset speed value, and the torque is adjusted according to the deviation between the current speed and the preset speed value.

[0059] Specifically, the torque is adjusted wr is the preset speed value.

[0060] In some examples, the interaction cycle between the motor controller and the ADAS is several times greater than the motor's target speed regulation cycle.

[0061] In some examples, if the difference between the actual achieved angle and the motor target angle is less than the preset target angle value, a new target driving distance is received and the step of converting the new target driving distance into the motor target angle is performed.

[0062] In some examples, an automatic parking button may be provided in the vehicle, and when the user triggers the automatic parking button, the automatic parking function is activated. In this case, the activation device of the automatic parking function is the automatic parking button provided in the vehicle, and the automatic parking button may be a physical switch or a virtual switch that realizes touch input through a touch screen.

[0063] In some examples, a wireless signal receiving device may be provided in the vehicle, and when the user issues an automatic parking start command to the wireless signal receiving device through a remote control key or a user terminal, the automatic parking function is activated. In this case, the start device of the automatic parking function is the wireless signal receiving device provided in the vehicle, and the remote control key or the user terminal. When a remote control key is used, the user may press the automatic parking button provided on the remote control key to start the automatic parking function; when a user terminal is used, an automatic parking application (i.e., APP) may be pre-installed on the user terminal, and the user only needs to open the application and issue an automatic parking command to start the automatic parking function.

[0064] In some examples, before parking, it is also possible to detect whether the environment around the car is suitable for parking. Ultrasonic probes can be used to detect whether the environment around the car is suitable for parking. For example, an ultrasonic probe can be set on each side of the car, and ultrasonic probes can also be installed at the front and rear ends of the car.

[0065] In some instances, a camera may be installed on the car to accurately measure the length, width, and coordinate data of parking spaces and obstacles. The video signal captured by the camera is processed to obtain a calculated driving route. The camera and ultrasonic probe monitor the entire parking process and control the car to stop after entering the parking space.

[0066] The embodiment of the present invention obtains the target driving distance and target vehicle speed required for parking; according to the current gear ratio and tire radius, the target driving distance is converted into the motor target angle, and the motor target speed is obtained from the motor target angle and target vehicle speed; the motor torque is adjusted according to the motor target speed to complete parking. The motor is used to respond to the position signal of the ADAS system for position control to complete precise fixed-point parking. The characteristics of fast motor control response speed and high precision can be fully utilized to make the position control of the whole vehicle more accurate.

[0067] In a second embodiment of the present invention, a parking control method is provided. First, the path planning is still performed by the ADAS system. The ADAS sends the current motor target driving distance to the motor controller (Motor Controller Unit, MCU) in real time. The MCU achieves the target driving distance through position control. Figure 2 As shown, the following steps are included:

[0068] 1. The ADAS system performs path planning. The realization of the path includes two inputs: direction and distance. The direction input is completed by the ADAS system itself, and the target driving distance L and target vehicle speed v are sent to the MCU through CAN for execution;

[0069] 2. Conversion of motor target angle: After receiving the target driving distance control, the MCU converts the target driving distance L into the motor target angle At according to the current gear ratio r and tire radius R information, where At = 360*(L*r / (2*π*R)) and the motor target speed w0 = At / (L / v).

[0070] 3. Realization of motor target speed: The motor adopts speed closed-loop PI control, and performs torque closed-loop adjustment on the deviation w-w0 between the current speed and the motor target speed to adjust the torque

[0071] 4. State s2 control method when approaching the target driving distance: While controlling the motor target angle, calculate the difference A_left between the actual angle Af and At. When A_left < the preset target angle value a0, it is defined as state s2 (or state s1 otherwise). At this time, the motor target speed no longer accepts the ADAS target speed conversion value w0, but reduces w0 to 0 with the preset slope ramp1.

[0072]

[0073] Speed ​​is defined as wr, and the speed closed-loop control is still implemented according to step 3 to adjust the torque

[0074]

[0075] 5. The interaction cycle between ADAS and MCU (including target driving distance L, target vehicle speed v and operating status fed back by MCU) should be significantly longer than the motor target speed control cycle. For example, the interaction cycle is 10ms and the motor target speed adjustment cycle is 2ms.

[0076] 6. When the MCU feedback state is s2, ADAS can send a new target driving distance. After receiving it, MCU exits the s2 state and controls the new target driving distance L to be achieved.

[0077] In some examples, an automatic parking button may be provided in the vehicle, and when the user triggers the automatic parking button, the automatic parking function is activated. In this case, the activation device of the automatic parking function is the automatic parking button provided in the vehicle, and the automatic parking button may be a physical switch or a virtual switch that realizes touch input through a touch screen.

[0078] In some examples, a wireless signal receiving device may be provided in the vehicle, and when the user issues an automatic parking start command to the wireless signal receiving device through a remote control key or a user terminal, the automatic parking function is activated. In this case, the start device of the automatic parking function is the wireless signal receiving device provided in the vehicle, and the remote control key or the user terminal. When a remote control key is used, the user may press the automatic parking button provided on the remote control key to start the automatic parking function; when a user terminal is used, an automatic parking application (i.e., APP) may be pre-installed on the user terminal, and the user only needs to open the application and issue an automatic parking command to start the automatic parking function.

[0079] In some examples, before parking, it is also possible to detect whether the environment around the car is suitable for parking. Ultrasonic probes can be used to detect whether the environment around the car is suitable for parking. For example, an ultrasonic probe can be set on each side of the car, and ultrasonic probes can also be installed at the front and rear ends of the car.

[0080] In some instances, a camera may be installed on the car to accurately measure the length, width, and coordinate data of parking spaces and obstacles. The video signal captured by the camera is processed to obtain a calculated driving route. The camera and ultrasonic probe monitor the entire parking process and control the car to stop after entering the parking space.

[0081] The embodiment of the present invention obtains the target driving distance and target vehicle speed required for parking; according to the current gear ratio and tire radius, the target driving distance is converted into the motor target angle, and the motor target speed is obtained from the motor target angle and target vehicle speed; the motor torque is adjusted according to the motor target speed to complete parking. The motor is used to respond to the position signal of the ADAS system for position control to complete precise fixed-point parking. The characteristics of fast motor control response speed and high precision can be fully utilized to make the position control of the whole vehicle more accurate.

[0082] In the third embodiment of the present invention, in order to better implement the method provided in the embodiment of the present invention, the embodiment of the present invention also provides a device based on the above method. The meanings of the terms are the same as those in the above method, and the specific implementation details can refer to the description in the method embodiment.

[0083] See also Figure 3 , Figure 3 The schematic diagram of the structure of the device provided by the embodiment of the present invention, wherein the device 300 may include: an acquisition module 301, a speed calculation module 302 and a torque adjustment module 303, wherein:

[0084] An acquisition module 301 is used to acquire a target driving distance and a target vehicle speed required for parking;

[0085] The speed calculation module 302 is used to convert the target driving distance into a motor target angle according to the current gear ratio and the tire radius, and obtain the motor target speed from the motor target angle and the target vehicle speed;

[0086] The torque adjustment module 303 is used to adjust the motor torque through the motor target speed to complete parking.

[0087] In some instances, the speed calculation module 302 is used to obtain the motor target angle At by At=360*(L*r / (2*π*R)), and to obtain the motor target speed w0 by w0=At / (L / v), wherein r represents the current gear ratio, R represents the tire radius, L represents the target driving distance, and v represents the target vehicle speed.

[0088] In some examples, the torque adjustment module 303 is used to adjust the torque according to the deviation between the current speed and the target speed to complete parking.

[0089] Furthermore, the motor adopts speed closed-loop PI control to perform torque closed-loop adjustment on the deviation w-w0 between the current speed and the motor target speed to adjust the torque

[0090] In some examples, the torque adjustment module 303 includes:

[0091] An angle difference calculation unit, used to calculate the difference between the angle actually achieved during parking and the motor target angle;

[0092] A first torque adjustment unit, configured to adjust the torque according to a deviation between a current rotational speed and a preset rotational speed value when a difference between an actually achieved angle and a target angle of the motor is less than a preset target angle value;

[0093] The second torque adjustment unit is used to adjust the torque according to the deviation between the current rotation speed and the target rotation speed when the difference between the actual completed angle and the motor target angle is not less than the preset target angle value.

[0094] Specifically, the torque is adjusted wr is the preset speed value.

[0095] In some examples, the interaction cycle between the motor controller and the ADAS is several times greater than the motor's target speed regulation cycle.

[0096] In some examples, if the difference between the actual achieved angle and the motor target angle is less than a preset target angle value, a new target driving distance is received and converted into a motor target angle for control.

[0097] In some instances, an automatic parking button or a wireless signal receiving device is connected to a parking control device for sending an automatic parking activation command to the parking control device. After receiving the automatic parking activation command, the parking control device obtains the current vehicle speed information from the vehicle's CAN bus or LIN bus in real time, and compares the current vehicle speed with a speed threshold preset by the system. If the current vehicle speed is less than the speed threshold, the automatic parking function is activated, otherwise the automatic parking function will not be activated.

[0098] In some examples, a driver getting off detection device may be provided on the vehicle to detect whether the driver has gotten off. In one embodiment, the vehicle will be controlled to start parking only after the driver has gotten off. Since the parking device of this embodiment can realize fully automatic parking, the driver does not need to perform additional operations in the car, so that the driver can get off in advance before the vehicle is parked in the parking space, so as to avoid the situation where the driver cannot open the door and get off when parking in a narrow vertical or inclined parking space, thereby improving the user experience. Specifically, the driver getting off detection device may be, but is not limited to, a gravity sensor provided on the driver's seat, for collecting the driver's weight information. When the gravity sensor detects the driver's weight information, it is determined that the driver has not gotten off; when the gravity sensor cannot detect the driver's weight information, it is determined that the driver has gotten off. The driver getting off detection device may also be other detection devices such as a camera.

[0099] The embodiment of the present invention obtains the target driving distance and target vehicle speed required for parking; according to the current gear ratio and tire radius, the target driving distance is converted into the motor target angle, and the motor target speed is obtained from the motor target angle and target vehicle speed; the motor torque is adjusted according to the motor target speed to complete parking. The motor is used to respond to the position signal of the ADAS system for position control to complete precise fixed-point parking. The characteristics of fast motor control response speed and high precision can be fully utilized to make the position control of the whole vehicle more accurate.

[0100] In the fourth embodiment of the present invention, a motor controller including the above-mentioned parking control device is also provided. The motor controller is a single-chip microcomputer chip that integrates a processor, a memory, a communication module, etc. The processor may refer to the processor contained in the controller. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor in the motor controller calls the computer medium stored in the memory to perform the following steps:

[0101] S101: Obtaining a target driving distance and a target vehicle speed required for parking;

[0102] S102: converting the target driving distance into a motor target angle according to the current gear ratio and the tire radius, and obtaining the motor target speed from the motor target angle and the target vehicle speed;

[0103] S103: Adjusting the motor torque by the motor target speed to complete parking.

[0104] In some instances, the motor target angle At is obtained by At=360*(L*r / (2*π*R)), and the motor target speed w0 is obtained by w0=At / (L / v), where r represents the current gear ratio, R represents the tire radius, L represents the target driving distance, and v represents the target vehicle speed.

[0105] In some examples, the motor torque is adjusted by the motor target speed to complete parking, including:

[0106] The torque is adjusted based on the deviation between the current speed and the target speed to complete parking.

[0107] Furthermore, the motor adopts speed closed-loop PI control to perform torque closed-loop adjustment on the deviation w-w0 between the current speed and the motor target speed to adjust the torque

[0108] In some examples, the torque adjustment based on the deviation between the current speed and the target speed includes:

[0109] Calculate the difference between the actual angle achieved during parking and the motor target angle;

[0110] If the difference between the actual angle achieved and the motor target angle is less than the preset target angle value, the torque is adjusted according to the deviation between the current speed and the preset speed value;

[0111] If the difference between the actual angle achieved and the motor target angle is not less than the preset target angle value, the torque is adjusted according to the deviation between the current speed and the target speed.

[0112] In some examples, the torque adjustment according to the deviation between the current speed and the preset speed value includes:

[0113] The target speed is reduced to the target value at a preset slope, the speed during parking is set to the preset speed value, and the torque is adjusted according to the deviation between the current speed and the preset speed value.

[0114] Specifically, the torque is adjusted wr is the preset speed value.

[0115] In some examples, the interaction cycle between the motor controller and the ADAS is several times greater than the motor's target speed regulation cycle.

[0116] In some examples, if the difference between the actually achieved angle and the motor target angle is less than a preset target angle value, a new target driving distance is received and the new target driving distance is converted into the motor target angle.

[0117] In some examples, an automatic parking button may be provided in the vehicle, and when the user triggers the automatic parking button, the automatic parking function is activated. In this case, the activation device of the automatic parking function is the automatic parking button provided in the vehicle, and the automatic parking button may be a physical switch or a virtual switch that realizes touch input through a touch screen.

[0118] In some examples, a wireless signal receiving device may be provided in the vehicle, and when the user issues an automatic parking start command to the wireless signal receiving device through a remote control key or a user terminal, the automatic parking function is activated. In this case, the start device of the automatic parking function is the wireless signal receiving device provided in the vehicle, and the remote control key or the user terminal. When a remote control key is used, the user may press the automatic parking button provided on the remote control key to start the automatic parking function; when a user terminal is used, an automatic parking application (i.e., APP) may be pre-installed on the user terminal, and the user only needs to open the application and issue an automatic parking command to start the automatic parking function.

[0119] In some examples, before parking, it is also possible to detect whether the environment around the car is suitable for parking. Ultrasonic probes can be used to detect whether the environment around the car is suitable for parking. For example, an ultrasonic probe can be set on each side of the car, and ultrasonic probes can also be installed at the front and rear ends of the car.

[0120] In some instances, a camera may be installed on the car to accurately measure the length, width, and coordinate data of parking spaces and obstacles. The video signal captured by the camera is processed to obtain a calculated driving route. The camera and ultrasonic probe monitor the entire parking process and control the car to stop after entering the parking space.

[0121] The embodiment of the present invention obtains the target driving distance and target vehicle speed required for parking; according to the current gear ratio and tire radius, the target driving distance is converted into the motor target angle, and the motor target speed is obtained from the motor target angle and target vehicle speed; the motor torque is adjusted according to the motor target speed to complete parking. The motor is used to respond to the position signal of the ADAS system for position control to complete precise fixed-point parking. The characteristics of fast motor control response speed and high precision can be fully utilized to make the position control of the whole vehicle more accurate.

[0122] In a fifth embodiment of the present invention, a computer device is also provided, such as Figure 4 As shown, it shows a schematic diagram of the structure of a computer device involved in an embodiment of the present invention, specifically:

[0123] The computer device may include components such as a processor 401 with one or more processing cores, a memory 402 with one or more computer-readable storage media, a power supply 403, and an input unit 404. Those skilled in the art will appreciate that Figure 4 The computer device structure shown in the figure does not constitute a limitation on the computer device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. Among them:

[0124] The processor 401 is the control center of the computer device. It uses various interfaces and lines to connect various parts of the entire computer device. By running or executing software programs and / or modules stored in the memory 402 and calling data stored in the memory 402, it executes various functions of the computer device and processes data, thereby monitoring the computer device as a whole. Optionally, the processor 401 may include one or more processing cores; preferably, the processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operation storage medium, user interface and application programs, etc., and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 401.

[0125] The memory 402 can be used to store software programs and modules. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating storage medium, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 402 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 402 may also include a controller to provide the processor 401 with access to the memory 402.

[0126] The computer device also includes a power supply 403 for supplying power to various components. Preferably, the power supply 403 can be logically connected to the processor 401 through a power management storage medium, so as to manage charging, discharging, and power consumption management through the power management storage medium. The power supply 403 can also include any components such as one or more DC or AC power supplies, recharge storage media, power failure detection circuits, power converters or inverters, and power status indicators.

[0127] The computer device may further include an input unit 404, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0128] Although not shown, the computer device may further include a display unit, etc., which will not be described in detail herein. Specifically in this embodiment, the processor 401 in the computer device will load the executable files corresponding to the processes of one or more application programs into the memory 402 according to the following instructions, and the processor 401 will run the application programs stored in the memory 402, thereby implementing the steps in the above method embodiment.

[0129] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor as follows:

[0130] S101: Obtaining a target driving distance and a target vehicle speed required for parking;

[0131] S102: converting the target driving distance into a motor target angle according to the current gear ratio and the tire radius, and obtaining the motor target speed from the motor target angle and the target vehicle speed;

[0132] S103: Adjusting the motor torque by the motor target speed to complete parking.

[0133] In some instances, the motor target angle At is obtained by At=360*(L*r / (2*π*R)), and the motor target speed w0 is obtained by w0=At / (L / v), where r represents the current gear ratio, R represents the tire radius, L represents the target driving distance, and v represents the target vehicle speed.

[0134] In some examples, the motor torque is adjusted by the motor target speed to complete parking, including:

[0135] The torque is adjusted based on the deviation between the current speed and the target speed to complete parking.

[0136] Furthermore, the motor adopts speed closed-loop PI control to perform torque closed-loop adjustment on the deviation w-w0 between the current speed and the motor target speed to adjust the torque

[0137] In some examples, the torque adjustment based on the deviation between the current speed and the target speed includes:

[0138] Calculate the difference between the actual angle achieved during parking and the motor target angle;

[0139] If the difference between the actual angle achieved and the motor target angle is less than the preset target angle value, the torque is adjusted according to the deviation between the current speed and the preset speed value;

[0140] If the difference between the actual angle achieved and the motor target angle is not less than the preset target angle value, the torque is adjusted according to the deviation between the current speed and the target speed.

[0141] Specifically, the torque is adjusted wr is the preset speed value.

[0142] In some examples, the torque adjustment according to the deviation between the current speed and the preset speed value includes:

[0143] The target speed is reduced to the target value at a preset slope, the speed during parking is set to the preset speed value, and the torque is adjusted according to the deviation between the current speed and the preset speed value.

[0144] In some examples, the interaction cycle between the motor controller and the ADAS is several times greater than the motor's target speed regulation cycle.

[0145] In some examples, if the difference between the actually achieved angle and the motor target angle is less than a preset target angle value, a new target driving distance is received and the new target driving distance is converted into the motor target angle.

[0146] In some examples, an automatic parking button may be provided in the vehicle, and when the user triggers the automatic parking button, the automatic parking function is activated. In this case, the activation device of the automatic parking function is the automatic parking button provided in the vehicle, and the automatic parking button may be a physical switch or a virtual switch that realizes touch input through a touch screen.

[0147] In some examples, a wireless signal receiving device may be provided in the vehicle, and when the user issues an automatic parking start command to the wireless signal receiving device through a remote control key or a user terminal, the automatic parking function is activated. In this case, the start device of the automatic parking function is the wireless signal receiving device provided in the vehicle, and the remote control key or the user terminal. When a remote control key is used, the user may press the automatic parking button provided on the remote control key to start the automatic parking function; when a user terminal is used, an automatic parking application (i.e., APP) may be pre-installed on the user terminal, and the user only needs to open the application and issue an automatic parking command to start the automatic parking function.

[0148] In some examples, before parking, it is also possible to detect whether the environment around the car is suitable for parking. Ultrasonic probes can be used to detect whether the environment around the car is suitable for parking. For example, an ultrasonic probe can be set on each side of the car, and ultrasonic probes can also be installed at the front and rear ends of the car.

[0149] In some instances, a camera may be installed on the car to accurately measure the length, width, and coordinate data of parking spaces and obstacles. The video signal captured by the camera is processed to obtain a calculated driving route. The camera and ultrasonic probe monitor the entire parking process and control the car to stop after entering the parking space.

[0150] The embodiment of the present invention obtains the target driving distance and target vehicle speed required for parking; according to the current gear ratio and tire radius, the target driving distance is converted into the motor target angle, and the motor target speed is obtained from the motor target angle and target vehicle speed; the motor torque is adjusted according to the motor target speed to complete parking. The motor is used to respond to the position signal of the ADAS system for position control to complete precise fixed-point parking. The characteristics of fast motor control response speed and high precision can be fully utilized to make the position control of the whole vehicle more accurate.

[0151] To this end, an embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored. The computer program is loaded by a processor to perform the following steps:

[0152] S101: Obtaining a target driving distance and a target vehicle speed required for parking;

[0153] S102: converting the target driving distance into a motor target angle according to the current gear ratio and the tire radius, and obtaining the motor target speed from the motor target angle and the target vehicle speed;

[0154] S103: Adjusting the motor torque by the motor target speed to complete parking.

[0155] In some instances, the motor target angle At is obtained by At=360*(L*r / (2*π*R)), and the motor target speed w0 is obtained by w0=At / (L / v), where r represents the current gear ratio, R represents the tire radius, L represents the target driving distance, and v represents the target vehicle speed.

[0156] In some examples, the motor torque is adjusted by the motor target speed to complete parking, including:

[0157] The torque is adjusted based on the deviation between the current speed and the target speed to complete parking.

[0158] Furthermore, the motor adopts speed closed-loop PI control to perform torque closed-loop adjustment on the deviation w-w0 between the current speed and the motor target speed to adjust the torque

[0159] In some examples, the torque adjustment based on the deviation between the current speed and the target speed includes:

[0160] Calculate the difference between the actual angle achieved during parking and the motor target angle;

[0161] If the difference between the actual angle achieved and the motor target angle is less than the preset target angle value, the torque is adjusted according to the deviation between the current speed and the preset speed value;

[0162] If the difference between the actual angle achieved and the motor target angle is not less than the preset target angle value, the torque is adjusted according to the deviation between the current speed and the target speed.

[0163] In some examples, the torque adjustment according to the deviation between the current speed and the preset speed value includes:

[0164] The target speed is reduced to the target value at a preset slope, the speed during parking is set to the preset speed value, and the torque is adjusted according to the deviation between the current speed and the preset speed value.

[0165] Specifically, the torque is adjusted wr is the preset speed value.

[0166] In some examples, the interaction cycle between the motor controller and the ADAS is several times greater than the motor's target speed regulation cycle.

[0167] In some examples, if the difference between the actually achieved angle and the motor target angle is less than a preset target angle value, a new target driving distance is received and the new target driving distance is converted into the motor target angle.

[0168] In some examples, an automatic parking button may be provided in the vehicle, and when the user triggers the automatic parking button, the automatic parking function is activated. In this case, the activation device of the automatic parking function is the automatic parking button provided in the vehicle, and the automatic parking button may be a physical switch or a virtual switch that realizes touch input through a touch screen.

[0169] In some examples, a wireless signal receiving device may be provided in the vehicle, and when the user issues an automatic parking start command to the wireless signal receiving device through a remote control key or a user terminal, the automatic parking function is activated. In this case, the start device of the automatic parking function is the wireless signal receiving device provided in the vehicle, and the remote control key or the user terminal. When a remote control key is used, the user may press the automatic parking button provided on the remote control key to start the automatic parking function; when a user terminal is used, an automatic parking application (i.e., APP) may be pre-installed on the user terminal, and the user only needs to open the application and issue an automatic parking command to start the automatic parking function.

[0170] In some examples, before parking, it is also possible to detect whether the environment around the car is suitable for parking. Ultrasonic probes can be used to detect whether the environment around the car is suitable for parking. For example, an ultrasonic probe can be set on each side of the car, and ultrasonic probes can also be installed at the front and rear ends of the car.

[0171] In some instances, a camera may be installed on the car to accurately measure the length, width, and coordinate data of parking spaces and obstacles. The video signal captured by the camera is processed to obtain a calculated driving route. The camera and ultrasonic probe monitor the entire parking process and control the car to stop after entering the parking space.

[0172] The embodiment of the present invention obtains the target driving distance and target vehicle speed required for parking; according to the current gear ratio and tire radius, the target driving distance is converted into the motor target angle, and the motor target speed is obtained from the motor target angle and target vehicle speed; the motor torque is adjusted according to the motor target speed to complete parking. The motor is used to respond to the position signal of the ADAS system for position control to complete precise fixed-point parking. The characteristics of fast motor control response speed and high precision can be fully utilized to make the position control of the whole vehicle more accurate.

[0173] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0174] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, etc., can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation.

[0175] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0176] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0177] It can be understood that computer-readable storage media may include: any entity or device capable of carrying a computer program, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc. A computer program includes computer program code. The computer program code may be in source code form, object code form, executable file, or some intermediate form, etc. A computer-readable storage medium may include: any entity or device capable of carrying a computer program code, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc.

[0178] Since the computer program stored in the computer-readable storage medium can execute the steps in any method provided in the embodiments of the present invention, the beneficial effects that can be achieved by any method provided in the embodiments of the present invention can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0179] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processing module, or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

[0180] In addition, vehicles that parking control is applicable to include but are not limited to fuel vehicles, pure electric vehicles, hybrid vehicles, extended-range electric vehicles, hydrogen-powered vehicles, etc.

[0181] The above is a detailed introduction to a parking control method, device, motor controller, computer equipment and medium provided in an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A parking control method, characterized in that: include: Obtain the target driving distance and target vehicle speed required for parking; According to the current gear ratio and tire radius, the target driving distance is converted into a motor target angle, and the motor target speed is obtained from the motor target angle and the target vehicle speed; The motor torque is adjusted according to the motor target speed to complete parking.

2. The method according to claim 1, characterized in that: The motor target angle At is obtained by At=360*(L*r / (2*π*R)), and the motor target speed w0 is obtained by w0=At / (L / v), wherein r represents the current gear ratio, R represents the tire radius, L represents the target driving distance, and v represents the target vehicle speed.

3. The method according to claim 2, characterized in that The motor torque is adjusted by the motor target speed to complete parking, including: Torque adjustment is performed on the deviation between the current speed and the target speed to complete parking.

4. The method according to claim 3, characterized in that The step of performing torque adjustment on the deviation between the current rotation speed and the target rotation speed includes: calculating the difference between the angle actually achieved during parking and the target angle of the motor; If the difference between the actual completed angle and the motor target angle is less than the preset target angle value, torque adjustment is performed according to the deviation between the current speed and the preset speed value; If the difference between the actual achieved angle and the motor target angle is not less than the preset target angle value, the torque is adjusted according to the deviation between the current speed and the target speed.

5. The method according to claim 4, characterized in that The torque adjustment according to the deviation between the current speed and the preset speed value includes: The target speed is reduced to a target value at a preset slope, the speed during parking is set to a preset speed value, and the torque is adjusted according to a deviation between the current speed and the preset speed value.

6. The method according to any one of claims 1 to 5, characterized in that: The interaction cycle between the motor controller and ADAS is several times greater than the motor's target speed regulation cycle.

7. The method according to claim 6, characterized in that If the difference between the actually achieved angle and the motor target angle is less than the preset target angle value, a new target driving distance is received, and a step of converting the new target driving distance into a motor target angle is performed.

8. A parking control device, characterized in that: include: An acquisition module, used to acquire a target driving distance and a target vehicle speed required for parking; A speed calculation module, used to convert the target driving distance into a motor target angle according to the current gear ratio and the tire radius, and obtain the motor target speed from the motor target angle and the target vehicle speed; The torque adjustment module is used to adjust the motor torque through the motor target speed to complete parking.

9. The device according to claim 8, characterized in that The torque adjustment module is used to perform torque adjustment on the deviation between the current rotation speed and the target rotation speed to complete parking.

10. The device according to claim 9, characterized in that The torque adjustment module comprises: An angle difference calculation unit, used to calculate the difference between the angle actually achieved during parking and the motor target angle; A first torque adjustment unit, configured to adjust the torque according to a deviation between a current rotational speed and a preset rotational speed value when a difference between the actually achieved angle and the motor target angle is less than a preset target angle value; The second torque adjustment unit is used to adjust the torque according to the deviation between the current rotation speed and the target rotation speed when the difference between the actual completed angle and the motor target angle is not less than a preset target angle value.

11. A motor controller comprising the parking control device according to any one of claims 8 to 10.

12. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 7 when executing the computer program.

13. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

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