CN112440895A - Parking assist system, vehicle and parking assist method - Google Patents
Parking assist system, vehicle and parking assist method Download PDFInfo
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- CN112440895A CN112440895A CN201910828373.0A CN201910828373A CN112440895A CN 112440895 A CN112440895 A CN 112440895A CN 201910828373 A CN201910828373 A CN 201910828373A CN 112440895 A CN112440895 A CN 112440895A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
本发明公开了一种辅助停车系统、车辆和辅助停车方法。辅助停车系统包括：停车监测电路，根据停车请求输出停车请求信号；行车位置检测电路，检测到行车位置位于坡道上，输出位置信号；以及行车控制单元，与所述停车监测电路以及所述行车位置检测电路通信连接，根据所述停车请求信号及所述位置信号生成自动转向信号，以调整车辆的车轮转向，使停车后车轮有一定的转向角。本发明能够避免车辆在坡道上溜车，提高安全性。
The invention discloses an auxiliary parking system, a vehicle and an auxiliary parking method. The auxiliary parking system includes: a parking monitoring circuit, which outputs a parking request signal according to a parking request; a driving position detection circuit, which detects that the driving position is on a slope, and outputs a position signal; and a driving control unit, which communicates with the parking monitoring circuit and the driving position The detection circuit is connected in communication and generates an automatic steering signal according to the parking request signal and the position signal to adjust the wheel steering of the vehicle so that the wheels have a certain steering angle after parking. The invention can prevent the vehicle from slipping on the ramp and improve safety.
Description
Technical Field
The embodiment of the invention relates to an auxiliary parking technology, in particular to an auxiliary parking system, a vehicle and an auxiliary parking method.
Background
With the development of society, vehicles are also more and more popular.
However, the vehicle needs to be parked on the slope in a specific situation, and when the vehicle is parked on the slope, certain safety hazards exist, such as the parking system is disabled.
Disclosure of Invention
The invention provides a parking assist system, a vehicle and a parking assist method, which are used for improving the safety when parking on a slope.
In a first aspect, an embodiment of the present invention provides a parking assist system, including: a parking monitoring circuit for outputting a parking request signal according to a parking request; the driving position detection circuit detects that the driving position is positioned on the ramp and outputs a position signal; and the driving control circuit is in communication connection with the parking monitoring circuit and the driving position detection circuit, and generates an automatic steering signal according to the parking request signal and the position signal so as to adjust the steering of the wheels of the vehicle and enable the wheels to have a certain steering angle after parking.
Optionally, the driving position detection circuit includes: the system comprises a ramp detection circuit, a ramp detection circuit and a control circuit, wherein the ramp detection circuit detects that a driving position is positioned on a ramp and outputs a ramp parking signal; a vehicle body position detection circuit that detects a position of a vehicle body on a slope and generates a vehicle body position signal; the locomotive direction detection circuit detects the direction of the locomotive and outputs a locomotive direction signal; wherein the position signal comprises the hill stop signal, the vehicle body position signal and the vehicle head direction signal.
Optionally, the ramp detection circuit includes an angular velocity sensor.
Optionally, the slope detection circuit comprises a tilt sensor.
Optionally, the vehicle body position detection circuit includes a camera.
Optionally, the vehicle body position detection circuit includes: a distance detection circuit that detects a distance of a vehicle from edges on both sides of a ramp to generate the body position signal. The distance detection circuit includes: the first distance sensor is used for detecting the distance between the vehicle and a first edge of a ramp and generating a first distance signal; the second distance sensor is used for detecting the distance between the vehicle and the second edge of the ramp and generating a second distance signal; the first input end of the comparator is electrically connected with the first distance sensor, the second input end of the comparator is electrically connected with the second distance sensor, and the output end of the comparator outputs the vehicle body position signal.
Optionally, the driving control circuit includes: the vehicle control unit is in communication connection with the parking monitoring circuit and the driving position detection circuit, and receives the parking request signal and the position signal to generate the automatic steering signal; and the automatic steering mechanism is electrically connected with the vehicle control unit and adjusts the steering of the wheels of the vehicle according to the automatic steering signal so as to ensure that the wheels have a certain steering angle after parking.
Optionally, the method further includes: the road edge detection circuit is in communication connection with the driving control circuit, detects road edge states on two sides of the ramp and generates road edge state signals; the driving control circuit generates the automatic steering signal according to the parking request signal, the position signal and the road edge state signal so as to adjust the steering of the wheels of the vehicle and enable the wheels to have a certain steering angle after parking. The road edge detection circuit comprises an image acquisition device.
In a second aspect, an embodiment of the present invention further provides a vehicle including an assisted parking system and a global satellite navigation system, where the assisted parking system includes: a parking monitoring circuit for outputting a parking request signal according to a parking request; the driving position detection circuit detects that the driving position is positioned on the ramp and outputs a position signal; the driving control circuit is in communication connection with the parking monitoring circuit and the driving position detection circuit, and generates an automatic steering signal according to the parking request signal and the first position signal so as to adjust the steering of the wheels of the vehicle and enable the wheels to have a certain steering angle after parking; and the global satellite navigation system is in communication connection with the driving control circuit.
Optionally, the driving position detection circuit includes: the system comprises a ramp detection circuit, a ramp detection circuit and a control circuit, wherein the ramp detection circuit detects that a driving position is positioned on a ramp and outputs a ramp parking signal; a vehicle body position detection circuit that detects a position of a vehicle body on a slope and generates a vehicle body position signal; the locomotive direction detection circuit detects the direction of the locomotive and outputs a locomotive direction signal; wherein the position signal comprises the hill stop signal, the vehicle body position signal and the vehicle head direction signal.
Optionally, the vehicle body position detection circuit includes a camera. The camera is arranged on a rearview mirror inside the vehicle.
Optionally, the vehicle body position detection circuit includes: a distance detection circuit that detects a distance of a vehicle from edges on both sides of a ramp to generate the vehicle position signal. The distance detection circuit includes: the first distance sensor is used for detecting the distance between the vehicle and a first edge of a ramp and generating a first distance signal; the second distance sensor is used for detecting the distance between the vehicle and the second edge of the ramp and generating a second distance signal; the first input end of the comparator is electrically connected with the first distance sensor, the second input end of the comparator is electrically connected with the second distance sensor, and the output end of the comparator outputs the vehicle body position signal. The first distance sensor is arranged on a first hub of the vehicle; the second distance sensor is arranged on a second hub of the vehicle; wherein the first hub and the second hub are located on different sides in a direction perpendicular to the vehicle travel direction.
Optionally, the method further includes: the road edge detection circuit is electrically connected with the control circuit, detects the road edge states at two sides of the road and generates a road edge state signal; the control circuit generates the automatic steering signal according to the road edge state signal, the parking request signal and the position signal. The road edge detection circuit comprises an image acquisition device. The image acquisition device is arranged on a rearview mirror inside the vehicle.
In a third aspect, an embodiment of the present invention further provides a parking assist method, including: outputting a parking request signal according to a parking request via a parking monitoring circuit; detecting that the driving position is on the ramp through the driving position detection circuit, and outputting a position signal; and receiving the parking request signal and the position signal through a driving control circuit to adjust the steering of the wheels of the vehicle, so that the wheels have a certain steering angle after parking.
Optionally, the driving position detection circuit detects that the driving position is located on a slope, outputs a first vehicle body position signal, detects the vehicle head position and outputs a first vehicle head position signal; the driving control circuit receives the parking request signal, the first body position signal and the first head direction signal, and adjusts the wheel steering of the vehicle so that the parked wheels have a certain steering angle towards the first direction.
Optionally, the driving position detection circuit detects that the driving position is located on a slope, outputs a first vehicle body position signal, detects the vehicle head direction and outputs a second vehicle head direction signal; the driving control circuit receives the parking request signal, the first body position signal and the second head direction signal, and adjusts the wheel steering of the vehicle so that the parked wheels have a certain steering angle towards a second direction.
Optionally, the driving position detection circuit detects that the driving position is located on a slope, outputs a second body position signal, detects the vehicle head direction and outputs a first vehicle head direction signal; the driving control circuit receives the parking request signal, the second body position signal and the first head direction signal, and adjusts the wheel steering of the vehicle so that the parked wheels have a certain steering angle towards a second direction.
Optionally, the driving position detection circuit detects that the driving position is located on a slope, outputs a second body position signal, detects the vehicle head direction and outputs a second vehicle head direction signal; the driving control circuit receives the parking request signal, the second body position signal and the second head direction signal, and adjusts the wheel steering of the vehicle so that the parked wheels have a certain steering angle towards the first direction.
The auxiliary parking system provided by the invention comprises a parking monitoring circuit, a parking monitoring circuit and a parking monitoring circuit, wherein the parking monitoring circuit outputs a parking request signal according to a parking request; the driving position detection circuit detects that the driving position is positioned on the ramp and outputs a position signal; and the driving control circuit is in communication connection with the parking monitoring circuit and the driving position detection circuit, and generates an automatic steering signal according to the parking request signal and the position signal so as to adjust the steering of the wheels of the vehicle and enable the wheels to have a certain steering angle after parking. When the vehicle is parked on a ramp, the auxiliary parking system can enable the wheels to have a certain steering angle according to the position of the vehicle and the direction of the head of the vehicle, and when the vehicle slips due to failure of the parking system or other reasons, the wheels can be blocked by the road edge to prevent the vehicle from further slipping backwards, so that accidents are avoided, and the safety is improved.
Drawings
Fig. 1 is a schematic circuit diagram of an auxiliary parking system according to an embodiment of the present invention;
fig. 2 is a schematic circuit diagram of another parking assist system according to an embodiment of the present invention;
fig. 3 is a schematic circuit diagram of another parking assist system according to an embodiment of the present invention;
fig. 4 is a schematic circuit diagram of another parking assist system according to an embodiment of the present invention;
fig. 5 is a schematic circuit diagram of another parking assist system according to an embodiment of the present invention;
fig. 6 is a schematic circuit diagram of another parking assist system according to an embodiment of the present invention;
fig. 7 is a schematic circuit diagram of another parking assist system according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a circuit configuration for connecting an assisted parking system and a GNSS in accordance with an embodiment of the present invention;
FIG. 9 is a schematic diagram of a circuit configuration of a parking assist system connected to a GNSS in accordance with an embodiment of the present invention;
FIG. 10 is a schematic diagram of a circuit configuration of a parking assist system connected to a GNSS in accordance with an embodiment of the present invention;
FIG. 11 is a schematic diagram of a circuit configuration of a parking assist system connected to a GNSS in accordance with an embodiment of the present invention;
FIG. 12 is a schematic diagram of a circuit configuration of a parking assist system connected to a GNSS in accordance with an embodiment of the present invention;
fig. 13 is a flowchart of a parking assistance method according to an embodiment of the present invention;
fig. 14 is a flowchart of another parking assisting method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic circuit structure diagram of an auxiliary parking system according to an embodiment of the present invention, and referring to fig. 1, the auxiliary parking system includes: a parking monitoring circuit 101 for outputting a parking request signal according to a parking request; a driving position detection circuit 102 for detecting that the driving position is on the slope and outputting a position signal; and a driving control circuit 103 which is connected with the parking monitoring circuit 101 and the driving position detection circuit 102 in a communication way, and generates an automatic steering signal according to the parking request signal and the position signal so as to adjust the steering of the wheels of the vehicle and enable the wheels to have a certain steering angle after parking.
Specifically, after the vehicle is parked, the parking monitoring circuit 101 may generate a parking request signal, and at this time, the driving position detecting circuit 102 may detect a position where the vehicle is located to generate a position signal, where the position signal may include a signal that a vehicle body is located on the left side or the right side of a ramp and a direction signal of a vehicle head; the driving control circuit 103 can generate an automatic steering signal according to the parking request signal and the position signal, and a steering mechanism in the vehicle, such as an automatic steering mechanism, can adjust the steering of the wheels of the vehicle according to the automatic steering signal, so that the wheels have a certain steering angle, thereby preventing accidents caused by the vehicle sliding on a slope, and improving the safety.
Illustratively, if the direction of the vehicle head faces an upward slope and the vehicle is parked on the left side of the slope, the driving control circuit 103 can control the wheels to have a certain steering angle towards the right, when the vehicle slips due to failure of a parking system or other reasons, the wheels are blocked by the road edge, and the phenomenon of more serious slipping cannot occur, so that accidents are avoided; if the direction of the vehicle head faces the upward slope and the vehicle is parked on the right side of the slope, the driving control circuit 103 can control the wheels to have a certain steering angle leftward, when the vehicle slips due to failure of a parking system or other reasons, the wheels are blocked by the road edge, and the phenomenon of more serious slipping cannot occur, so that accidents are avoided; if the direction of the vehicle head faces a downhill and the vehicle is parked on the left side of the ramp, the driving control circuit 103 can control the wheels to have a certain steering angle leftwards, when the vehicle slips due to failure of a parking system or other reasons, the wheels are blocked by the road edge, and the phenomenon of more serious slipping cannot occur, so that accidents are avoided; if the direction of the vehicle head faces a downhill and the vehicle is parked on the right side of the ramp, the driving control circuit 103 can control the wheels to have a certain steering angle towards the right side, when the vehicle slips due to failure of a parking system or other reasons, the wheels can be blocked by the road edge, and the phenomenon of more serious slipping cannot occur, so that accidents are avoided. The driving control circuit 103 controls the wheels to have a certain steering angle, which can be smaller than 10 degrees, so as to avoid damaging the steering system of the vehicle due to an excessive steering angle.
According to the technical scheme of the embodiment, the provided auxiliary parking system comprises a parking monitoring circuit, a parking request signal and a parking monitoring circuit, wherein the parking monitoring circuit outputs a parking request signal according to a parking request; the driving position detection circuit detects that the driving position is positioned on the ramp and outputs a position signal; and the driving control circuit is in communication connection with the parking monitoring circuit and the driving position detection circuit, and generates an automatic steering signal according to the parking request signal and the position signal so as to adjust the steering of the wheels of the vehicle and enable the wheels to have a certain steering angle after parking. When the vehicle is parked on a ramp, the auxiliary parking system can enable the wheels to have a certain steering angle according to the position of the vehicle and the direction of the head of the vehicle, and when the vehicle slips due to failure of the parking system or other reasons, the wheels can be blocked by the road edge to prevent the vehicle from further slipping backwards, so that accidents are avoided, and the safety is improved.
Optionally, fig. 2 is a schematic circuit structure diagram of another parking assisting system according to an embodiment of the present invention, and referring to fig. 2, the driving position detecting circuit includes: the slope detection circuit 1021 is used for detecting that the driving position is positioned on a slope and outputting a slope parking signal; a vehicle body position detection circuit 1022, the vehicle body position detection circuit 1022 detecting a position of the vehicle body on the slope and generating a vehicle body position signal; a vehicle head direction detection circuit 1023 for detecting the direction of the vehicle head and outputting a vehicle head direction signal; the position signals comprise ramp parking signals, automobile body position signals and automobile head direction signals.
Specifically, when the slope detection circuit 1021 detects that the vehicle is located on a slope, a slope stop signal is output; the body position detection circuit 1022 detects the position of the body on the ramp, such as the left or right side of the ramp, and generates a corresponding body position signal; the vehicle head direction detection circuit 1023 detects the direction of the vehicle head, such as upward slope or downward slope, and generates a corresponding vehicle head direction signal; the vehicle body position signal, the ramp parking signal and the vehicle head direction signal form a position signal, so that the driving control circuit 103 generates an automatic steering signal according to the parking request signal and the first position signal, and further adjusts the steering of the wheels of the vehicle, so that the wheels have a certain steering angle, the vehicle is prevented from sliding on the ramp to cause accidents, and the safety is improved.
Optionally, the ramp detection circuit 1021 includes an angular velocity sensor.
Specifically, angular velocity sensor can be used to detect the slope, and when the vehicle was on the ramp, angular velocity sensor perception arrived the vehicle and was on the ramp and generate ramp parking signal, and simultaneously, angular velocity sensor's detection precision is higher, can be more accurate detect out whether the vehicle is on the ramp, further improves the security.
Optionally, the ramp detection circuit 1021 includes a tilt sensor.
Specifically, the inclination angle sensor can be used for detecting the inclination angle, when the vehicle is on a slope, the inclination angle sensor can sense that the vehicle is on the slope and generate a slope parking signal, and meanwhile, the inclination angle sensor has the advantages of being low in cost and the like, and the overall cost of the vehicle is reduced.
Optionally, the body position detection circuit 1022 includes a camera.
Specifically, the vehicle body position detecting circuit 1022 may include a camera and an image processing circuit connected to the camera, where the camera collects image information of the ramp and transmits the image information to the image processing circuit for processing, and the image processing circuit determines the position of the vehicle body on the ramp, such as the left side or the right side of the ramp, according to the image information of the ramp; and then the driving control circuit 103 generates an automatic steering signal according to the parking request signal and the position signal, adjusts the steering of the wheels of the vehicle, enables the wheels to have a certain steering angle, prevents the vehicle from sliding on a slope to cause accidents, and improves the safety.
Optionally, fig. 3 is a schematic circuit structure diagram of another parking assist system according to an embodiment of the present invention, and referring to fig. 3, the vehicle body position detecting circuit includes a distance detecting circuit 1024, and the distance detecting circuit 1024 detects a distance between the vehicle and two side edges of the ramp to generate a vehicle body position signal.
Specifically, if the distance from the vehicle to the left side edge of the ramp is greater than the distance to the right side edge of the ramp, the vehicle is located on the right side of the ramp at the moment; if the distance from the vehicle to the left side edge of the ramp is smaller than the distance from the vehicle to the right side edge of the ramp, the vehicle is positioned on the left side of the ramp at the moment; the distance detection circuit 1024 may generate different body position signals for the ride control circuit 103 to adjust the steering angle of the wheels.
For example, fig. 4 is a schematic circuit diagram of another parking assist system according to an embodiment of the present invention, and referring to fig. 4, the distance detection circuit 1024 includes a first distance sensor 1025 for detecting a distance between the vehicle and a first edge of the ramp and generating a first distance signal; a second distance sensor 1026 that detects a distance of the vehicle from a second edge of the ramp and generates a second distance signal; a comparator 1027, wherein a first input terminal of the comparator 1027 is electrically connected to the first distance sensor 1025, a second input terminal of the comparator 1027 is electrically connected to the second distance sensor 1026, and an output terminal of the comparator 1027 outputs a vehicle body position signal.
Specifically, the first edge may be a left edge of the ramp, and the second edge may be a right edge of the ramp; if the first distance signal is greater than the second distance signal, indicating that the vehicle is further away from the left edge of the ramp than the right edge of the ramp, i.e., the vehicle is located on the right side of the ramp, the comparator 1027 may generate a first level (e.g., a high level); if the first distance signal is less than the second distance signal, indicating that the distance from the vehicle to the left edge of the ramp is less than the distance to the right edge of the ramp, i.e., the vehicle is located on the left side of the ramp, the comparator 1027 may generate a second level (e.g., a low level); the driving control circuit 103 can determine whether the vehicle is located on the left side or the right side of the ramp according to the received high level or low level, and further adjust the wheels to rotate a certain angle in a specific direction, so as to prevent the vehicle from sliding and improve the safety.
Optionally, fig. 5 is a schematic circuit structure diagram of another parking assisting system according to an embodiment of the present invention, referring to fig. 5, the driving control circuit 103 includes a vehicle controller 1031, which is in communication connection with the parking monitoring circuit 101 and the driving position detecting circuit, and receives a parking request signal and a position signal to generate an automatic steering signal; automatic steering mechanism 1032 is electrically connected to vehicle controller 1031, and adjusts the steering of the wheels of the vehicle in accordance with the automatic steering signal so that the wheels have a certain steering angle after parking.
Specifically, the automatic steering signal can be directly generated by the vehicle controller 1031 inside the vehicle according to the parking request signal and the position signal without additionally providing a circuit to generate the automatic steering signal, so that the design complexity of the auxiliary parking system is reduced, and the cost is reduced; after receiving the automatic steering signal, the automatic steering mechanism 1032 in the vehicle can rotate a certain angle leftwards or rightwards, so that the vehicle is prevented from sliding on a slope, and the safety is improved.
Optionally, fig. 6 is a schematic circuit structure diagram of another auxiliary parking system according to an embodiment of the present invention, and referring to fig. 6, the auxiliary parking system further includes a road edge detection circuit 104, where the road edge detection circuit 104 is in communication connection with the driving control circuit 103, and detects road edge states on two sides of the ramp and generates a road edge state signal; the driving control circuit 103 receives the parking request signal, the position signal, and the road edge state signal to generate an automatic steering signal, and adjusts the steering of the wheels of the vehicle so that the wheels have a certain steering angle after parking.
Specifically, the road edge detection circuit 104 may be in communication connection with the vehicle controller 1031, and in a specific case, there may be no road edge on both sides of the ramp; when the road edge detection circuit 104 detects that no road edge exists on the ramp, if the position signal of the vehicle is that the vehicle is positioned on the left side of the ramp and the direction signal of the vehicle head is that the vehicle head faces the uphill, the driving control circuit 103 controls the wheels of the vehicle to turn left by a certain angle, so that when the vehicle slides, the vehicle moves towards the outer side of the ramp instead of the center of the ramp, more serious accidents are avoided, and the safety is improved; if the position signal of the vehicle is that the vehicle is positioned on the left side of the ramp and the direction signal of the vehicle head is that the vehicle head faces the downhill, the driving control circuit 103 controls the wheels of the vehicle to turn left by a certain angle, so that the vehicle moves to the outer side of the ramp instead of the center of the ramp when the vehicle rolls, more serious accidents are avoided, and the safety is improved; if the position signal of the vehicle is that the vehicle is positioned on the right side of the ramp and the direction signal of the vehicle head is that the vehicle head faces the uphill, the driving control circuit 103 controls the wheels of the vehicle to turn to the right by a certain angle so that the vehicle moves to the outer side of the ramp instead of the center of the ramp when the vehicle slides, thereby avoiding more serious accidents and improving the safety; if the position signal of the vehicle is that the vehicle is positioned on the right side of the ramp and the direction signal of the vehicle head is that the vehicle head faces the downhill, the driving control circuit 103 controls the wheels of the vehicle to turn to the right by a certain angle, so that the vehicle moves to the outer side of the ramp instead of the center of the ramp when the vehicle slips, more serious accidents are avoided, and the safety is improved.
Optionally, the road edge detection circuit 104 includes an image capture device.
Specifically, the road edge detection circuit 104 may further include an image processing circuit electrically connected to the image acquisition device, the image acquisition device may acquire image information of the ramp and send the image information to the image processing circuit for processing, and the image processing circuit determines whether the ramp has a road edge and sends the road edge to the driving control circuit 103, so that the driving control circuit 103 executes subsequent functions.
For example, as shown in fig. 7, fig. 7 is a schematic circuit structure diagram of another auxiliary parking system according to an embodiment of the present invention, the road edge detection circuit may employ an image acquisition device 1041, the slope detection circuit and the vehicle head direction detection circuit may employ the same angular velocity sensor 1027, and it is determined whether the vehicle head direction is on an uphill slope or a downhill slope according to an included angle between the vehicle and a horizontal plane measured by the angular velocity sensor 1027, and if the vehicle head direction is on an uphill slope, the angular velocity sensor 1027 may detect that the vehicle head direction has a forward included angle with the horizontal direction; when the position of the vehicle head is on a downhill, the angular velocity sensor 1027 can detect that the position of the vehicle head has a negative included angle with the horizontal direction; accordingly, it is possible to determine whether the head direction is an ascending slope or a descending slope. It should be noted that the ramp detection circuit and the vehicle head direction detection circuit can also adopt an inclination angle sensor, and whether the vehicle is parked on the lane and the vehicle head direction are judged by using the included angle between the vehicle head direction and the horizontal direction; or the slope detection circuit and the locomotive direction detection circuit respectively adopt one of an angular velocity sensor and an inclination angle sensor.
The embodiment of the present invention further provides a vehicle, where the vehicle includes an auxiliary parking system and a global satellite navigation system, fig. 8 is a schematic diagram of a circuit structure of the auxiliary parking system and the global satellite navigation system, where, referring to fig. 8, the auxiliary parking system includes a parking monitoring circuit 101, and outputs a parking request signal according to a parking request; a driving position detection circuit 102 for detecting that the driving position is on the slope and outputting a position signal; the driving control circuit 103 is in communication connection with the parking monitoring circuit 101 and the driving position detection circuit 102, and generates an automatic steering signal according to the parking request signal and the position signal so as to adjust the steering of the wheels of the vehicle and enable the wheels to have a certain steering angle after parking; the global satellite navigation system 201 is in communication connection with the driving control circuit 103.
Specifically, after the vehicle is parked, the parking monitoring circuit 101 may generate a parking request signal, at this time, the driving position detecting circuit 102 may detect the position of the vehicle and the direction of the head of the vehicle, and generate a position signal when the vehicle is parked on a slope; the driving control circuit 103 can generate an automatic steering signal according to the parking request signal and the position signal to adjust the steering of the wheels of the vehicle, so that the wheels have a certain steering angle, accidents caused by the vehicle sliding on a slope are prevented, and the safety is improved; meanwhile, the global satellite navigation system 201 can provide more accurate position signals for the vehicle, and the driving control circuit 103 can judge whether the vehicle is on a slope according to the positioning of the global satellite navigation system 201 and the detection signals of the driving position detection circuit, so that the judgment is more accurate, and the misoperation of the parking assist system is avoided.
Optionally, fig. 9 is a schematic circuit structure diagram of a connection between an auxiliary parking system and a global satellite navigation system according to an embodiment of the present invention, and referring to fig. 9, the driving position detecting circuit includes: the slope detection circuit 1021 is used for detecting that the driving position is positioned on a slope and outputting a slope parking signal; a vehicle body position detection circuit 1022, the vehicle body position detection circuit 1022 detecting a position of the vehicle body on the slope and generating a vehicle body position signal; a vehicle head direction detection circuit 1023 for detecting the direction of the vehicle head and outputting a vehicle head direction signal; the position signals comprise ramp parking signals, automobile body position signals and automobile head direction signals.
Specifically, when the slope detection circuit 1021 detects that the vehicle is located on a slope, a slope stop signal is output; the body position detection circuit 1022 detects the position of the body on the ramp, such as the left or right side of the ramp, and generates a corresponding body position signal; the vehicle head direction detection circuit 1023 detects the direction of the vehicle head, such as upward slope or downward slope, and generates a corresponding vehicle head direction signal; the vehicle body position signal, the ramp parking signal and the vehicle head direction signal form a position signal, so that the driving control circuit 103 generates an automatic steering signal according to the parking request signal and the position signal to adjust the steering of the wheels of the vehicle, the wheels have a certain steering angle, the vehicle is prevented from sliding on the ramp to cause accidents, and the safety is improved.
Optionally, the body position detection circuit 1022 includes a camera.
Specifically, the vehicle body position detecting circuit 1022 may include a camera and an image processing circuit connected to the camera, where the camera collects image information of the ramp and transmits the image information to the image processing circuit for processing, and the image processing circuit determines the position of the vehicle body on the ramp, such as the left side or the right side of the ramp, according to the image information of the ramp; and then the driving control circuit 103 generates an automatic steering signal according to the parking request signal and the position signal to adjust the steering of the wheels of the vehicle, so that the wheels have a certain steering angle, the vehicle is prevented from sliding on a slope to cause accidents, and the safety is improved.
Optionally, the camera is arranged on a rear view mirror inside the vehicle.
Specifically, the camera can set up in inside rear-view mirror of vehicle and the orientation direction of camera is for orientation locomotive direction to the camera can acquire great field of vision, can gather the more comprehensive information of ramp, further judges that the vehicle is in the left side or the right side of ramp.
Optionally, fig. 10 is a schematic diagram of a circuit structure of a parking assist system and a global satellite navigation system according to an embodiment of the present invention, and referring to fig. 10, the vehicle body position detecting circuit includes a distance detecting circuit 1024, and the distance detecting circuit 1024 detects a distance between the vehicle and two side edges of the ramp to generate a vehicle body position signal.
Specifically, if the distance from the vehicle to the left side edge of the ramp is greater than the distance to the right side edge of the ramp, the vehicle is located on the right side of the ramp at the moment; if the distance from the vehicle to the left side edge of the ramp is smaller than the distance from the vehicle to the right side edge of the ramp, the vehicle is positioned on the left side of the ramp at the moment; the distance detection circuit 1024 may generate different body position signals for the ride control circuit 103 to adjust the steering angle of the wheels.
For example, fig. 11 is a schematic circuit diagram of a connection between an assisted parking system and a global navigation satellite system according to an embodiment of the present invention, and referring to fig. 11, a distance detection circuit 1024 includes a first distance sensor 1025 for detecting a distance between a vehicle and a first edge of a ramp and generating a first distance signal; a second distance sensor 1026 that detects a distance of the vehicle from a second edge of the ramp and generates a second distance signal; a comparator 1027, wherein a first input terminal of the comparator 1027 is electrically connected to the first distance sensor 1025, a second input terminal of the comparator 1027 is electrically connected to the second distance sensor 1026, and an output terminal of the comparator 1027 outputs a vehicle body position signal.
Specifically, the first edge may be a left edge of the ramp, and the second edge may be a right edge of the ramp; if the first distance signal is greater than the second distance signal, indicating that the vehicle is further away from the left edge of the ramp than the right edge of the ramp, i.e., the vehicle is located on the right side of the ramp, the comparator 1027 may generate a first level (e.g., a high level); if the first distance signal is less than the second distance signal, indicating that the distance from the vehicle to the left edge of the ramp is less than the distance to the right edge of the ramp, i.e., the vehicle is located on the left side of the ramp, the comparator 1027 may generate a second level (e.g., a low level); the driving control circuit 103 can determine whether the vehicle is located on the left side or the right side of the ramp according to the received high level or low level, and further adjust the wheels to rotate a certain angle in a specific direction, so as to prevent the vehicle from sliding and improve the safety.
Optionally, the first distance sensor 1025 is disposed on a first wheel hub of the vehicle; the second distance sensor 1026 is provided on a second hub of the vehicle; wherein the first hub and the second hub are located on different sides in a direction perpendicular to a vehicle traveling direction.
For example, the first distance sensor 1025 may be disposed on a left front wheel of the vehicle and the second distance sensor 1026 may be disposed on a right front wheel of the vehicle; as long as first distance sensor 1025 and second distance sensor 1026 are located the wheel that is located the left and right sides respectively to avoid the vehicle position to judge the mistake when the ramp is narrower, and then the wrong problem of wheel steering direction that leads to, further improved the security.
Optionally, fig. 12 is a schematic circuit structure diagram of a connection between an auxiliary parking system and a global satellite navigation system according to an embodiment of the present invention, referring to fig. 12, the auxiliary parking system further includes a road edge detection circuit 104, where the road edge detection circuit 104 is in communication connection with a driving control circuit 103, and detects a road edge state on two sides of a ramp and generates a road edge state signal; the travel control circuit 103 receives the parking request signal, the position signal, and the road edge state signal to generate an automatic steering signal.
Specifically, the road edge detection circuit 104 may be in communication connection with the vehicle controller 1031, and in a specific case, there may be no road edge on both sides of the ramp; when the road edge detection circuit 104 detects that no road edge exists on the ramp, if the position signal of the vehicle is that the vehicle is positioned on the left side of the ramp and the direction signal of the vehicle head is that the vehicle head faces the uphill, the driving control circuit 103 controls the wheels of the vehicle to turn left by a certain angle, so that when the vehicle slides, the vehicle moves towards the outer side of the ramp instead of the center of the ramp, more serious accidents are avoided, and the safety is improved; if the position signal of the vehicle is that the vehicle is positioned on the left side of the ramp and the direction signal of the vehicle head is that the vehicle head faces the downhill, the driving control circuit 103 controls the wheels of the vehicle to turn left by a certain angle, so that the vehicle moves to the outer side of the ramp instead of the center of the ramp when the vehicle rolls, more serious accidents are avoided, and the safety is improved; if the position signal of the vehicle is that the vehicle is positioned on the right side of the ramp and the direction signal of the vehicle head is that the vehicle head faces the uphill, the driving control circuit 103 controls the wheels of the vehicle to turn to the right by a certain angle so that the vehicle moves to the outer side of the ramp instead of the center of the ramp when the vehicle slides, thereby avoiding more serious accidents and improving the safety; if the position signal of the vehicle is that the vehicle is positioned on the right side of the ramp and the direction signal of the vehicle head is that the vehicle head faces the downhill, the driving control circuit 103 controls the wheels of the vehicle to turn to the right by a certain angle, so that the vehicle moves to the outer side of the ramp instead of the center of the ramp when the vehicle slips, more serious accidents are avoided, and the safety is improved.
Optionally, the road edge detection circuit 104 includes an image capture device.
Specifically, the road edge detection circuit 104 may further include an image processing circuit electrically connected to the image acquisition device, the image acquisition device may acquire image information of the ramp and send the image information to the image processing circuit for processing, and the image processing circuit determines whether the ramp has a road edge and sends the road edge to the driving control circuit 103, so that the driving control circuit 103 executes subsequent functions.
Optionally, the image capturing device is disposed on a rear view mirror inside the vehicle.
Specifically, the image acquisition device can be arranged on a rearview mirror inside the vehicle, and the orientation direction of the image acquisition device is towards the direction of the vehicle head, so that the image acquisition device can acquire a larger visual field, can acquire more comprehensive information of a ramp, and further judges whether the vehicle is on the left side or the right side of the ramp.
An embodiment of the present invention further provides an auxiliary parking method, fig. 13 is a flowchart of the auxiliary parking method provided in the embodiment of the present invention, and referring to fig. 13, the auxiliary parking method includes:
specifically, the parking monitoring circuit may generate a parking request signal when the vehicle is parked.
specifically, the driving position detection circuit can detect the position of the vehicle and the direction of the head of the vehicle, and generate a position signal when the vehicle stops on a slope.
And 403, receiving the parking request signal and the position signal through the driving control circuit to generate an automatic steering signal so as to adjust the steering of the wheels of the vehicle, so that the wheels have a certain steering angle after parking.
Specifically, the driving control circuit can generate an automatic steering signal according to the parking request signal and the position signal so as to adjust the steering of the wheels of the vehicle, so that the wheels have a certain steering angle, the vehicle is prevented from sliding on a slope to cause accidents, and the safety is improved.
Exemplarily, fig. 14 is a flowchart of another parking assisting method according to an embodiment of the present invention, and referring to fig. 14, the parking assisting method includes:
specifically, when parking is required, the parking monitoring circuit receives a parking request, and executes step 302, i.e., outputs a parking request signal.
specifically, if the vehicle stops on a ramp, a great potential safety hazard can be caused if the wheels of the vehicle are not steered by a certain angle; therefore, when the vehicle is parked on a slope, the driving position detection circuit can detect the position of the vehicle and generate a position signal.
specifically, the driving position detecting circuit outputs a body position signal, which may be a first body position signal or a second body position signal, and when the body position signal is the first body position signal, step 305 is performed, and when the body position signal is not the first body position signal, the body position signal is the second body position signal, step 307 may be performed.
specifically, the driving position detection circuit further outputs a vehicle head direction signal, where the vehicle head direction signal may be a first vehicle head direction signal or a second vehicle head direction signal, and when the vehicle head direction signal is the first vehicle head direction signal, step 306 is executed; when the head orientation signal is not the first head orientation signal and the head orientation signal is the second head orientation signal, step 308 may be performed.
and 308, controlling the wheels to have a certain steering angle towards the second direction after the vehicle is stopped by the driving control circuit.
Specifically, the first body position signal may indicate that the vehicle is located on the left side of the slope, and the first head orientation signal may indicate that the head is facing up the slope; the second body position signal may indicate that the vehicle is located on the right side of the grade, and the second head orientation signal may indicate that the head is facing down the grade; the first direction may represent left, and the second direction may represent right; when the driving position detection circuit detects that the driving position is located on a slope, a first vehicle body position signal is output, a vehicle head direction signal is detected, and a first vehicle head direction signal is output, the driving control circuit adjusts the wheel steering of the vehicle according to the parking request signal, the first vehicle body position signal and the first vehicle head direction signal, so that the wheels have a certain steering angle towards the first direction after parking, and when the vehicle slips due to failure of a parking system or other reasons, the wheels are blocked by a road edge, and the phenomenon of serious slipping cannot occur, so that accidents are avoided; if the driving position detection circuit detects that the driving position is located on the ramp, a first vehicle body position signal is output, the vehicle head direction is detected, a second vehicle head direction signal is output, the driving control circuit receives the parking request signal, the first vehicle body position signal and the second vehicle head direction signal, and adjusts the wheel steering of the vehicle, so that the wheels have a certain steering angle towards the second direction after parking, when the vehicle slips due to failure of a parking system or other reasons, the wheels are blocked by a road edge, and the phenomenon of more serious slipping cannot occur, so that accidents are avoided; if the driving position detection circuit detects that the driving position is located on the ramp, a second vehicle body position signal is output, the vehicle head direction is detected, and a first vehicle head direction signal is output; the driving control circuit receives the parking request signal, the second body position signal and the first head direction signal, and adjusts the wheel steering of the vehicle, so that the wheels have a certain steering angle towards the second direction after parking, when the vehicle slips due to failure of a parking system or other reasons, the wheels are blocked by a road edge, and the phenomenon of more serious slipping cannot occur, thereby avoiding accidents; if the driving position detection circuit detects that the driving position is located on the ramp, a second vehicle body position signal is output, the vehicle head direction is detected, and a second vehicle head direction signal is output; the driving control circuit receives the parking request signal, the second body position signal and the second head direction signal, and adjusts the wheel steering of the vehicle, so that the wheel has a certain steering angle towards the first direction after parking, when the vehicle slips due to failure of a parking system or other reasons, the wheel can be blocked by a road edge, the phenomenon of more serious slipping cannot occur, and the accident is avoided.
It should be noted that the execution sequence of step 304, step 305 and step 307 in this embodiment is not limited to the sequence shown in fig. 14, as long as the driving control circuit can make the wheels of the parked vehicle have a certain steering angle in the first direction or the second direction to avoid rolling according to the first position signal, the parking request signal and the head direction signal.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (25)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910828373.0A CN112440895A (en) | 2019-09-03 | 2019-09-03 | Parking assist system, vehicle and parking assist method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910828373.0A CN112440895A (en) | 2019-09-03 | 2019-09-03 | Parking assist system, vehicle and parking assist method |
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| CN112440895A true CN112440895A (en) | 2021-03-05 |
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| CN201910828373.0A Pending CN112440895A (en) | 2019-09-03 | 2019-09-03 | Parking assist system, vehicle and parking assist method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113320518A (en) * | 2021-06-25 | 2021-08-31 | 东风汽车集团股份有限公司 | Method and system for preventing vehicle from sliding after parking on ramp |
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