CN103241239B - A kind of automated parking system parking stall recognition methods - Google Patents
A kind of automated parking system parking stall recognition methods Download PDFInfo
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Abstract
The invention discloses a kind of automated parking system parking stall recognition methods, belong to technical field of automobile electronic control.This method comprises the following steps: step one: start parking stall search system, carry out ultrasonic ranging; Step 2: edge, target parking stall judges; Step 3: target carriage bit length and width calculation; Step 4: carry out parking space information fusion; Step 5: carry out parking space information decision-making according to parking stall fuse information.The method introduces the method for carrying out information fusion based on multiple ultrasonic sensors with ubiquitous erroneous judgement in solving parking stall and identifying, the problem such as to fail to judge, and effectively improves the safe robustness that parking stall identifies; This method is more easily implemented than other method existing simultaneously, can better be applied to engineering practice.
Description
Technical field
The invention belongs to technical field of automobile electronic control, relate to a kind of automated parking system parking stall recognition methods.
Background technology
At present, in auto electronic control technology investigation and application, automated parking system is applied on various types of automobile more and more, automated parking system is exactly without manual intervention, automatic train stop enters the system of position, this cover system can complete automobile parking very easily, reduces the Operating Complexity of chaufeur.
Along with people are to the continuous lifting of automobile intelligent technical need, automatic parking technology has become one of focus of the intelligent vehicles technology research.Complete parking system should comprise that parking stall identifies, Track Pick-up and turn round control three bulk.Parking stall identifies as one of key core technology, the success or failure of the whole parking system of relation.Both at home and abroad for parking stall recognition technology theoretical investigation not deeply, and ubiquitous erroneous judgement in not identifying parking stall, the problem such as to fail to judge are discussed.
As aforesaid, realize in the process of automatic parking at automated parking system, the identification of parking space information is a critical step.Parking stall identifies that the radical function realized is: utilize the sensor be installed on around vehicle body, catch the environmental information around vehicle body in real time; Entreat in systems in which on controller and Treatment Analysis judgement is carried out to image data; Go out the lower edges of parking stall according to algorithm identified, calculate the active distance that parking stall lower edges is crossed in garage, finally obtain the information of parking position.
Know in method for distinguishing about parking stall existing, comprise following methods: utilize imageing sensor carry out the collection of vehicle body peripheral information and identify the position of target vehicle relative target parking stall; Ultrasonic transduter is adopted to gather the distance of vehicle body and periphery obstacle to calculate corresponding target parking stall; And automated parking system initially seeks storehouse deviation correction method, find out the important references of a virtual line parallel with side parking boundary as path planning.
Deficiency existing for said method sums up and is exactly: first, all do not identify that involved claim is discussed to utilizing ultrasonic transduter to carry out parking stall, and mentioned parking stall recognition methods is limited to the precondition of its hypothesis; Secondly, carry out parking stall identification based on single ultrasonic transduter and cannot ensure its safe robustness, once one of them sensor failure or erroneous judgement, light then whole parking system all can lose efficacy, heavy then carry out due to the erroneous judgement of its recognition result when parking position lost efficacy parking and will causing the consequence that cannot retrieve.In this context, the present invention proposes that a kind of applicability is wide, safety good and the parking stall recognition methods based on multiple ultrasonic sensors of strong robustness is significant.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of automated parking system parking stall recognition methods, the method is checked target parking stall by the parking system of the ultrasonic transduter and controller composition that are arranged on vehicle body, the determination to edge, target parking stall and Length x Width thereof is realized by ultrasonic testing, and obtain the final information in target parking stall by information fusion algorithm, finally draw parking space information decision-making.
For achieving the above object, the invention provides following technical scheme:
A kind of automated parking system parking stall recognition methods, is characterized in that: comprise the following steps: step one: start parking stall search system, carry out ultrasonic ranging; Step 2: edge, target parking stall judges; Step 3: target carriage bit length and width calculation; Step 4: carry out parking space information fusion; Step 5: carry out parking space information decision-making.
Further, in step one, chaufeur starts parking stall search system, and when vehicle moves forward in parking areas, the ultrasonic transduter be arranged in around vehicle body is started working, and outside transmitter pulse ripple is also opened super sonic and caught passage and catch reflection echo in real time; When catching passage at setting cycle IT to echoed signal, then capture time counted and calculate the distance with obstacle, if catch passage not at setting cycle IT to echoed signal, then be defaulted as this cycle inner sensor and obstacle do not detected and arrange this moment sensor distance value to be a capping threshold value, another sensor of gating is started working simultaneously.
Further, in step 2, when vehicle travels through target parking stall upper limb along certain orientation with certain speed, by judging whether the distance that vehicle body detects near the ultrasonic transduter of side, target parking stall saltus step occurs, if there is saltus step and saltus step longitudinal separation difference in set upper limb threshold range, then think upper limb target parking stall being detected; And record jump position sampling point distance difference simultaneously; Start the operating range in the cumulative vehicle unit cycle simultaneously; When after the success of detecting test of vehicle upper limb, if above-mentioned ultrasonic transduter detection range there is descending saltus step and saltus step longitudinal separation difference in set lower edge threshold range, then think lower edge target parking stall being detected, and record jump position sampling point distance difference simultaneously, stop target vehicle operating range to add up.
Further, in step 3, length and the width of target parking stall is determined in the following manner: the cumulative operating range value recorded in calculation procedure two is as the length of target parking stall; Calculate the width of aviation value as parking stall of the saltus step distance absolute value that parking stall upper limb and lower edge record.
Further, in step 4, according to the effective target parking stall that each sensor identifies, information fusion is carried out to vehicle body homonymy parking space information that ultrasonic transduter is surveyed; If the effective parking position in the right side of vehicle heading, then by obtaining the final parking space information of parking stall, right side after fusion; If there is parking stall in the left side of vehicle heading, then by obtaining the final parking space information of parking stall, left side after fusion.
Further, in step 5, according to the effective target parking stall of merging, judgement belongs to side coil parking position or the parking position of falling storehouse, and the concrete orientation of vehicle heading belonging to target parking stall, concrete determination methods is as follows: 1) if the target carriage bit length detected meets the requirement of minimum Parallel parking bit length, and for pop one's head on the right side of vehicle body the parking space information after fusion, be then judged as Parallel parking position on the right side of vehicle heading; 2) if the target carriage bit length detected meets the requirement of minimum Parallel parking bit length, and for pop one's head on the left of vehicle body the parking space information after fusion, be then judged as vehicle heading left parallel parking position; 3) if the target carriage bit length detected meets minimum vertical parking position length requirement, and be merged parking space information of popping one's head on the right side of vehicle body, be then judged as vehicle heading Right vertical parking position; 4) if the target carriage bit length detected meets minimum vertical parking position length requirement, and be merged parking space information of popping one's head on the left of vehicle body, be then judged as the vertical parking position on the left of vehicle heading.
Beneficial effect of the present invention is: the invention provides a kind of automated parking system parking stall recognition methods, introduce the method for carrying out information fusion based on multiple ultrasonic sensors with ubiquitous erroneous judgement in solving parking stall and identifying, the problem such as to fail to judge, effectively improve the safe robustness that parking stall identifies; This method is more easily implemented than other method existing simultaneously, can better be applied in engineering practice.
Accompanying drawing explanation
In order to make object of the present invention, technical scheme and beneficial effect clearly, the invention provides following accompanying drawing and being described:
Fig. 1 is the macro flow chart of the method for the invention;
Fig. 2 is Parallel parking position environmental simulation figure;
Fig. 3 is vertical parking position environmental simulation figure;
Fig. 4 is the microcosmic diagram of circuit of this method.
Detailed description of the invention
Overall technical architecture of the present invention is as follows: utilize the multiple ultrasonic transduters be installed on around vehicle body, catch the environmental information around vehicle body in real time; The wheel speed sensors being installed on rotation shaft of wheel place is utilized to obtain current automobile driving speed; Entreat in systems in which on controller and Treatment Analysis judgement is carried out to image data; The efficient frontier position of target parking stall is judged according to limb recognition algorithm, obtain the range information that ultrasonic transduter is measured in real time simultaneously, and calculate in conjunction with current goal Vehicle Speed active distance and the target carriage bit length that running car crosses target parking stall, pass through the width that recorded target parking stall lower edges distance saltus step data calculate target parking stall.Last foundation multi-sensor Fusion Algorithm carries out data fusion to vehicle body with parking space information that side senser is surveyed, and obtains final target parking space information; The classification (parallel parking stall and vertical parking stall) of the parking position of current calculating is judged according to parking space information decision-making technique, and orientation belonging to parking stall (on the left of vehicle body and on the right side of vehicle body).
When system starts, control axis opens ultrasonic exciting module, and multiple ultrasonic probe adopts polling mode to carry out the transmitting of field wave; To open an account ultrasonic echo receiver module simultaneously, utilize transit time method to calculate time counting between excitation with echo; Adopt the distance between formula (1) calculating ultrasonic probe and obstacle, if the distance gathered is beyond the scope detected, set the threshold values that is greater than maximum detectable range, threshold values sets according to formula (2).
formula (1), wherein: distance for calculated ultrasonic fault detection distance, C be ultrasonic propagation velocity, T is total count value in ultrasonic exciting moment to echo moment.
D
threshold=W
car+ D
maxformula (2), wherein: W
carfor vehicle width, D
maxfor the maximum distance that ultrasonic transduter can detect.
The utilization of speed data collection module is installed on the rotating speed of the wheel speed sensors Real-time Collection wheel at wheel center bearing place and by vehicle-mounted CAN communication network, vehicle speed signal is transferred to control axis.
Parking stall rim detection part is the core that parking stall identifies, comprises the detection of parking stall upper limb and lower edge.The definition of parking stall upper limb is as shown in the S1 in accompanying drawing 2, Fig. 3, and lower edge definition is as the S2 in Fig. 2, Fig. 3.Target vehicle in the process of moving, the multiple ultrasonic transduters being installed on vehicle body both sides detect in real time with target parking stall before and after stop the distance of obstacle.Edge threshold scope need be determined: side coil is parked, the vehicle body parameter W of its upper limb threshold range setting reference target vehicle for rim detection
car, ultrasonic transduter distance upper limit threshold D
thresholdthe transverse distance D to have stopped before and after (as described in formula (2)), target vehicle and target parking stall
vertical, concrete as described in inequality (1); Its symbol roughly the same, is just become anti-by the setting of lower edge threshold range and upper limb threshold value, and it is concrete as described in inequality (2).
D
threshold-W
car-D
vertical≤ UpperEdge
threshold< D
threshold-W
carinequality (1)
W
car-D
threshold< LowerEdge
threshold≤ W
car+ D
vertical-D
thresholdinequality (2)
Wherein, UpperEdge
thresholdfor upper limb threshold value, LowerEdge
thresholdfor lower edge threshold value.
Parking stall edge detection: when vehicle travels the upper limb through target parking stall, the distance value of current time and the distance value generation positive transition (namely apart from ascending change) of previous moment, if saltus step difference is in set edge detection threshold range, be judged as parking stall edge detection success, and start the distance (current vehicle speed * cycle) that travels by periodic accumulation automobile, and record the difference of this sampling instant saltus step; Otherwise continue to detect parking stall upper limb.
Parking stall lower edge detects: when vehicle travels the lower edge through target parking stall, there is negative saltus step (namely apart from descending change) in the distance value of current time and the distance value of previous moment, if saltus step difference is within the scope of set lower edge detection threshold, be judged as that parking stall lower edge detects successfully, and stop the cumulative of running car distance, and record the difference of this sampling instant saltus step; Otherwise continue to detect parking stall lower edge.
Abnormal rim detection: the distribution situation of to have stopped before and after evaluating objects parking stall, does the decision-making of corresponding edge.This situation is divided into again two classes: the first kind: when target parking stall only has rear end to have to stop and endlessly stop in front end, namely the situation of target parking stall upper limb can only be detected: the edge detection success supposing parking stall, now by judgement the vehicle operating range that adds up to decide parking position effective.Concrete determination methods: if the operating range that adds up be greater than single set minimum parking position length doubly and be less than double minimum parking position length, then think that this parking stall is effective parking stall; If be greater than double minimum parking space length, think the parking position having and adjoin, then using effective parking position of most adjacent objects vehicle as effective parking stall.An Equations of The Second Kind: when target parking stall only has front end to have to stop and endlessly stop in rear end, namely the situation of target parking stall lower edge can only be detected: this type of situation puts aside, owing to upper limb not detected, therefore the step of cumulative running car distance can't be performed, namely cannot calculate length and the width information of target parking stall.
The accumulation distance value travelled by calculating parking stall obtains the length of target parking stall, and it calculates as described in formula (3); Absolute average between the upper limb saltus step difference recorded when being detected successfully by edge calculation and lower edge distance saltus step difference obtains the width of target parking stall, and it calculates as described in formula (4).
Wherein, SpaceLength is parking stall length, and N is the number of times that running car distance adds up, and VehicleSpeed is the aviation value of four wheel wheel speeds, and T is the cycle that running car distance adds up.
Wherein SpaceWidth is parking stall width, and DiffUpperEdge is the absolute value of parking stall upper limb distance saltus step difference, and DiffLowerEdge is the absolute value of parking stall lower edge distance saltus step difference.
Because sensor used in this method is same type of sensor, under the condition not having priori, traditional data blending algorithm all cannot be effective, and utilize similar multiple sensors to identify same target, there is certain inner link between its take off data, namely at synchronization multisensor, same target is measured.For finding a kind of method quantizing its internal association degree, introduce a kind of Multisensor Data Fusion Algorithm based on similarity.Its concrete thought is: introduce the similarity s between each measurement value sensor of decaying exponential function quantification synchronization
ij, and build similarity matrix S (k), as shown in Equation (6); Then the consistency metric c of k moment i-th sensor and other sensors observe value is calculated
i(k), as shown in Equation (7); Estimation finally to target after calculating k moment N number of Data Fusion of Sensor
as shown in Equation (8).The decaying exponential function form introducing a kind of improvement in the present invention carries out Similarity Measure, introduces the index of number of sensors as function in formula, and its form is as shown in formula (5).
Wherein, z
i(k) and z
jk () is respectively the parking stall recognition result value of k moment sensor i and j, N is the number of sensor.
Wherein, n is number of sensors.
This blending algorithm takes into full account inner link between sensor and sensor and is quantized, and is finally carried out merging by multi-sensor data obtaining the final estimation of a certain moment to target parking stall.This fusion method achieves the real time fusion of multi-sensor data, and easily realizes this fusion function in embedded systems, meets the software and hardware design requirement of automated parking system.
Parking space information decision process be by merge after parking space information judge whether identified target parking stall meets minimum requirement of parking further, namely should meet the requirement of target vehicle vehicle body length and width.If parking space information meets minimum (parallel or vertical) requirement of parking, then send to control axis instruction of parking, and control automobile and rest on predetermined reference position of parking.
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
In the present embodiment, parking stall identifies idiographic flow as shown in Figure 4, and the concrete steps of this method are:
1. system starts: chaufeur starts parking stall search system, and ultrasonic transduter is started working, and launches the pulse wave of some and open super sonic and catch passage to catch reflection echo in real time with certain frequency period; Target vehicle moves forward not travel upper limit speed higher than parking simultaneously.
2. ultrasonic ranging: when catching passage at setting cycle IT to echoed signal, then carry out counting to capture time and utilize formula (1) to calculate the distance with obstacle; If catch passage not at setting cycle IT to echoed signal, then be defaulted as this cycle inner sensor and do not detect that this moment sensor distance value of obstacle juxtaposition is a capping threshold value (this threshold value is exceed the value outside sensor investigative range), started working by another sensor of beginning gating with Time Controller.
3. target parking stall upper limb judges: as shown in accompanying drawing 2,3, when vehicle travels upper limb through target parking stall and S1 with certain speed of a motor vehicle along the direction of arrow, by judging ultrasonic transduter 1,2(or 3,4) whether the distance that detects there is saltus step, if there is saltus step and saltus step longitudinal separation difference (as described in inequality (1)) in set upper limb threshold range, then think upper limb target parking stall being detected; And record jump position sampling point distance difference simultaneously; Start the operating range along the direction of arrow in the cumulative vehicle unit cycle simultaneously.
4. target parking stall lower edge judges: as shown in accompanying drawing 2,3, when after the success of detecting test of vehicle upper limb, if saltus step longitudinal separation difference (as described in inequality (2)) in set lower edge threshold range appears descending saltus step and in ultrasonic transduter detection range, then think lower edge target parking stall being detected; And record jump position sampling point distance difference simultaneously; Target vehicle operating range is stopped to add up.
5. target carriage bit length and width calculation: calculate the cumulative operating range value that the records length as target parking stall, as described in formula (3); Calculate the width of aviation value as parking stall of the saltus step distance absolute value that parking stall upper limb and lower edge record, as described in formula (4).
6. parking space information merges: the effective target parking stall identified according to each sensor, carry out information fusion, concrete fusion formula is as shown in (5), (6), (7), (8).If the effective parking position in the right side of vehicle heading, environment of parking under the pattern namely as shown in left-half in the first half, Fig. 3 in accompanying drawing 2, then by obtaining the final parking space information of parking stall, right side after fusion; If there is parking stall in the left side of vehicle heading, environment of parking under the pattern namely as shown in right half part in the latter half, Fig. 3 in accompanying drawing 2, then by obtaining the final parking space information of parking stall, left side after fusion.
7. parking space information decision-making: according to the effective target parking stall of merging, then judge whether to belong to the side coil parking position still parking position of falling storehouse, and the concrete orientation of vehicle heading belonging to target parking stall.Concrete determination methods is as follows:
If I. detect target carriage bit length meet the requirement of minimum Parallel parking bit length, and for sensor 's number as 1 in accompanying drawing 2,2 merge after parking space information, be then judged as Parallel parking position on the right side of vehicle heading;
If II. detect target carriage bit length meet the requirement of minimum Parallel parking bit length, and for sensor 's number as 3 in accompanying drawing 2,4 merge after parking space information, be then judged as vehicle heading left parallel parking position;
If the target carriage bit length III. detected meets minimum vertical parking position length requirement, and for sensor 's number as 1 in accompanying drawing 3,2 the parking space information that merges, be then judged as vehicle heading Right vertical parking position;
If the target carriage bit length IV. detected meets minimum vertical parking position length requirement, and for sensor 's number as 3 in accompanying drawing 3,4 the parking space information that merges, be then judged as the vertical parking position on the left of vehicle heading.
The recognition methods of above-mentioned parking stall is about the most detailed embodiment that parking stall identifies in process of comprehensively parking, and threshold parameter setting can set flexibly according to concrete vehicle; The method effectively can identify different parallel and vertical parking stalls, in conjunction with multiple sensor information amalgamation method, effectively can improve robustness and the particularity of parking stall identification.
What finally illustrate is, above preferred embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although by above preferred embodiment to invention has been detailed description, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from claims of the present invention limited range.
Claims (2)
1. an automated parking system parking stall recognition methods, is characterized in that: comprise the following steps:
Step one: start parking stall search system, carry out ultrasonic ranging;
Step 2: edge, target parking stall judges;
Step 3: target carriage bit length and width calculation;
Step 4: carry out parking space information fusion;
Step 5: carry out parking space information decision-making;
In step one, chaufeur starts parking stall search system, and when vehicle moves forward in parking areas, the ultrasonic transduter be arranged in around vehicle body is started working, and outside transmitter pulse ripple is also opened super sonic and caught passage and catch reflection echo in real time; When catching passage at setting cycle IT to echoed signal, then capture time counted and calculate the distance with obstacle, if catch passage not at setting cycle IT to echoed signal, then be defaulted as this cycle inner sensor and obstacle do not detected and arrange this moment sensor distance value to be a capping threshold value, another sensor of gating is started working simultaneously;
In step 2, when vehicle travels through target parking stall upper limb along certain orientation with certain speed, by judging whether the distance that vehicle body detects near the ultrasonic transduter of side, target parking stall saltus step occurs, if there is saltus step and saltus step longitudinal separation difference in set upper limb threshold range, then think upper limb target parking stall being detected; And record jump position sampling point distance difference simultaneously; Start the operating range in the cumulative vehicle unit cycle simultaneously; When after the success of detecting test of vehicle upper limb, if above-mentioned ultrasonic transduter detection range there is descending saltus step and saltus step longitudinal separation difference in set lower edge threshold range, then think lower edge target parking stall being detected, and record jump position sampling point distance difference simultaneously, stop target vehicle operating range to add up;
Length and the width of target parking stall is determined in the following manner: the cumulative operating range value recorded in calculation procedure two is as the length of target parking stall in step 3; Calculate the width of aviation value as parking stall of the saltus step distance absolute value that parking stall upper limb and lower edge record;
In step 4, according to the effective target parking stall that each sensor identifies, information fusion is carried out to vehicle body homonymy parking space information that ultrasonic transduter is surveyed; If the effective parking position in the right side of vehicle heading, then by obtaining the final parking space information of parking stall, right side after fusion; If there is parking stall in the left side of vehicle heading, then by obtaining the final parking space information of parking stall, left side after fusion.
2. automated parking system parking stall recognition methods according to claim 1, it is characterized in that: in step 5, according to the effective target parking stall of merging, judgement belongs to side coil parking position or the parking position of falling storehouse, and the concrete orientation of vehicle heading belonging to target parking stall, concrete determination methods is as follows: 1) if the target carriage bit length detected meets the requirement of minimum Parallel parking bit length, and by probe on the right side of vehicle body parking space information after fusion, be then judged as Parallel parking position on the right side of vehicle heading; 2) if the target carriage bit length detected meets the requirement of minimum Parallel parking bit length, and for pop one's head on the left of vehicle body the parking space information after fusion, be then judged as vehicle heading left parallel parking position; 3) if the target carriage bit length detected meets minimum vertical parking position length requirement, and be merged parking space information of popping one's head on the right side of vehicle body, be then judged as vehicle heading Right vertical parking position; 4) if the target carriage bit length detected meets minimum vertical parking position length requirement, and be merged parking space information of popping one's head on the left of vehicle body, be then judged as the vertical parking position on the left of vehicle heading.
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