CN102529961B - Initial carport-searching offset correction method of automatic parking system - Google Patents
Initial carport-searching offset correction method of automatic parking system Download PDFInfo
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- CN102529961B CN102529961B CN201210081017.5A CN201210081017A CN102529961B CN 102529961 B CN102529961 B CN 102529961B CN 201210081017 A CN201210081017 A CN 201210081017A CN 102529961 B CN102529961 B CN 102529961B
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Abstract
The invention relates to a method for determining a virtual straight line (L5) parallel to side parking limit (L2) according to the dynamic interval between a side road-side parked vehicle and a target vehicle in the carport-searching process of an automatic parking system. The straight line is an important reference for path planning. In particular, when a vehicle in front of the target parking space is not parallel to the side parking limit, the method is used for assisting a vehicle in relocating the target parking space in the process automatic parking, the relative distance between the target vehicle and a parked vehicle is dynamically captured through an ultrasonic sensor, the collected data are processed according to specific algorithm, and the processed data are used for formulate a reasonable parking path so as to finish automatic parking.
Description
Technical field
The present invention relates to automated parking system, specifically provide a kind of and analyze and the method for correcting that the inaccurate problem of path planning appears in the target parking stall of bringing due to the not parallel deviation of front and back parked vehicle and side parking boundary when initially seeking storehouse.
Background technology
Automated parking system refers to that, after system starts and searches out effective parking stall, chaufeur enters the system of position without the need to a direction of operating jiggering automatic train stop.Its working process: information acquisition system gathers the relevant information such as parking position size and vehicle self coordinate by sensor, and generates the input of data as system; Information handling system is according to these data messages, and judge that can vehicle moor the space provided into this parking stall by calculating, and generate suitable park reference path and corresponding control command, actuating unit makes vehicle moor into parking stall according to control command.
Existing automated parking system has following weak point: stopped the vehicle side square wheel profile of an A3 as with reference to carrying out the final stand of target setting vehicle by means of target parking position front, the longitudinal axes L 3 that this outline line is similar to vehicle A3 is parallel.If therefore the stopped longitudinal axes L 3 of an A3 of front, target parking stall is not parallel with side parking boundary L2, target vehicle can be made under the guiding of current automated parking system to occur and stopped the similar stand deviation of an A3 in front, namely the longitudinal axes L 4 of target vehicle and side parking boundary L2 not parallel.Final vehicle parking is shown in Fig. 1 in the situation at target parking position place.
Summary of the invention
Stop under deviation and longitudinal direction of car axis L3 and the uneven situation of side parking boundary L2 appear in an A3 for existing in front, target parking stall, target vehicle also there will be the problem of analogue, patent of the present invention provides a kind of method of analysis correction, makes target vehicle A0 rest in target parking stall place accurately.
The technical scheme that patent of the present invention adopts is: propose a kind of for assisting vehicle in the process of carrying out automatic parking, when target parking stall front vehicles occurs with side parking boundary L2 unparalleled phenomenon, to the method that target parking position is reorientated, mainly to be stopped a relative distance of side outline line by ultrasonic transduter motion capture target vehicle side, then by specific algorithm, the data collected have been processed.
Specifically comprise the steps.
A) chaufeur is first by opening switch connection Vehicular accumulator cell 12V direct supply, makes automated parking system electrifying startup.
B) software is according to configuration to control port initialization, makes ultrasonic transduter connect 12V direct supply, and start-up connector port one capturing function; Capturing function refers to the rising and falling edges that can identify outside input square-wave signal, and obtains the width of square-wave pulse by interrupting the inner time meter started.
C) when the parallel traveling of guarantee target vehicle, namely target vehicle longitudinal axes L 4 is parallel all the time with side parking boundary L2, ultrasonic transduter launches a 48KHz super sonic every 40ms automatically, and receive the echoed signal reflected from obstacle, after ultrasonic transduter inter-process becomes digital signal, pass to (b) described director port 1 by connecting wire, this port is configured to capturing function when initialization.
D) data after the capturing function process of port one are the relative spacing stopped in target vehicle and side, and namely on target vehicle, super sonic sends a little to a distance for upper corresponding ultrasonic reflections point of stopping; Then control software design judges this distance value, judge whether to be greater than 2m, if be greater than 2m, judge that these data are not valid data, abandoned, otherwise then the distance value that this detection obtains is write predefined array data [200], and be stored in the flash storage of controller inside; This array has 200 elements (0 ~ 199), if the valid data number collected before searching out effective parking stall is more than 200, the data gathered at first are then abandoned according to first in first out, namely the 0th element in data array is abandoned all the time, and by 1 ~ 199 element reach, by new data write the 199th element; Otherwise, if the valid data number collected before searching out effective parking stall is not more than 200, then with collected all valid data for handling object is handled as follows, now in data array, actv. element number is 30 ~ k, 30≤k≤200, because automatic parking usage condition requires could work under side has the prerequisite parked cars, and when finding garage, the speed of a motor vehicle is less demanding in 10km/h; Therefore 30 are more than or equal to according to the image data cycle for 40ms calculates the valid data that can collect.Said effective parking stall refers to that time that the transverse distance through ultrasonic continuous detection is greater than vehicle width is all the time multiplied by the speed of a motor vehicle and target vehicle side a slice of obtaining can meet the region of parking demand above.
E) k element in array data [200] is sorted, arrange according to the mode of ascending order, be i.e. data [0] < data [1] <
... <data [k-2] <data [k-1], wherein 30≤k≤200; Then cast out the data of front 10% and rear 10%, namely cast out the 0th to
individual and
individual to
data between individual element, wherein
according to rounding up, principle rounds.
F) to remaining
individual element carries out center line average values and calculates average
, then can make one with target vehicle longitudinal axis parallel and distance objective car side distance be
virtual line L5; This virtual line L5 will be used for the reference of final stop position in path planning, ensures that the stand exact posture of target vehicle is parallel with side parking boundary L2 with this.
Specific algorithm refers to: the data after the capturing function process of port one are the relative distance stopped in target vehicle and side, and namely super sonic sends a little to a distance for upper corresponding ultrasonic reflections point of stopping.Then control software design judges this distance value, data excessive or too small for data is abandoned, otherwise then the distance value that this detection obtains is write predefined array data [200], and is stored in the flash storage of controller inside.According to speed of a motor vehicle requirement during automated parking system addressing, determine the transmitting cycle of ultrasonic transduter.Then k element in array data [200] is sorted, arrange according to the mode of ascending order, be i.e. data [0] < data [1] <
... <data [k-2] <data [k-1], wherein 30≤k≤200.Then cast out the data of front 10% and rear 10%, as shown in Figure 4, center line average values is carried out to remaining element and calculates average
, formulate suitable parking path to complete automatic parking.
Its beneficial effect is: when roadside stopped deviation appears in storing cycle and longitudinal direction of car axis L3 and side parking boundary L2 not parallel, still can ensure that target vehicle A0 parks accurately, namely longitudinal direction of car axis L0 is parallel with side parking boundary L2, reduces the inaccurate puzzlement brought to customer of the attitude of berthing due to vehicle.
Accompanying drawing explanation
Fig. 1 is that background technology is parked schematic diagram.
Fig. 2 is the schematic diagram of vehicle when initially finding effective parking stall.
Fig. 3 is the information schematic diagram acquired by ultrasonic transduter after storehouse sought by vehicle.
Fig. 4 is for obtained dummy line and by the schematic diagram of dummy line translation.
Fig. 5 is the collection schematic diagram of desired data when specifically calculating.
Fig. 6 is that target vehicle berths parking stall final effect schematic diagram.
Specific embodiments
As shown in Figure 2, chaufeur is first by opening switch connection Vehicular accumulator cell 12V direct supply, make automated parking system electrifying startup, start initially to seek storehouse, software is according to configuring control port initialization, ultrasonic transduter is made to connect 12V direct supply, and start-up connector port one capturing function.Capturing function refers to the rising and falling edges that can identify outside input square-wave signal, and obtains the width of square-wave pulse by interrupting the inner time meter started.As shown in Figure 2, ultrasonic transduter launches a 48KHz super sonic every 40ms automatically, and receive the echoed signal reflected from obstacle, after ultrasonic transduter inter-process becomes digital signal, pass to described director port 1 by connecting wire, this port is configured to capturing function when initialization.Data after the capturing function process of port one are the relative distance stopped in target vehicle and side, and namely super sonic sends a little to a distance for upper corresponding ultrasonic reflections point of stopping.Then control software design judges this distance value, judge whether to be greater than 2m, if be greater than 2m, the data being judged to be to have stopped non-side a reflection supersonic wave records, abandoned, otherwise then the distance value that this detection obtains is write predefined array data [200], and be stored in the flash storage of controller inside.This array has 200 elements (0 ~ 199), if the valid data number collected before searching out effective parking stall is more than 200, the data gathered at first are then abandoned according to first in first out, namely the 0th element in data array is abandoned all the time, and by 1 ~ 198 element reach, by new data write the 199th element; Otherwise with collected data for object enters next step process, namely in data array, actv. element number is 30 ~ k, 30≤k≤200, because automatic parking usage condition requires park cars existing in side, i.e. A1, A2, A3, A4, A5, prerequisite under could work, and when finding garage, the speed of a motor vehicle is less demanding in 10Km/h, is therefore more than or equal to 30 according to the image data cycle for 40ms calculates the valid data that can collect.Said effective parking stall refers to the distance that the transverse distance detected by ultrasonic transduter is advanced in conjunction with vehicle above, and space, comprehensive descision side can meet a panel region of storing cycle requirement.K element in array data [200] is sorted, arranges according to the mode of ascending order, be i.e. data [0] < data [1] <
... <data [k-2] <data [k-1], wherein 30≤k≤200.Then cast out the data of front 10% and rear 10%, namely cast out the 0th to
individual and
individual to
data between individual element, wherein
according to rounding up, principle rounds.As shown in Figure 4, to remaining
individual element carries out center line average values and calculates average
,
Wherein m refers to scanned vehicle number,
the first car that the collects a series of distance values to target carriage,
the a series of distance values to target carriage, by that analogy.Just can make an and distance objective car side distance parallel with target vehicle longitudinal axes L 4 is
virtual line L5, as shown in Figure 3.This straight line will be used for the reference of final stop position in path planning.Ensure that the stand exact posture of target vehicle is parallel with side parking boundary L2 with this.
Claims (2)
1. the deviation correction method initially seeking storehouse of automated parking system, is characterized in that, comprise the steps:
A) chaufeur is first by opening switch connection Vehicular accumulator cell 12V direct supply, makes automated parking system electrifying startup;
B) software is according to configuration to director port initialization, makes ultrasonic transduter connect 12V direct supply, and start-up connector port capturing function;
C) when the parallel traveling of guarantee target vehicle, namely target vehicle longitudinal axis (L4) is parallel all the time with side parking boundary (L2), ultrasonic transduter launches a 48KHz super sonic every 40ms automatically, and receive the echoed signal reflected from obstacle, after ultrasonic transduter inter-process becomes digital signal, pass to b) described director port by connecting wire, this director port is configured to capturing function when initialization;
Data after the capturing function process of d) via controller port are the relative spacing stopped in target vehicle and side, and namely on target vehicle, super sonic sends a little to a distance for upper corresponding ultrasonic reflections point of stopping; Then control software design judges this distance value, judge whether to be greater than 2m, if be greater than 2m, judge that these data are not valid data, abandoned, otherwise then the distance value that this detection obtains is write predefined array data [200], and be stored in the flash storage of controller inside; This array has 200 elements 0 ~ 199, if the valid data number collected before searching out effective parking stall is more than 200, the data gathered at first are then abandoned according to first in first out, namely the 0th element in data [200] array is abandoned all the time, and by 1 ~ 199 element reach, by new data write the 199th element; Otherwise, if the valid data number collected before searching out effective parking stall is not more than 200, then with collected all valid data for handling object is handled as follows, now in data [200] array, actv. element number is 30 ~ k, 30≤k≤200, because automatic parking usage condition requires could work under side has the prerequisite parked cars, and when finding garage, the speed of a motor vehicle is less demanding in 10km/h;
E) k element in array data [200] is sorted, arrange according to the mode of ascending order, i.e. data [0] <data [1] < ... <data [k-2] <data [k-1], wherein 30≤k≤200; Then cast out the data of front 10% and rear 10%, namely cast out the 0th to
individual and
individual data between kth-1 element, wherein
according to rounding up, principle rounds;
F) to remaining
individual element carries out center line average values and calculates average
then can make one with target vehicle longitudinal axis parallel and distance objective car side distance be
virtual line (L5); This virtual line (L5) will be used for the reference of final stop position in path planning, ensures that the stand exact posture of target vehicle is parallel with side parking boundary (L2) with this.
2. the deviation correction method initially seeking storehouse of automated parking system according to claim 1, it is characterized in that, described effective parking stall refers to that time that the transverse distance through ultrasonic continuous detection is greater than vehicle width is all the time multiplied by the speed of a motor vehicle and target vehicle side a slice of obtaining can meet the region of parking demand.
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| DE102012025317A1 (en) * | 2012-12-22 | 2014-06-26 | Audi Ag | Driver assistance system and method for enabling autonomous or piloted garage parking |
| US8957786B2 (en) * | 2013-05-21 | 2015-02-17 | Ford Global Technologies, Llc | Enhanced alignment method for park assist |
| KR20140144470A (en) * | 2013-06-11 | 2014-12-19 | 주식회사 만도 | Parking control method, device and system |
| DE102013212318A1 (en) | 2013-06-26 | 2014-12-31 | Bayerische Motoren Werke Aktiengesellschaft | Automated parking procedure with additional correction train |
| CN104401324B (en) * | 2014-11-05 | 2017-06-27 | 江苏大学 | A kind of auxiliary parking system and method based on multiple-objection optimization |
| CN104554257B (en) * | 2014-12-29 | 2017-01-18 | 江苏大学 | Parking scene recognition method for initial space searching stage of automatic parking |
| CN104637342B (en) * | 2015-01-22 | 2017-01-04 | 江苏大学 | A kind of narrow and small vertical parking stall scene intelligent identification and parking path planning system and method |
| US9542845B1 (en) * | 2015-09-11 | 2017-01-10 | Robert Bosch Gmbh | Method for ascertaining a parking area of a street section |
| CN105527963B (en) * | 2015-12-23 | 2019-01-25 | 奇瑞汽车股份有限公司 | Lateral parking method and system |
| CN105857306B (en) * | 2016-04-14 | 2018-07-10 | 中国科学院合肥物质科学研究院 | A kind of vehicle autonomous parking paths planning method for a variety of scenes of parking |
| KR20180091313A (en) * | 2017-02-06 | 2018-08-16 | 현대자동차주식회사 | System for scanning parking space based on sensor and method thereof |
| DE102017210112A1 (en) * | 2017-06-16 | 2018-12-20 | Robert Bosch Gmbh | Method and system for performing a calibration of a sensor |
| CN110838244B (en) * | 2019-10-17 | 2021-02-02 | 惠州市德赛西威智能交通技术研究院有限公司 | Ultrasonic-based vertical parking space course adjusting method |
| CN110803157A (en) * | 2019-11-26 | 2020-02-18 | 奇瑞汽车股份有限公司 | Parking space identification method and system based on automatic parking |
| CN113911110A (en) * | 2021-10-13 | 2022-01-11 | 武汉光庭信息技术股份有限公司 | Parking track correction method and system, electronic device and storage medium |
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