Automatic parking control method of driving and rotating integrated chassis platform and related equipment

Abstract

The invention provides an automatic parking control method of a driving and rotating integrated chassis platform and related equipment, and belongs to the technical field of vehicle control. According to the direction relation between the vehicle position and the parking space position, the parking space type is identified, wherein the parking space type comprises a first type of parking space perpendicular to the vehicle and a second type of parking space not perpendicular to the vehicle; selecting a parking mode according to the parking space type, wherein the parking mode comprises the steps of controlling a driving and rotating integrated chassis platform to enable front wheels of the vehicle to rotate for parking and controlling the driving and rotating integrated chassis platform to enable rear wheels of the vehicle to rotate for parking; and controlling the driving and rotating integrated chassis to park according to the selected parking mode. The parking spaces are classified according to the positions of the parking spaces, different parking modes are adopted according to the types of the parking spaces, the same parking function is achieved, meanwhile, safety in the parking process is guaranteed, the automatic parking efficiency is improved, and the parking time of a user is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to an automatic parking control method of a drive-and-turn integrated chassis platform and related equipment. BACKGROUND

[0002] In daily life, parking methods are generally divided into two types, one is manual parking, and the other is automatic parking. Manual parking requires the driver to first observe the road conditions to find a suitable parking space, turn on the turn signal to indicate the direction, slowly drive to the appropriate position beside the parking space and stop; then put it in reverse gear, observe the distance between the vehicle body and the parking space and obstacles through the rearview mirror and the reversing image, and slowly turn the direction, step on the accelerator to control the speed, repeatedly fine-tune the direction and distance, and gradually align the vehicle body; after confirming that the vehicle body is completely parked in the parking space and there is no risk of collision with the surrounding environment, put it in neutral gear (manual gear) or P gear (automatic gear), pull the handbrake (or start the electronic handbrake), and turn off the engine to complete the manual parking. Automatic parking requires first scanning the surrounding environment and the parking space through sensors, planning the optimal parking path after confirming that the parking space size is suitable, then automatically controlling the steering, acceleration, braking and gear shifting, and the vehicle slowly moves along the preset path, the direction is corrected in real time to avoid obstacles during the process, and finally stops in the target parking space to complete the parking.

[0003] The existing vehicle is limited by the traditional chassis scheme. During the manual parking process of the driver, the vehicle needs to be parked in the parking space by reversing, which has a very high requirement for the driving proficiency of the driver, and the driver needs to pay attention to the situation around the vehicle at all times. For the automatic parking scheme with an EPS steering system, although the driver does not need to manipulate the vehicle during the parking process, the parking efficiency is very low due to the limitation of the automatic parking algorithm and the vehicle structure, and the time of the driver is occupied. SUMMARY

[0004] The main purpose of the embodiments of the present application is to provide an automatic parking control method of a drive-and-turn integrated chassis platform and related equipment, aiming to realize the same parking function while ensuring the safety during parking, improve the automatic parking efficiency, and save the parking time of the user. To achieve the above-mentioned purpose, one aspect of the embodiments of the present application provides an automatic parking control method of a drive-and-turn integrated chassis platform, the kingpin of the drive-and-turn integrated chassis platform is perpendicular to the ground and passes through the wheel center, and the method comprises: obtaining the position of the parking space; identifying the parking space type according to the directional relationship between the position of the vehicle and the position of the parking space, the parking space type including a first type of parking space perpendicular to the vehicle and a second type of parking space non-perpendicular to the vehicle; selecting a parking mode according to the parking space type, the parking mode including controlling the drive-and-turn integrated chassis platform to rotate the front wheels of the vehicle for parking and controlling the drive-and-turn integrated chassis platform to rotate the rear wheels of the vehicle for parking. controlling the drive-integrated chassis to park according to the selected parking mode.

[0005] In some embodiments, the identifying the type of parking space according to the directional relationship between the position of the vehicle and the position of the parking space comprises: identifying the type of parking space according to the included angle between the center axis of the vehicle and the center axis of the parking space; if the included angle between the center axis of the vehicle and the center axis of the parking space is 90°, marking the parking space as a first type of parking space; if the included angle between the center axis of the vehicle and the center axis of the parking space is less than 90°, marking the parking space as a second type of parking space.

[0006] In some embodiments, the controlling the drive-integrated chassis to park according to the selected parking mode comprises: when the parking space is the first type of parking space, controlling the drive-integrated chassis platform to rotate the front wheels of the vehicle inward, so that the vehicle is driven into the first type of parking space with the direction of the vehicle parallel to the direction of the parking space; when the parking space is the second type of parking space, controlling the drive-integrated chassis platform to rotate the rear wheels of the vehicle inward, so that the vehicle is driven into the second type of parking space with the direction of the vehicle parallel to the direction of the parking space.

[0007] In some embodiments, the controlling the drive-integrated chassis platform to rotate the front wheels of the vehicle inward, so that the vehicle is driven into the first type of parking space with the direction of the vehicle parallel to the direction of the parking space when the parking space is the first type of parking space comprises: controlling the vehicle to drive to the front of the parking space, and stopping when the rear axle of the vehicle is aligned with the center line of the parking space; controlling the left and right front wheels to rotate inward by a first rotation angle and a second rotation angle, respectively; controlling the four wheel hub motors to drive the wheels to rotate, so that the left front wheel rotates backward at a first angular velocity, the right front wheel rotates forward at a second angular velocity, the left rear wheel rotates backward at a third angular velocity, and the right rear wheel rotates forward at a fourth angular velocity, so that the vehicle performs steering around the midpoint of the rear axle; stopping the wheel hub motors after receiving a signal that the direction of the vehicle is parallel to the direction of the parking space, and returning the left and right front wheels to the normal position; controlling the four wheel hub motors to rotate backward at the same angular velocity, and stopping the drive of the wheel hub motors when the vehicle moves to a safe distance from the center line of the parking space, to complete parking.

[0008] In some embodiments, the controlling the drive-integrated chassis platform to rotate the rear wheels of the vehicle inward, so that the vehicle is driven into the second type of parking space with the direction of the vehicle parallel to the direction of the parking space when the parking space is the second type of parking space comprises: controlling the vehicle to drive to the front of the parking space, and stopping when the midpoint of the front axle of the vehicle is aligned with the extension line of the center line of the parking space; controlling the turning angles of the left and right rear wheels to turn inward by a third turning angle and a fourth turning angle, respectively; controlling the four in-wheel motors to drive the wheels to turn, the left front wheel turning backward at a fifth angular velocity, the right front wheel turning forward at a sixth angular velocity, the left rear wheel turning backward at a seventh angular velocity, and the right rear wheel turning forward at an eighth angular velocity, so as to make the vehicle turn around the midpoint of the front axle; controlling the in-wheel motors to stop turning upon receiving a signal that the direction of the vehicle is parallel to the direction of the parking space, and controlling the turning angles of the left and right rear wheels to turn back to zero; controlling the four in-wheel motors to turn forward at the same angular velocity, and stopping the in-wheel motors when the vehicle moves to a safe distance from the parking space line, to complete parking.

[0009] In some embodiments, the method further comprises: if the current parking space is the first type of parking space, controlling the turning angles of the two front wheels to rotate in opposite directions, the turning angles of the two front wheels satisfying: , and controlling the speed ratio of the front and rear wheels to satisfy:

[0010] wherein, W is the wheel track, L is the length of the vehicle, is the first angular velocity, is the second angular velocity, is the second angular velocity, is the second angular velocity, is the first turning angle, is the second turning angle, a is the safe distance between the vehicle and the parking space.

[0011] In some embodiments, the method further comprises: if the current parking space is the second type of parking space, controlling the turning angles of the two rear wheels to rotate in opposite directions, the turning angles of the two rear wheels satisfying: , the turning angles of the two rear wheels being in opposite directions; and controlling the speed ratio of the front and rear wheels to satisfy:

[0012] wherein, W is the wheel track, L is the length of the vehicle, is the fifth angular velocity, is the sixth angular velocity, is the seventh angular velocity, is the eighth angular velocity, is the third turning angle, is the fourth turning angle, a is the safe distance between the vehicle and the parking space.

[0013] To achieve the above object, another aspect of the embodiment of the present application provides an automatic parking control system of a drive-and-turn integrated chassis platform, a kingpin of the drive-and-turn integrated chassis platform is perpendicular to the ground and passes through a wheel center, and the automatic parking control system comprises: a data acquisition module configured to acquire position information of a parking space; an identification module configured to identify a parking space type according to a directional relationship between a position of a vehicle and the position of the parking space, the parking space type comprising a first type of parking space perpendicular to the vehicle and a second type of parking space non-perpendicular to the vehicle; a parking mode selection module configured to select a parking mode according to the parking space type, the parking mode comprising controlling the drive-and-turn integrated chassis platform to rotate a front wheel of the vehicle to park and controlling the drive-and-turn integrated chassis platform to rotate a rear wheel of the vehicle to park; a control module configured to control the drive-and-turn integrated chassis platform to park according to the selected parking mode.

[0014] To achieve the above object, another aspect of the embodiment of the present application provides a vehicle comprising a processor and a memory, the memory is configured to store computer program code, the computer program code comprises computer instructions, and the processor implements an automatic parking control method of a drive-and-turn integrated chassis platform when executing the computer program.

[0015] To achieve the above object, another aspect of the embodiment of the present application provides a computer program product comprising a computer program, the computer program is executed by a processor to implement an automatic parking control method of a drive-and-turn integrated chassis platform.

[0016] The present application has at least the following beneficial effects: the present application is based on a high-performance drive-and-turn integrated chassis platform, four wheels are independently controlled by the drive-and-turn integrated chassis platform to realize an automatic parking function, in the parking process, the position of a parking space is acquired first, then the parking space is divided into two categories according to the position of the parking space and the position of the vehicle, different parking modes are planned according to different types of parking spaces, and the drive-and-turn integrated chassis platform controls the vehicle to enter the parking space according to the maximum 90° turning characteristics and the four-wheel forward and reverse rotation characteristics of the vehicle, thereby realizing the same parking function, simplifying the parking mode, improving the automatic parking efficiency, and saving the parking time of the user. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and serve to explain the principles of the present application together with the specification. In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, those skilled in the art can obtain other drawings according to these drawings without any creative effort. Figure 1 An automatic parking control method flow chart of a drive-integrated chassis platform provided by the embodiment of the present application; Figure 2 A structure schematic diagram of an automatic parking control system of a drive-integrated chassis platform provided by the embodiment of the present application; Figure 3 An implementation flow schematic diagram of an automatic parking control method of a drive-integrated chassis platform provided by the embodiment of the present application; Figure 4 A first type of parking space and a second type of parking space provided by the embodiment of the present application; Figure 5 A first type of parking space parking flow step one schematic diagram provided by the embodiment of the present application; Figure 6 A first type of parking space parking flow step two schematic diagram provided by the embodiment of the present application; Figure 7 A first type of parking space parking flow step three schematic diagram provided by the embodiment of the present application; Figure 8 A first type of parking space parking flow step four schematic diagram provided by the embodiment of the present application; Figure 9 A first type of parking space parking flow step five schematic diagram provided by the embodiment of the present application; Figure 10 A second type of parking space parking flow step one schematic diagram provided by the embodiment of the present application; Figure 11 A second type of parking space parking flow step two schematic diagram provided by the embodiment of the present application; Figure 12 A second type of parking space parking flow step three schematic diagram provided by the embodiment of the present application; Figure 13 A second type of parking space parking flow step four schematic diagram provided by the embodiment of the present application; Figure 14 A second type of parking space parking flow step five schematic diagram provided by the embodiment of the present application; Figure 15 A structure schematic diagram of a whole vehicle control system provided by the embodiment of the present application. DETAILED DESCRIPTION

[0018] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below, obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the protection scope of the present application.

[0019] It should be noted that all the direction indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the direction indications also change accordingly.

[0020] In addition, the descriptions related to “first”, “second” and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first” and “second” can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of those skilled in the art, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope of the present application.

[0021] It should be noted that in each specific embodiment of the present application, when relevant processing needs to be performed according to user information, user behavior data, user historical data and user location information and other data related to the identity or characteristics of the user, the permission or consent of the user will be obtained first, and the collection, use and processing of these data will comply with relevant laws, regulations and standards of relevant countries and regions. In addition, when the embodiments of the present application need to obtain sensitive personal information of the user, the separate permission or separate consent of the user will be obtained through a pop-up window or jumping to a confirmation page, and after obtaining the separate permission or separate consent of the user, the necessary user-related data for enabling the embodiments of the present application to normally operate will be obtained.

[0022] The existing vehicle is limited by the traditional chassis scheme, and during the manual parking process of the driver, the vehicle needs to be parked into the parking space by reversing, which has very high requirements for the driving proficiency of the driver, and the driver needs to pay attention to the surrounding situation of the vehicle at all times. The automatic parking scheme with the EPS steering system, although does not need the driver to manipulate the vehicle during the parking process, is limited by the automatic parking algorithm and the vehicle structure, and has very low parking efficiency and occupies the time of the driver.

[0023] Based on this, the main purpose of the embodiment of the present application is to provide an automatic parking control method of a drive-turning integrated chassis platform and related equipment, aiming to realize the same parking function while ensuring the safety during parking, improving the automatic parking efficiency and saving the parking time of the user.

[0024] The automatic parking control method of the drive-turning integrated chassis platform provided by the embodiment of the present application relates to the technical field of vehicle-machine interaction. The automatic parking control method of the drive-turning integrated chassis platform provided by the embodiment of the present application can be applied to scenes such as narrow parking spaces in urban communities, dense parking spaces in commercial underground garages, and limited parking spaces in old neighborhoods. When the vehicle reaches the destination, the automatic parking control method can rely on the flexible turning and driving coordination advantages of the drive-turning integrated chassis to automatically identify the size of the parking space, the distribution of obstacles and the boundary of the surrounding environment, and complete the precise alignment, path planning and parking action without manual intervention, thereby solving the problem of high difficulty and low efficiency of manual parking in narrow spaces. The related vehicles involved in the embodiment of the present application include a vehicle carrying a drive-turning integrated chassis platform. The vehicle is configured with information as follows: four wheels of front and rear suspensions are all equipped with hub motors, and no driving half shaft is arranged; four wheels of front and rear suspensions are all equipped with kingpin steering motors, and no steering drag link is arranged; the vehicle can realize the ability of four wheels to travel horizontally with a 90° turning angle through precise control of four driving hub motors and four kingpin steering motors, and can realize precise cooperative control of the driving force of four driving motors and the steering angle and steering angular velocity of four kingpin steering motors through the vehicle ECU. The hardware system capable of realizing the automatic parking function of the side parking space without yaw angle mentioned in the embodiment of the present application includes: a vehicle motion control system, a distance sensor (laser radar or 360 camera), a wheel speed sensor and a turning angle sensor, a drive-turning integrated chassis platform capable of realizing 90° turning angle of four wheels including kingpin steering motors and hub motors, and a specific system composition and control flowchart as shown in Figure 15 The embodiment is specifically described as follows. First, a drive-turning integrated chassis platform automatic parking control method in the embodiment of the present application is described.

[0025] Please refer to Figure 1 , Figure 1 which is a flowchart of the drive-turning integrated chassis platform automatic parking control method provided by the embodiment of the present application. The drive-turning integrated chassis platform automatic parking control method provided by the embodiment of the present application sets the following premise conditions: the kingpin caster angle and the kingpin inclination angle are both temporarily set as 0; the kingpin caster drag moment and the kingpin lateral offset distance (at the wheel center) are both temporarily set as 0; the tire toe angle and the camber angle are both temporarily set as 0. According to the above premise conditions, the kingpin of the drive-turning integrated chassis platform is perpendicular to the ground and passes through the wheel center. The method can include but is not limited to steps S100 to S400.

[0026] Step S100, acquiring position information of a parking space.

[0027] It is easy to understand that before parking, the driver can manually select the parking space that he wants to stop or the system automatically selects the parking space, and after selecting the parking space, the position information of the parking space is obtained. Exemplarily, the position information of the parking space can include but is not limited to including the coordinates of the parking space, at this time the coordinates of the parking space are constructed in a coordinate system centered on the vehicle, which is used to calculate the distance and direction of the vehicle and the parking space, so as to accurately judge the relationship between the vehicle and the parking space and realize precise parking.

[0028] Step S200, identifying the parking space type according to the directional relationship between the position of the vehicle and the position of the parking space, the parking space type including a first type perpendicular to the vehicle and a second type non-perpendicular to the vehicle.

[0029] It is easy to understand that according to the positional relationship between the vehicle and the parking space, the parking space can be divided into multiple types, and the present application divides the parking space type into two categories. Exemplarily, the present application divides the parking space into a first type perpendicular to the vehicle and a second type non-perpendicular to the vehicle according to the difference of the steering tires, wherein the second type non-perpendicular to the vehicle can be a side parking space and the first type perpendicular to the vehicle can be a reverse parking space, which is convenient for simplifying the parking mode.

[0030] Step S300, selecting a parking mode according to the parking space type, the parking mode including controlling the drive-turn integrated chassis platform to make the front wheels of the vehicle rotate for parking and controlling the drive-turn integrated chassis platform to make the rear wheels of the vehicle rotate for parking.

[0031] It is easy to understand that different parking space types will result in different optimal parking modes, so the present application will select the optimal parking mode according to the parking space type to simplify the parking process. Exemplarily, the present application adaptively selects different parking modes according to the difference of the parking space type, simplifying the difficult parking process into two types of processes. When it is detected that the parking space is not perpendicular to the vehicle, the side parking mode is adopted, the direction of the vehicle is changed by controlling the rear wheels of the vehicle to rotate first, and when the direction of the vehicle is parallel to the direction of the parking space, the vehicle is driven into the parking space. When it is detected that the parking space is perpendicular to the vehicle, the reverse parking mode is adopted, the direction of the vehicle is changed by controlling the front wheels of the vehicle to rotate first, and when the direction of the vehicle is parallel to the direction of the parking space, the vehicle is driven into the parking space. This can greatly simplify the parking mode and improve the user's driving experience.

[0032] Step S400, controlling the drive-turn integrated chassis to park according to the selected parking mode.

[0033] It is easy to understand that the control method of the drive-integrated chassis is different according to different parking modes, the above steps divide the parking modes into two categories, and the control algorithm of the drive-integrated chassis is also roughly divided into two categories, which is adaptively selected according to the type of the parking space. Illustratively, the application controls the rotation and movement of the tires of the drive-integrated chassis by designing a parking control method, and the controlled tires are different according to different parking modes. The tires are first controlled to rotate to change the direction of the vehicle, and then the tires are controlled to move to change the position of the vehicle. For example, for the first type of parking space, the vehicle needs to be parked by reversing into the garage, the front wheels of the vehicle are first controlled to rotate inward to make the direction of the vehicle parallel to the direction of the parking space, and then the vehicle is driven into the first type of parking space. For the second type of parking space, the vehicle needs to be parked by side parking, the rear wheels of the vehicle are first controlled to rotate inward to make the direction of the vehicle parallel to the direction of the parking space, and then the vehicle is driven into the second type of parking space. The application can flexibly control the tires of the vehicle to drive into the parking space without manual operation of the driver.

[0034] Further, step S200 can include but is not limited to step S210 and step S220A or step S210 and step S220B.

[0035] Step S210, according to the angle between the center axis of the vehicle and the center axis of the parking space, the type of the parking space is identified.

[0036] Step S220A, if the angle between the center axis of the vehicle and the center axis of the parking space is 90°, the parking space is marked as the first type of parking space.

[0037] Step S220B, if the angle between the center axis of the vehicle and the center axis of the parking space is less than 90°, the parking space is marked as the second type of parking space.

[0038] Those skilled in the art can understand that during parking, the vehicle can be regarded as a rectangle from the top, and the parking space can also be regarded as a rectangle from the top. The center axis of the vehicle can be a horizontal center axis or a vertical center axis, and correspondingly, the center axis of the parking space can be a horizontal center axis or a vertical center axis. Further, as an optional embodiment, referring to Figure 4 , Figure 4 The angle between the center axis of the left half of the vehicle and the center axis of the parking space is 90°, which is the first type of parking space; Figure 4 The angle between the center axis of the right half of the vehicle and the center axis of the parking space is less than 90°, which is the second type of parking space. The classification method of the application is relatively simple, which can quickly divide the parking space into two categories, and is convenient for subsequent accurate parking.

[0039] Further, step S300 can include but is not limited to step S310A and step S310B.

[0040] S310A, when the parking space is the first type of parking space, the integrated chassis platform is controlled to rotate the front wheels of the vehicle inward, so that the vehicle is driven into the first type of parking space after the direction of the vehicle is parallel to the direction of the parking space.

[0041] S310B, when the parking space is the second type of parking space, the integrated chassis platform is controlled to rotate the rear wheels of the vehicle inward, so that the vehicle is driven into the second type of parking space after the direction of the vehicle is parallel to the direction of the parking space.

[0042] As can be understood by those skilled in the art, the tires driven by the vehicle are different according to the type of the parking space, and the present application identifies the optimal two types of tire driving modes according to the two types of parking space types, so as to facilitate the rapid and simple realization of automatic parking. In some embodiments, for the first type of parking space, the integrated chassis is controlled to rotate the front wheels of the vehicle, and the rear wheels are not rotated, the vehicle is controlled to turn around the midpoint of the rear axle, so that the vehicle is parked with the direction parallel to the direction of the parking space. For the second type of parking space, the integrated chassis is controlled to rotate the rear wheels of the vehicle, and the front wheels are not rotated, the vehicle is controlled to turn around the midpoint of the front axle, so that the vehicle is parked with the direction parallel to the direction of the parking space. The control method of the present application is simple, and can also ensure the accuracy of parking.

[0043] Further, step S310A can include but is not limited to steps S311A to S315A.

[0044] S311A, the vehicle is controlled to drive to the front of the parking space, and stop when the rear axle of the vehicle is aligned with the center line of the parking space.

[0045] As can be easily understood, when the driver selects the vehicle, the vehicle is driven to the front of the parking space, and the rear axle of the vehicle is aligned with the center line of the parking space, so as to facilitate the subsequent parking operation. In some embodiments, the driver can drive the vehicle according to the guidance on the vehicle operation screen, and drive the vehicle to the front of the parking space according to the route on the vehicle operation screen, and the rear axle of the vehicle is aligned with the center line of the parking space, so as to facilitate the subsequent parking operation.

[0046] S312A, the left and right front wheels are controlled to turn inward by a first turning angle and a second turning angle, respectively.

[0047] The turning angles of the front wheels satisfy: The turning directions of the two front wheels are opposite.

[0048] As can be easily understood, after the vehicle reaches the preparation position, it needs to be turned to make the direction of the vehicle parallel to the direction of the parking space. In some embodiments, after the left and right front wheels of the vehicle are controlled to turn inward by a first turning angle and a second turning angle, respectively, the vehicle is driven again to change the direction of the vehicle, so as to facilitate parking.

[0049] S313A, control the four in-wheel motors to drive the wheels to rotate, the left front wheel rotates backward at a first angular velocity, the right front wheel rotates forward at a second angular velocity, the left rear wheel rotates backward at a third angular velocity, and the right rear wheel rotates forward at a fourth angular velocity, so that the vehicle turns around the midpoint of the rear axle.

[0050] The front-rear wheel rotation speed ratio satisfies:

[0051] wherein, W is the wheel track, in mm, L is the vehicle length, in mm, is the first angular velocity, in rad / s, is the second angular velocity, in rad / s, is the second angular velocity, in rad / s, is the second angular velocity, in rad / s, is the first rotation angle, in °, is the second rotation angle, in °, a is the safety distance between the vehicle and the parking space, in mm.

[0052] It is easy to understand that, in order to ensure that the tires are in a pure rolling state rather than a sliding state during parking, and the vehicle posture can move according to the predetermined trajectory, the front-rear wheel rotation speed ratio is a constant value, and after the tire completes rotation, driving the tire to rotate can make the vehicle rotate, so that the direction of the vehicle is finally parallel to the direction of the parking space. In some embodiments, the four tires of the vehicle rotate at the specified angular velocity, which can make the vehicle turn around the midpoint of the rear axle and finally be parallel to the direction of the parking space. When the direction of the vehicle is parallel to the direction of the parking space, parking becomes very simple.

[0053] S314A, after receiving a signal that the direction of the vehicle is parallel to the direction of the parking space, the in-wheel motors stop rotating, and the left and right front wheels are returned to the vertical direction.

[0054] It is easy to understand that, when the vehicle does not need to turn again, the tire needs to be returned to the vertical direction so that the vehicle can move in the vertical direction. In some embodiments, after the direction of the vehicle is parallel to the direction of the parking space, the rotating front tire needs to be returned to the vertical direction, which facilitates subsequent rapid entry into the parking space.

[0055] S315A, control the four in-wheel motors to rotate backward at the same angular velocity, and stop driving the in-wheel motors when the vehicle moves to a safety distance from the parking space line, to complete parking.

[0056] It is easy to understand that when the tire is straightened, the vehicle can directly enter the parking space by reversing, and a safe distance needs to be kept from the parking line during driving. In some embodiments, during the reversing of the vehicle, the reversing radar detection is turned on to ensure that the vehicle stops when moving to a safe distance from the parking line, complete parking, and ensure the safety of the entire parking process, thereby improving the user experience of using the vehicle.

[0057] As can be understood by those skilled in the art, when the vehicle is driven to the vicinity of the parking space, the driver stops the vehicle and presses the automatic parking button to start the automatic parking function. After the vehicle state self-checking is passed, the driver is prompted to select a parking space, and after the parking space selection is completed, the vehicle starts the automatic parking function. In some embodiments, the vehicle monitors the position state around the vehicle through a corresponding distance sensor (laser radar or 360 camera) and identifies the parking space. The vehicle starts to perform the parking action. The present application is equipped with a radar and a camera on the vehicle, which can accurately identify the parking space and prevent the vehicle from colliding, thereby accurately parking in the garage.

[0058] Further, step S310B can include, but is not limited to, steps S311B to S315B.

[0059] S311B, control the vehicle to drive to the front of the parking space and stop when the midpoint of the front axle of the vehicle is aligned with the extension line of the center line of the parking space.

[0060] It is easy to understand that when the driver selects the vehicle, the vehicle is driven to the front of the parking space, and the midpoint of the front axle of the vehicle is aligned with the extension line of the center line of the parking space, to facilitate subsequent parking operation. In some embodiments, the driver can drive the vehicle according to the instructions on the vehicle operation screen and drive the vehicle to the front of the parking space according to the route on the vehicle operation screen, and the midpoint of the front axle of the vehicle is aligned with the extension line of the center line of the parking space, to facilitate subsequent parking operation.

[0061] S312B, control the left and right rear wheels to turn inward by a third turning angle and a fourth turning angle, respectively.

[0062] The turning angles of the rear wheels satisfy: The turning directions of the two rear wheels are opposite.

[0063] It is easy to understand that when the vehicle reaches the preparation position, it needs to be turned to make the direction of the vehicle parallel to the direction of the parking space. In some embodiments, after controlling the left and right rear wheels of the vehicle to turn inward by a third turning angle and a fourth turning angle, respectively, the vehicle can change the direction by advancing again, thereby facilitating parking.

[0064] S313B, control the four wheel hub motors to drive the wheels to turn, the left front wheel turns backward at a fifth angular velocity, the right front wheel turns forward at a sixth angular velocity, the left rear wheel turns backward at a seventh angular velocity, and the right rear wheel turns forward at an eighth angular velocity, so that the vehicle turns around the midpoint of the front axle.

[0065] The front wheel rotation speed ratio and the rear wheel rotation speed ratio satisfy:

[0066] wherein, W is the wheel track, in mm, L is the vehicle length, in mm, is the fifth angular velocity, in rad / s, is the sixth angular velocity, in rad / s, is the seventh angular velocity, in rad / s, is the eighth angular velocity, in rad / s, is the third rotation angle, in °, is the fourth rotation angle, in °, a is the safety distance between the vehicle and the parking space, in mm.

[0067] It is easy to understand that, in order to ensure that the tire is in a pure rolling state rather than a sliding state during parking and that the vehicle posture can move according to a predetermined trajectory, the front wheel rotation speed ratio and the rear wheel rotation speed ratio are constant values. When the tire completes rotation, driving the tire to rotate can make the vehicle rotate, so that the direction of the vehicle is finally parallel to the direction of the parking space. In some embodiments, the four tires of the vehicle rotate according to the specified angular velocity, so that the vehicle can turn around the midpoint of the front axle and finally be parallel to the direction of the parking space. When the direction of the vehicle is parallel to the direction of the parking space, parking becomes very simple.

[0068] S314B, after receiving the signal that the direction of the vehicle is parallel to the direction of the parking space, the wheel hub motor stops rotating, and the left and right rear wheels are returned to the normal position.

[0069] It is easy to understand that, when the vehicle does not need to turn again, the tire needs to be returned to the normal position so that the vehicle can move in the vertical direction. In some embodiments, after the direction of the vehicle is parallel to the direction of the parking space, the rotating front tire needs to be returned to the vertical direction to facilitate subsequent rapid entry into the parking space.

[0070] S315B, control the four wheel hub motors to rotate forward at the same angular velocity, and stop driving the wheel hub motor when the vehicle moves to a safety distance from the parking space line, to complete parking.

[0071] It is easy to understand that, after the tire is returned to the normal position, the vehicle can directly enter the parking space by reversing, and a safety distance needs to be maintained from the parking space line during driving. In some embodiments, during the reversing process of the vehicle, the reversing radar is turned on for detection, to ensure that the vehicle stops driving the wheel hub motor when it moves to a safety distance from the parking space line, to complete parking and ensure the safety of the entire parking process, thereby improving the user experience of using the vehicle.

[0072] It is easy to understand that the second type of parking space adopts a side parking method, controls the rotation of the rear wheels of the vehicle to automatically park, and uses safety radar and a camera to ensure accurate parking of the vehicle, thereby improving the user experience. In some embodiments, for the second type of parking space, the rear wheels are first driven to rotate so that the direction of the vehicle is parallel to the direction of the parking space, and then the wheel angle is returned to normal, and then the vehicle is slowly driven into the parking space. In the parking process, the direction of the vehicle is first made parallel to the direction of the parking space, and then the vehicle is driven into the parking space. The parking process is simple, and safety radar and a camera are used to prevent vehicle collision and ensure user safety.

[0073] Figure 3 An application example of the method of the present application is given in the foregoing detailed description of the embodiments of the present application. Figure 3 The method of the present application and Figure 15 The control system structure of the present application are combined to make a detailed introduction and description of the scheme of the embodiments of the present application.

[0074] For the first type of parking space, the vehicle parking method of the present embodiment includes the following steps: Step one: referring to Figure 5 , the vehicle is driven to the front of the driver-selected parking space, and stops when the rear axle of the vehicle is aligned with the center line of the parking space.

[0075] Step two: referring to Figure 6 , the ECU controls the left and right front wheels to turn inward by and angles, respectively.

[0076] Step three: referring to Figure 7 , after the steering action is completed, the ECU controls the four wheel hub motors to drive the wheels to rotate, the left front wheel rotates backward at an angular velocity of , the right front wheel rotates forward at an angular velocity of , the left rear wheel rotates backward at an angular velocity of , and the right rear wheel rotates forward at an angular velocity of , at this time the vehicle turns around the midpoint of the rear axle.

[0077] Step four: referring to Figure 8 , after the ECU receives a signal that the direction of the vehicle is parallel to the direction of the parking space, the wheel hub motors stop rotating, the left and right front wheel angles are returned to normal, and after the steering action is completed, the ECU controls the four wheel hub motors to rotate backward at the same angular velocity, at this time the vehicle moves toward the parking space.

[0078] Step five: referring to Figure 9 , and the wheel hub motors are stopped when the vehicle moves to a safe distance from the parking space line, at this time the vehicle completes parking.

[0079] For the second type of parking space, the vehicle parking method of the present embodiment includes the following steps: Step one: refer to Figure 10 , the vehicle drives to the front of the parking space selected by the driver and stops when the midpoint of the front axle of the vehicle is aligned with the extension line of the centerline of the parking space.

[0080] Step two: refer to Figure 11 , the ECU controls the left and right rear wheels to turn inward and respectively, and after the steering action is completed, the ECU controls the four wheel hub motors to drive the wheels to rotate, the left front wheel rotates backward at an angular velocity of , the right front wheel rotates forward at an angular velocity of , the left rear wheel rotates backward at an angular velocity of , and the right rear wheel rotates forward at an angular velocity of , at which time the vehicle turns around the midpoint of the front axle.

[0081] Step three: refer to Figure 12 , after the ECU receives a signal that the direction of the vehicle is parallel to the direction of the parking space, the rear wheel hub motor stops rotating.

[0082] Step four: refer to Figure 13 , the left and right rear wheel turning angles are returned to normal.

[0083] Step five: refer to Figure 14 , after the steering action is completed, the ECU controls the four wheel hub motors to rotate forward at the same angular velocity, at which time the vehicle moves toward the parking space and stops driving the wheel hub motor when the vehicle moves to a safe distance from the parking space line, at which time the vehicle completes parking.

[0084] The tire control in the above steps is controlled in accordance with the commands issued in the control system in Figure 15 .

[0085] Figure 2 An automatic parking control system structure diagram of the drive and steering integrated chassis platform provided by the embodiment of the application is shown in Figure 2 , the embodiment of the application also provides an automatic parking control system of the drive and steering integrated chassis platform, which can implement the automatic parking control method of the drive and steering integrated chassis platform, and the automatic parking control system of the drive and steering integrated chassis platform comprises: a data acquisition module configured to acquire position information of a parking space; an identification module configured to identify a parking space type according to a directional relationship between the position of the vehicle and the position of the parking space, wherein the parking space type comprises a first type perpendicular to the vehicle and a second type non-perpendicular to the vehicle; a parking mode selection module configured to select a parking mode according to the parking space type, wherein the parking mode comprises controlling the drive and steering integrated chassis platform to rotate the front wheels of the vehicle to park and controlling the drive and steering integrated chassis platform to rotate the rear wheels of the vehicle to park; The control module is configured to control the drive-by-wire chassis to park according to the selected parking mode.

[0086] It can be understood that the contents in the above method embodiments are applicable to the present system embodiment, the present system embodiment specifically implements the functions same as the above method embodiments, and achieves the same beneficial effects as the above method embodiments.

[0087] The present application also provides a vehicle, comprising: a processor and a memory, the memory is used to store computer program code, the computer program code comprises computer instructions, and the processor executes the computer program to realize an automatic parking control method of a drive-by-wire chassis platform.

[0088] The vehicle can be a private car, such as a sedan, an SUV, an MPV, or a pickup truck, etc. The vehicle can also be an operating vehicle, such as a van, a bus, a small truck, or a large trailer, etc. The vehicle needs to have an electric motor that can output power or store mechanical energy as a generator. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0089] It can be understood that the contents in the above method embodiments are applicable to the present vehicle embodiment, the present vehicle embodiment specifically implements the functions same as the above method embodiments, and achieves the same beneficial effects as the above method embodiments. The present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the above method.

[0090] It can be understood that the contents in the above method embodiments are applicable to the present storage medium embodiment, the present storage medium embodiment specifically implements the functions same as the above method embodiments, and achieves the same beneficial effects as the above method embodiments.

[0091] In addition, an embodiment of the present application also provides a computer program product, which comprises computer program or computer instructions, the computer program or computer instructions are stored in a computer readable storage medium, a processor of a computer device reads the computer program or computer instructions from the computer readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the above automatic parking control method of a drive-by-wire chassis platform. Exemplarily, the method steps in the above description are executed. Figures 1 to 14

[0092] ​It is worth noting that since the computer program product of the embodiment of the application can execute the automatic parking control method of the one-drive integrated chassis platform of any of the above-mentioned embodiments, the specific implementation and technical effects of the computer program product of the embodiment of the application can refer to the specific implementation and technical effects of the automatic parking control method of the one-drive integrated chassis platform of any of the above-mentioned embodiments.

[0093] Those of ordinary skill in the art will understand that all or some of the steps, systems in the above disclosed method can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on computer readable media, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those of ordinary skill in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically includes computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and can include any information delivery media.

[0094] The above described device embodiments are only schematic, wherein units that are described as separate components can or can not be physically separate components, i.e. can be located on one place or distributed on multiple network units. Some or all of the modules can be implemented according to actual needs to achieve the purpose of the embodiment.

Claims

1. An automatic parking control method for a drive-rotor integrated chassis platform, characterized in that, The kingpin of the integrated drive-rotor chassis platform is perpendicular to the ground and passes through the wheel center; the method includes: Get the location of the parking space; The parking space type is identified based on the directional relationship between the vehicle's position and the parking space's position. The parking space type includes a first type of parking space that is perpendicular to the vehicle and a second type of parking space that is not perpendicular to the vehicle. The parking method is selected according to the parking space type. The parking method includes controlling the integrated drive and rotation chassis platform to rotate the front wheels of the vehicle for parking and controlling the integrated drive and rotation chassis platform to rotate the rear wheels of the vehicle for parking. The integrated drive chassis is controlled to park according to the selected parking method.

2. The automatic parking control method for an integrated drive-rotor chassis platform according to claim 1, characterized in that, The step of identifying the parking space type based on the directional relationship between the vehicle's position and the parking space's position includes: The parking space type is identified based on the angle between the centerline of the vehicle and the centerline of the parking space. If the angle between the centerline of the vehicle and the centerline of the parking space is 90°, then the parking space is marked as a first-class parking space. If the angle between the centerline of the vehicle and the centerline of the parking space is less than 90°, the parking space is marked as a second type of parking space.

3. The automatic parking control method for an integrated drive-rotor chassis platform according to claim 1, characterized in that, The step of controlling the integrated drive chassis to park according to the selected parking method includes: When the parking space is the first type of parking space, control the integrated drive and rotation chassis platform to rotate the front wheels of the vehicle inward, so that the vehicle direction is parallel to the direction of the parking space and then drives into the first type of parking space. When the parking space is the second type of parking space, the integrated drive and rotation chassis platform is controlled to rotate the rear wheels of the vehicle inward, so that the vehicle direction is parallel to the direction of the parking space and then drives into the second type of parking space.

4. The automatic parking control method for a drive-rotation integrated chassis platform according to claim 3, characterized in that, When the parking space is a Class I parking space, controlling the integrated drive-rotation chassis platform to rotate the vehicle's front wheels inward, so that the vehicle's direction is parallel to the parking space direction before driving into the Class I parking space includes: The vehicle is controlled to drive to the front of the parking space and stops when the rear axle of the vehicle is aligned with the center line of the parking space; Control the left and right front wheels to rotate inward by the first and second angles respectively; The four hub motors control the wheels to rotate, causing the left front wheel to rotate backward at a first angular velocity, the right front wheel to rotate forward at a second angular velocity, the left rear wheel to rotate backward at a third angular velocity, and the right rear wheel to rotate forward at a fourth angular velocity, thereby causing the vehicle to turn around the midpoint of the rear axle. Upon receiving a signal that the vehicle's direction is parallel to the parking space's direction, the hub motor is controlled to stop rotating, thus straightening the left and right front wheel angles. The four wheel hub motors are controlled to rotate backward at the same angular velocity, and the driving of the wheel hub motors is stopped when the vehicle moves to a safe distance from the parking space line, thus completing the parking process.

5. The automatic parking control method for a drive-rotor integrated chassis platform according to claim 3, characterized in that, When the parking space is the second type of parking space, controlling the integrated drive and rotation chassis platform to rotate the rear wheels of the vehicle inward, so that the vehicle's direction is parallel to the direction of the parking space before driving into the second type of parking space includes: The vehicle is controlled to drive to the front of the parking space and stops when the midpoint of the vehicle's front axle is aligned with the extended line of the parking space's center line; Control the left and right rear wheels to turn inward by the third and fourth angles respectively; The four hub motors control the rotation of the wheels, causing the left front wheel to rotate backward at the fifth angular velocity, the right front wheel to rotate forward at the sixth angular velocity, the left rear wheel to rotate backward at the seventh angular velocity, and the right rear wheel to rotate forward at the eighth angular velocity, thereby causing the vehicle to turn around the midpoint of the front axle. Upon receiving a signal that the vehicle's direction is parallel to the parking space's direction, the hub motor is controlled to stop rotating, thus straightening the left and right rear wheel angles. The four hub motors are controlled to rotate forward at the same angular velocity, and the hub motors are stopped when the vehicle moves to a safe distance from the parking space line, thus completing the parking process.

6. The automatic parking control method for a drive-rotation integrated chassis platform according to claim 4, characterized in that, The method further includes: If the current parking space is a type 1 parking space, then control the steering angles of the two front wheels to rotate in opposite directions, and control the steering angles of the two front wheels to satisfy: , And the speed ratio of the front and rear wheels is controlled to meet the following: , in, W The wheelbase is the distance between the wheels. L For vehicle length, The first angular velocity, The second angular velocity, The second angular velocity, The second angular velocity, For the first turn, For the second turn, a The safe distance between the vehicle and the parking space.

7. The automatic parking control method for an integrated drive-rotor chassis platform according to claim 5, characterized in that, The method further includes: If the current parking space is a type 2 parking space, then control the steering angles of the two rear wheels to rotate in opposite directions, and control the steering angles of the rear wheels to satisfy: , And the speed ratio of the front and rear wheels is controlled to meet the following: in, W The wheelbase is the distance between the wheels. L For vehicle length, It is the fifth angular velocity. It is the sixth angular velocity. It is the seventh angular velocity. It is the eighth angular velocity. For the third turn, This is the fourth corner. a The safe distance between the vehicle and the parking space.

8. An automatic parking control system for an integrated drive-rotor chassis platform, characterized in that, The kingpin of the integrated drive-rotor chassis platform is perpendicular to the ground and passes through the wheel center; the system includes: The data acquisition module is used to acquire the location information of parking spaces; The identification module is used to identify the parking space type based on the directional relationship between the vehicle's position and the parking space's position. The parking space type includes a first type of parking space that is perpendicular to the vehicle and a second type of parking space that is not perpendicular to the vehicle. The parking method selection module is used to select a parking method according to the parking space type. The parking method includes controlling the integrated drive-rotor chassis platform to rotate the front wheels of the vehicle for parking and controlling the integrated drive-rotor chassis platform to rotate the rear wheels of the vehicle for parking. The control module is used to control the integrated drive chassis to park according to the selected parking method.

9. A vehicle, characterized in that, include: A processor and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein the processor, when executing the computer program, implements an automatic parking control method for a drive-rotor integrated chassis platform as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements an automatic parking control method for a drive-integrated chassis platform as described in any one of claims 1 to 7.

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