A parking control method and device, motor controller, computer device and medium

Abstract

The application discloses a parking control method and device, a motor controller, computer equipment and a medium, relates to the technical field of parking control, and the implementation of the method comprises the following steps: obtaining a target driving distance and a target speed required for parking; converting the target driving distance into a motor target angle according to a current gear ratio and a tire radius; obtaining a motor target speed from the motor target angle and the target speed; and adjusting the motor torque through the motor target speed to complete parking. The application utilizes the motor to respond to the position signal of the ADAS system to perform position control and complete accurate fixed-point parking.

Description

Technical Field

[0001] This invention relates to the field of parking control technology, specifically to a parking control method, device, motor controller, computer equipment, and medium. Background Technology

[0002] In scenarios where new energy vehicles, especially heavy vehicles used for dock transportation, require precise parking, relying solely on Advanced Driving Assistance Systems (ADAS) to plan parking trajectories and send target torque to the power system to control vehicle speed and position results in low accuracy in executing the planned route and poor responsiveness. Summary of the Invention

[0003] This invention provides a parking control method, device, motor controller, computer equipment, and medium, which utilizes the motor's response to the ADAS system's position signal for position control to 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] Based on the current gear ratio and tire radius, the target driving distance is converted into a target motor angle, and the target motor speed is obtained from the target motor angle and the target vehicle speed.

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

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

[0009] In some instances, adjusting the motor torque by the target motor speed to complete parking includes:

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

[0011] In some instances, the torque adjustment of the deviation between the current rotational speed and the target rotational speed includes:

[0012] Calculate the difference between the actual angle completed during parking and the target angle of the motor;

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

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

[0015] In some instances, the torque adjustment based on the deviation between the current rotational speed and a preset rotational speed value includes:

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

[0017] In some instances, the interaction cycle between the motor controller and ADAS is several times longer than the cycle required for the motor to achieve the target speed regulation.

[0018] In some instances, if the difference between the actual completed angle and the target angle of the motor is less than a preset target angle value, a new target travel distance is received, and the step of converting the new target travel distance into a target angle of the motor is executed.

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

[0020] The acquisition module is used to obtain the target driving distance and target vehicle speed required for parking;

[0021] The speed calculation module is used to convert the target driving distance into a target motor angle based on the current gear ratio and tire radius, and to obtain the target motor speed from the target motor angle and the target vehicle speed.

[0022] The torque adjustment module is used to adjust the motor torque according to the target speed of the motor in order to complete parking.

[0023] In some instances, the torque adjustment module is used to adjust the torque based on the deviation between the current speed and the target speed to complete parking.

[0024] In some instances, the torque adjustment module includes:

[0025] An angle difference calculation unit is used to calculate the difference between the actual angle completed during parking and the target angle of the motor;

[0026] The first torque adjustment unit is used to adjust the torque according to the deviation between the current speed and the preset speed value when the difference between the actual completed angle and the target angle of the motor is less than the preset target angle value.

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

[0028] Thirdly, the present invention provides a motor controller including any of the above-mentioned parking control devices.

[0029] Fourthly, the present invention provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the methods described above.

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

[0031] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0032] This invention obtains the target driving distance and target vehicle speed required for parking; based on the current gear ratio and tire radius, the target driving distance is converted into a target motor angle; the target motor speed is then obtained from the target motor angle and target vehicle speed; and the motor torque is adjusted according to the target motor speed to complete parking. Position control is achieved by utilizing the motor's response to the ADAS system's position signal, enabling precise fixed-point parking. This fully leverages the fast response and high precision of motor control, resulting in more accurate vehicle position control. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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 effort.

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

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

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

[0037] Figure 4 This is a schematic diagram of an embodiment of the computer device provided in this invention. Detailed Implementation

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

[0039] In the following description, specific embodiments of the invention will be illustrated with reference to steps and symbols performed by one or more computers, unless otherwise stated. Therefore, these steps and operations will be referred to several times as being performed by a computer, and computer execution as referred to herein includes operations by a computer processing unit representing electronic signals of data in a structured format. This operation transforms the data or maintains it at a location in the computer's memory system, which can be reconfigured or otherwise alter the operation of the computer in a manner well known to those skilled in the art. The data structure maintained by the data is the physical location of the memory, which has specific characteristics defined by the data format. However, the principles of the invention described above are not intended to be limiting, and those skilled in the art will understand that many of the following steps and operations can also be implemented in hardware.

[0040] The terms "module" or "unit" as used herein can be considered as software objects executing on the computing system. Different components, modules, engines, and services described herein can be considered as implementations on the computing system. The apparatus and methods described herein are preferably implemented in software, but can also be implemented in hardware, both of which are within the scope of this invention.

[0041] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means 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 say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0042] The motor controller unit (MCU) must have electric braking functionality (electric braking refers to using the MCU's rectification function to generate braking force in the drive motor in the opposite direction of the motor's rotation speed, reducing the vehicle's speed while converting the vehicle's kinetic energy into electrical energy stored in the high-voltage battery). To ensure braking and parking functions can be achieved in both forward and reverse directions, electric braking functionality is required in both forward and reverse rotation states of the drive motor. The drive motor needs to be equipped with sensors to collect its speed and direction of rotation, and the MCU can simultaneously collect the sensor signals to calculate the drive motor's speed and direction of rotation in real time.

[0043] The MCU and the electronic control unit (VCU) need to have communication capabilities. According to certain communication rules, the VCU obtains the direction and magnitude of the drive motor speed in real time. Based on the direction and magnitude of the drive motor speed and the requirements of automatic parking, the VCU sends instructions to the MCU for execution in real time. The MCU executes the 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 CAN bus, Lin bus, FlexRay bus, and Ethernet.

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

[0045] S101: Obtain the target driving distance and target vehicle speed required for parking;

[0046] S102: Based on 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 the target vehicle speed;

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

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

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

[0050] In some instances, the above-mentioned motor torque adjustment based on the target motor speed is used to complete parking, including:

[0051] Torque adjustment is performed based on the deviation between the current speed and the target speed to complete parking.

[0052] Furthermore, the motor employs closed-loop PI control for speed adjustment, and performs closed-loop torque adjustment on the deviation w-w0 between the current speed and the target motor speed to regulate the torque.

[0053] In some instances, the above-mentioned torque adjustment of the deviation between the current speed and the target speed includes:

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

[0055] If the difference between the actual completed angle and the target angle of the motor is less than the preset target angle value, the torque will be adjusted according to the deviation between the current speed and the preset speed value.

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

[0057] In some instances, the torque adjustment based on the deviation between the current rotational speed and a preset rotational speed value includes:

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

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

[0060] In some instances, the interaction cycle between the motor controller and ADAS is several times longer than the cycle required for the motor to achieve the target speed regulation.

[0061] In some instances, if the difference between the actual completed angle and the motor target angle is less than the preset target angle value, a new target travel distance is received, and the step of converting the new target travel distance into the motor target angle is executed.

[0062] In some cases, an automatic parking button can be installed inside the vehicle. When the user presses this button, the automatic parking function is activated. In this case, the automatic parking function is activated by the button located inside the vehicle. This button can be a physical switch or a virtual switch that allows for touch input via a touchscreen.

[0063] In some cases, a wireless signal receiver can be installed inside the vehicle. When the user sends an automatic parking start command to this wireless signal receiver via the remote key or user terminal, the automatic parking function is activated. In this case, the activation device for the automatic parking function is the wireless signal receiver installed in the vehicle, along with the remote key or user terminal. When using a remote key, the user can press the automatic parking button on the remote key to activate the automatic parking function; when using a user terminal, an automatic parking application (i.e., an APP) can be pre-installed on the user terminal. The user only needs to open the application and issue an automatic parking command to activate the automatic parking function.

[0064] In some instances, it is possible to detect whether the environment around a car is suitable for parking before parking. This can be done using ultrasonic sensors, such as installing an ultrasonic sensor on each side of the car, or installing ultrasonic sensors at the front and rear of the car.

[0065] In some instances, a camera can be installed on the car to accurately measure the length, width, and coordinates of parking spaces and obstacles. By processing the video signal captured by the camera, a calculated driving route is obtained. The camera and ultrasonic probe monitor the entire parking process and control the car to stop after it enters the parking space.

[0066] This invention acquires the target driving distance and target vehicle speed required for parking; based on the current gear ratio and tire radius, the target driving distance is converted into a target motor angle; the target motor speed is then obtained from the target motor angle and target vehicle speed; and the motor torque is adjusted based on the target motor speed to complete parking. Position control is achieved by utilizing the motor's response to the ADAS system's position signal, enabling precise fixed-point parking. This fully leverages the fast response and high precision of motor control, resulting in more accurate vehicle position control.

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

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

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

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

[0071] 4. Control method for state s2 when approaching the target driving distance: While controlling the target angle of the motor, the difference A_left between the actual completed angle Af and At is calculated. When A_left < the preset target angle value a0, it is defined as state s2 (otherwise it is state s1). At this time, the target motor speed no longer accepts the ADAS target vehicle speed conversion value w0, but instead reduces w0 to 0 with a preset slope ramp1. During this process, the rotation...

[0072]

[0073] The speed is defined as wr, and the closed-loop speed control is still implemented according to step 3, adjusting the torque.

[0074]

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

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

[0077] In some cases, an automatic parking button can be installed inside the vehicle. When the user presses this button, the automatic parking function is activated. In this case, the automatic parking function is activated by the button located inside the vehicle. This button can be a physical switch or a virtual switch that allows for touch input via a touchscreen.

[0078] In some cases, a wireless signal receiver can be installed inside the vehicle. When the user sends an automatic parking start command to this wireless signal receiver via the remote key or user terminal, the automatic parking function is activated. In this case, the activation device for the automatic parking function is the wireless signal receiver installed in the vehicle, along with the remote key or user terminal. When using a remote key, the user can press the automatic parking button on the remote key to activate the automatic parking function; when using a user terminal, an automatic parking application (i.e., an APP) can be pre-installed on the user terminal. The user only needs to open the application and issue an automatic parking command to activate the automatic parking function.

[0079] In some instances, it is possible to detect whether the environment around a car is suitable for parking before parking. This can be done using ultrasonic sensors, such as installing an ultrasonic sensor on each side of the car, or installing ultrasonic sensors at the front and rear of the car.

[0080] In some instances, a camera can be installed on the car to accurately measure the length, width, and coordinates of parking spaces and obstacles. By processing the video signal captured by the camera, a calculated driving route is obtained. The camera and ultrasonic probe monitor the entire parking process and control the car to stop after it enters the parking space.

[0081] This invention acquires the target driving distance and target vehicle speed required for parking; based on the current gear ratio and tire radius, the target driving distance is converted into a target motor angle; the target motor speed is then obtained from the target motor angle and target vehicle speed; and the motor torque is adjusted based on the target motor speed to complete parking. Position control is achieved by utilizing the motor's response to the ADAS system's position signal, enabling precise fixed-point parking. This fully leverages the fast response and high precision of motor control, resulting in more accurate vehicle position control.

[0082] In a third embodiment of the present invention, to facilitate better implementation of the method provided in the embodiments of the present invention, an apparatus based on the above method is also provided. The meanings of the terms used are the same as in the above method, and specific implementation details can be found in the descriptions in the method embodiments.

[0083] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of a device provided in an embodiment of the present invention. The device 300 may include: an acquisition module 301, a speed calculation module 302, and a torque adjustment module 303, wherein:

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

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

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

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

[0088] In some instances, the torque adjustment module 303 described above is used to adjust the torque based on the deviation between the current speed and the target speed in order to complete parking.

[0089] Furthermore, the motor employs closed-loop PI control for speed adjustment, and performs closed-loop torque adjustment on the deviation w-w0 between the current speed and the target motor speed to regulate the torque.

[0090] In some instances, the torque adjustment module 303 described above includes:

[0091] Angle difference calculation unit is used to calculate the difference between the actual angle completed during parking and the target angle of the motor;

[0092] The first torque adjustment unit is used to adjust the torque according to the deviation between the current speed and the preset speed when the difference between the actual completed angle and the target angle of the motor is less than the preset target angle value.

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

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

[0095] In some instances, the interaction cycle between the motor controller and ADAS is several times longer than the cycle required for the motor to achieve the target speed regulation.

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

[0097] In some instances, an automatic parking button or wireless signal receiver is connected to the parking control device to send 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 in real time from the vehicle's CAN bus or LIN bus and compares the current vehicle speed with the system's preset vehicle speed threshold. If the current vehicle speed is less than the vehicle speed threshold, the automatic parking function is activated; otherwise, the automatic parking function is not activated.

[0098] In some instances, a driver exit detection device can be installed in the vehicle to detect whether the driver has exited. In one embodiment, the vehicle will only begin parking after the driver has exited. Since the parking device in this embodiment enables fully automatic parking, the driver does not need to perform any additional operations inside the vehicle. This allows the driver to exit the vehicle before it enters the parking space, avoiding situations where the driver cannot open the door to exit when parking in narrow perpendicular or angled spaces, thus improving the user experience. Specifically, the driver exit detection device can be, but is not limited to, a gravity sensor installed on the driver's seat to collect the driver's weight information. When the gravity sensor detects the driver's weight information, it is determined that the driver has not yet exited the vehicle; when the gravity sensor does not detect the driver's weight information, it is determined that the driver has exited the vehicle. The driver exit detection device can also be other detection devices such as a camera.

[0099] This invention acquires the target driving distance and target vehicle speed required for parking; based on the current gear ratio and tire radius, the target driving distance is converted into a target motor angle; the target motor speed is then obtained from the target motor angle and target vehicle speed; and the motor torque is adjusted based on the target motor speed to complete parking. Position control is achieved by utilizing the motor's response to the ADAS system's position signal, enabling precise fixed-point parking. This fully leverages the fast response and high precision of motor control, resulting in more accurate vehicle position control.

[0100] In the fourth embodiment of the present invention, a motor controller including the above-described parking control device is also provided. The motor controller is a single-chip microcomputer that integrates a processor, memory, communication module, etc. The processor can refer to the processor contained within the controller. The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor in the motor controller calls upon the computer medium stored in the memory to execute the following steps:

[0101] S101: Obtain the target driving distance and target vehicle speed required for parking;

[0102] S102: Based on 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 the target vehicle speed;

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

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

[0105] In some instances, the above-mentioned motor torque adjustment based on the target motor speed is used to complete parking, including:

[0106] Torque adjustment is performed based on the deviation between the current speed and the target speed to complete parking.

[0107] Furthermore, the motor employs closed-loop PI control for speed adjustment, and performs closed-loop torque adjustment on the deviation w-w0 between the current speed and the target motor speed to regulate the torque.

[0108] In some instances, the above-mentioned torque adjustment of the deviation between the current speed and the target speed includes:

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

[0110] If the difference between the actual completed angle and the target angle of the motor is less than the preset target angle value, the torque will be adjusted according to the deviation between the current speed and the preset speed value.

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

[0112] In some instances, the torque adjustment based on the deviation between the current rotational speed and a preset rotational speed value includes:

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

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

[0115] In some instances, the interaction cycle between the motor controller and ADAS is several times longer than the cycle required for the motor to achieve the target speed regulation.

[0116] In some instances, if the difference between the actual completed angle and the motor target angle is less than the preset target angle value, a new target travel distance is received and converted into a motor target angle.

[0117] In some cases, an automatic parking button can be installed inside the vehicle. When the user presses this button, the automatic parking function is activated. In this case, the automatic parking function is activated by the button located inside the vehicle. This button can be a physical switch or a virtual switch that allows for touch input via a touchscreen.

[0118] In some cases, a wireless signal receiver can be installed inside the vehicle. When the user sends an automatic parking start command to this wireless signal receiver via the remote key or user terminal, the automatic parking function is activated. In this case, the activation device for the automatic parking function is the wireless signal receiver installed in the vehicle, along with the remote key or user terminal. When using a remote key, the user can press the automatic parking button on the remote key to activate the automatic parking function; when using a user terminal, an automatic parking application (i.e., an APP) can be pre-installed on the user terminal. The user only needs to open the application and issue an automatic parking command to activate the automatic parking function.

[0119] In some instances, it is possible to detect whether the environment around a car is suitable for parking before parking. This can be done using ultrasonic sensors, such as installing an ultrasonic sensor on each side of the car, or installing ultrasonic sensors at the front and rear of the car.

[0120] In some instances, a camera can be installed on the car to accurately measure the length, width, and coordinates of parking spaces and obstacles. By processing the video signal captured by the camera, a calculated driving route is obtained. The camera and ultrasonic probe monitor the entire parking process and control the car to stop after it enters the parking space.

[0121] This invention acquires the target driving distance and target vehicle speed required for parking; based on the current gear ratio and tire radius, the target driving distance is converted into a target motor angle; the target motor speed is then obtained from the target motor angle and target vehicle speed; and the motor torque is adjusted based on the target motor speed to complete parking. Position control is achieved by utilizing the motor's response to the ADAS system's position signal, enabling precise fixed-point parking. This fully leverages the fast response and high precision of motor control, resulting in more accurate vehicle position control.

[0122] In the fifth embodiment of the present invention, a computer device is also provided, such as... Figure 4 As shown, it illustrates a structural schematic diagram 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 understand that... Figure 4 The computer device structure shown does not constitute a limitation on the computer device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0124] The processor 401 is the control center of the computer device. It connects various parts of the computer device via various interfaces and lines, and performs various functions and processes data by running or executing software programs and / or modules stored in the memory 402, and by calling data stored in the memory 402, thereby providing overall monitoring of the computer device. 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 handles the operation of the storage medium, user interface, and application programs, and the modem processor mainly handles wireless communication. It is understood that the 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. The program storage area may store applications required for operating the storage medium and at least one function (such as sound playback function, image playback function, etc.); the data storage area may store data created according to the use of the computer device. In addition, the memory 402 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. 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 that supplies power to the various components. Preferably, the power supply 403 can be logically connected to the processor 401 via a power management storage medium, thereby enabling functions such as charging, discharging, and power consumption management through the power management storage medium. The power supply 403 may also include one or more DC or AC power supplies, recharge storage media, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

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

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

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

[0130] S101: Obtain the target driving distance and target vehicle speed required for parking;

[0131] S102: Based on 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 the target vehicle speed;

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

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

[0134] In some instances, the above-mentioned motor torque adjustment based on the target motor speed is used to complete parking, including:

[0135] Torque adjustment is performed based on the deviation between the current speed and the target speed to complete parking.

[0136] Furthermore, the motor employs closed-loop PI control for speed adjustment, and performs closed-loop torque adjustment on the deviation w-w0 between the current speed and the target motor speed to regulate the torque.

[0137] In some instances, the above-mentioned torque adjustment of the deviation between the current speed and the target speed includes:

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

[0139] If the difference between the actual completed angle and the target angle of the motor is less than the preset target angle value, the torque will be adjusted according to the deviation between the current speed and the preset speed value.

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

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

[0142] In some instances, the torque adjustment based on the deviation between the current rotational speed and a preset rotational speed value includes:

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

[0144] In some instances, the interaction cycle between the motor controller and ADAS is several times longer than the cycle required for the motor to achieve the target speed regulation.

[0145] In some instances, if the difference between the actual completed angle and the motor target angle is less than the preset target angle value, a new target travel distance is received and converted into a motor target angle.

[0146] In some cases, an automatic parking button can be installed inside the vehicle. When the user presses this button, the automatic parking function is activated. In this case, the automatic parking function is activated by the button located inside the vehicle. This button can be a physical switch or a virtual switch that allows for touch input via a touchscreen.

[0147] In some cases, a wireless signal receiver can be installed inside the vehicle. When the user sends an automatic parking start command to this wireless signal receiver via the remote key or user terminal, the automatic parking function is activated. In this case, the activation device for the automatic parking function is the wireless signal receiver installed in the vehicle, along with the remote key or user terminal. When using a remote key, the user can press the automatic parking button on the remote key to activate the automatic parking function; when using a user terminal, an automatic parking application (i.e., an APP) can be pre-installed on the user terminal. The user only needs to open the application and issue an automatic parking command to activate the automatic parking function.

[0148] In some instances, it is possible to detect whether the environment around a car is suitable for parking before parking. This can be done using ultrasonic sensors, such as installing an ultrasonic sensor on each side of the car, or installing ultrasonic sensors at the front and rear of the car.

[0149] In some instances, a camera can be installed on the car to accurately measure the length, width, and coordinates of parking spaces and obstacles. By processing the video signal captured by the camera, a calculated driving route is obtained. The camera and ultrasonic probe monitor the entire parking process and control the car to stop after it enters the parking space.

[0150] This invention acquires the target driving distance and target vehicle speed required for parking; based on the current gear ratio and tire radius, the target driving distance is converted into a target motor angle; the target motor speed is then obtained from the target motor angle and target vehicle speed; and the motor torque is adjusted based on the target motor speed to complete parking. Position control is achieved by utilizing the motor's response to the ADAS system's position signal, enabling precise fixed-point parking. This fully leverages the fast response and high precision of motor control, resulting in more accurate vehicle position control.

[0151] Therefore, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, the computer program being loaded by a processor to perform the following steps:

[0152] S101: Obtain the target driving distance and target vehicle speed required for parking;

[0153] S102: Based on 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 the target vehicle speed;

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

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

[0156] In some instances, the above-mentioned motor torque adjustment based on the target motor speed is used to complete parking, including:

[0157] Torque adjustment is performed based on the deviation between the current speed and the target speed to complete parking.

[0158] Furthermore, the motor employs closed-loop PI control for speed adjustment, and performs closed-loop torque adjustment on the deviation w-w0 between the current speed and the target motor speed to regulate the torque.

[0159] In some instances, the above-mentioned torque adjustment of the deviation between the current speed and the target speed includes:

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

[0161] If the difference between the actual completed angle and the target angle of the motor is less than the preset target angle value, the torque will be adjusted according to the deviation between the current speed and the preset speed value.

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

[0163] In some instances, the torque adjustment based on the deviation between the current rotational speed and a preset rotational speed value includes:

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

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

[0166] In some instances, the interaction cycle between the motor controller and ADAS is several times longer than the cycle required for the motor to achieve the target speed regulation.

[0167] In some instances, if the difference between the actual completed angle and the motor target angle is less than the preset target angle value, a new target travel distance is received and converted into a motor target angle.

[0168] In some cases, an automatic parking button can be installed inside the vehicle. When the user presses this button, the automatic parking function is activated. In this case, the automatic parking function is activated by the button located inside the vehicle. This button can be a physical switch or a virtual switch that allows for touch input via a touchscreen.

[0169] In some cases, a wireless signal receiver can be installed inside the vehicle. When the user sends an automatic parking start command to this wireless signal receiver via the remote key or user terminal, the automatic parking function is activated. In this case, the activation device for the automatic parking function is the wireless signal receiver installed in the vehicle, along with the remote key or user terminal. When using a remote key, the user can press the automatic parking button on the remote key to activate the automatic parking function; when using a user terminal, an automatic parking application (i.e., an APP) can be pre-installed on the user terminal. The user only needs to open the application and issue an automatic parking command to activate the automatic parking function.

[0170] In some instances, it is possible to detect whether the environment around a car is suitable for parking before parking. This can be done using ultrasonic sensors, such as installing an ultrasonic sensor on each side of the car, or installing ultrasonic sensors at the front and rear of the car.

[0171] In some instances, a camera can be installed on the car to accurately measure the length, width, and coordinates of parking spaces and obstacles. By processing the video signal captured by the camera, a calculated driving route is obtained. The camera and ultrasonic probe monitor the entire parking process and control the car to stop after it enters the parking space.

[0172] This invention acquires the target driving distance and target vehicle speed required for parking; based on the current gear ratio and tire radius, the target driving distance is converted into a target motor angle; the target motor speed is then obtained from the target motor angle and target vehicle speed; and the motor torque is adjusted based on the target motor speed to complete parking. Position control is achieved by utilizing the motor's response to the ADAS system's position signal, enabling precise fixed-point parking. This fully leverages the fast response and high precision of motor control, resulting in more accurate vehicle position control.

[0173] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

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

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

[0176] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0177] It is understood that computer-readable storage media can include: any entity or device capable of carrying computer programs, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc. Computer programs include computer program code. Computer program code can be in the form of source code, object code, executable files, or certain intermediate forms, etc. Computer-readable storage media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, 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 of any of the methods provided in the embodiments of the present invention, the beneficial effects that any of the methods provided in the embodiments of the present invention can achieve can be realized, as detailed in the preceding embodiments, 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 a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, 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 and execute instructions from, an instruction execution system, apparatus or device).

[0180] In addition, parking control applies to vehicles including but not limited to gasoline vehicles, pure electric vehicles, hybrid electric vehicles, range-extended electric vehicles, and hydrogen fuel cell vehicles.

[0181] The foregoing has provided a detailed description of a parking control method, device, motor controller, computer equipment, and medium provided by embodiments of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of 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; Based on the current gear ratio and tire radius, the target driving distance is converted into a target motor angle, and the target motor speed is obtained from the target motor angle and the target vehicle speed. The motor torque is adjusted by the target motor speed to complete parking; The step of adjusting the motor torque by the target motor speed to complete parking includes: Torque adjustment is performed based on the deviation between the current rotational speed and the target rotational speed to complete parking; The torque adjustment of the deviation between the current rotational speed and the target rotational speed includes: Calculate the difference between the actual angle completed during parking and the target angle of the motor; If the difference between the actual completed angle and the target angle of the motor is less than the preset target angle value, then the torque is adjusted according to the deviation between the current speed and the preset speed value; If the difference between the actual completed angle and the target angle of the motor is not less than the preset target angle value, then the torque is adjusted according to the deviation between the current speed and the target speed.

2. The method according to claim 1, characterized in that, Depend on The target angle of the motor is obtained. ,Depend on The target speed of the motor is obtained. ,in, Indicates the current gear ratio. Indicates the tire radius. This indicates the target driving distance. This indicates the target vehicle speed.

3. The method according to claim 2, characterized in that, The torque adjustment based on the deviation between the current rotational speed and the preset rotational speed value includes: The target speed is reduced to the target value with a preset slope, and the speed during parking is set to the preset speed value. Torque is adjusted according to the deviation between the current speed and the preset speed value.

4. The method according to any one of claims 1 to 3, characterized in that, The interaction cycle between the motor controller and ADAS is several times longer than the cycle during which the motor achieves the target speed regulation.

5. The method according to claim 4, characterized in that, If the difference between the actual completed angle and the target angle of the motor is less than the preset target angle value, then a new target driving distance is received, and the step of converting the new target driving distance into the target angle of the motor is executed.

6. A parking control device, characterized in that, include: The acquisition module is used to obtain the target driving distance and target vehicle speed required for parking; The speed calculation module is used to convert the target driving distance into a target motor angle based on the current gear ratio and tire radius, and to obtain the target motor speed from the target motor angle and the target vehicle speed. A torque adjustment module is used to adjust the motor torque according to the target speed of the motor in order to complete parking; The torque adjustment module is used to adjust the torque based on the deviation between the current speed and the target speed in order to complete parking; The torque adjustment module includes: An angle difference calculation unit is used to calculate the difference between the actual angle completed during parking and the target angle of the motor; The first torque adjustment unit is used to adjust the torque according to the deviation between the current speed and the preset speed value when the difference between the actual completed angle and the target angle of the motor is less than the preset target angle value. The second torque adjustment unit is used to adjust the torque according to the deviation between the current speed and the target speed when the difference between the actual completed angle and the target angle of the motor is not less than the preset target angle value.

7. The apparatus according to claim 6, characterized in that, Depend on The target angle of the motor is obtained. ,Depend on The target speed of the motor is obtained. ,in, Indicates the current gear ratio. Indicates the tire radius. This indicates the target driving distance. This indicates the target vehicle speed.

8. The apparatus according to claim 7, characterized in that, The first torque adjustment unit is used to reduce the target speed to the target value with a preset slope when the difference between the actual completed angle and the target angle of the motor is less than the preset target angle value, and to set the speed during the parking process to the preset speed value, and to adjust the torque according to the deviation between the current speed and the preset speed value.

9. The apparatus according to any one of claims 6 to 8, characterized in that, The interaction cycle between the motor controller and ADAS is several times longer than the cycle during which the motor achieves the target speed regulation.

10. The apparatus according to claim 9, characterized in that, If the difference between the actual completed angle and the target angle of the motor is less than the preset target angle value, then a new target driving distance is received, and the operation of converting the new target driving distance into the target angle of the motor is performed.

11. A motor controller comprising the parking control device according to any one of claims 6 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, when executing the computer program, implements the steps of the method according to any one of claims 1 to 5.

13. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 5.

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