The invention provides an automatic parking method and an automatic parking system. The method comprises the steps of S1, acquiring a current vehicle speed and a target vehicle speed of a vehicle; S2,judging whether the vehicle touches a wheel chock or not according to the current vehicle speed and the target vehicle speed, executing the step S3 if the vehicle touches the wheel chock, and otherwise, continuing to park; and S3, judging whether the vehicle is in the parking space or not, if so, identifying that the automatic parking is normally terminated, and otherwise, identifying that the automatic parking is abnormally terminated. Whether the vehicle touches the wheel chock or not is judged by judging whether an integral controller of a speed control module is saturated or not and whether the actual vehicle speed is zero or not, and the method and the system are low in cost and high in robustness. According to the automatic parking method, when the vehicle touches the wheel chock, the vehicle stops, a parking program can be stopped normally, and a safety risk caused by a fact that the vehicle crosses the wheel chock due to the fact that the vehicle speed control module outputs alarge driving torque can be effectively avoided.
本发明提供一种自动泊车方法和自动泊车系统,该方法包括:S1、获取车辆当前车速和目标车速;S2、根据所述当前车速和目标车速判断车辆是否触碰到轮挡器,若触碰到轮挡器,则执行步骤S3,否则继续泊车;S3、判断所述车辆是否在车位内,若在车位内,则识别自动泊车正常终止,否则识别自动泊车异常终止。本发明通过判断速度控制模块的积分控制器是否饱和和实际车速是否为零来判断车辆是否触碰到轮挡器具有成本低,鲁棒性高的特点。本发明的自动泊车方法在车辆触碰到轮挡器时,车辆会停下,泊车程序可以正常终止,可以有效地避免车速控制模块输出较大驱动扭矩使车辆越过轮挡器所引发的安全风险。
Automatic parking method and automatic parking system
一种自动泊车方法和自动泊车系统
2020-09-29
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Automatic parking method, automatic parking control device and automatic parking system
European Patent Office | 2022
|