CN104527642A - Automatic parking system and method based on scene diversity identification - Google Patents

Automatic parking system and method based on scene diversity identification Download PDF

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Publication number
CN104527642A
CN104527642A CN201410850147.XA CN201410850147A CN104527642A CN 104527642 A CN104527642 A CN 104527642A CN 201410850147 A CN201410850147 A CN 201410850147A CN 104527642 A CN104527642 A CN 104527642A
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China
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module
parking
weather
mileage
main control
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CN201410850147.XA
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Chinese (zh)
Inventor
江浩斌
沈峥楠
马世典
华一丁
吴狄
李臣旭
朱畏畏
李文瑶
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江苏大学
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Priority to CN201410850147.XA priority Critical patent/CN104527642A/en
Publication of CN104527642A publication Critical patent/CN104527642A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06Automatic manoeuvring for parking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/02Estimation 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
    • B60W40/04Traffic conditions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143Alarm means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2510/00Input parameters relating to a particular sub-units
    • B60W2510/30Auxiliary equipments
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2555/00Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20Ambient conditions, e.g. wind or rain
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/06Combustion engines, Gas turbines
    • B60W2710/0605Throttle position
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/10Change speed gearings
    • B60W2710/1005Transmission ratio engaged
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/18Braking system
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/20Steering systems
    • B60W2710/207Steering angle of wheels

Abstract

The invention discloses an automatic parking system and method based on scene diversity identification. The system comprises a main control module, an ultrasonic sensor module, an acceleration sensor module, a vehicle-mounted Internet module, a fog lamp module, a windscreen wiper module, an execution module and a voice module. In addition, the invention provides the automatic parking method based on scene diversity identification, different parking strategies can be formulated according to parking in different scenes, and the safety of the automatic parking system is improved. According to the automatic parking system and method, the parking strategies can be specifically formulated according to weather information, skidding of tires due to fast steering in severe weather is avoided, and the safety of the automatic parking system is further improved.

Description

Based on automated parking system and the method thereof of the identification of scene variety
Technical field
The present invention relates to automobile automatic parking technical field, be specifically related to a kind of automated parking system based on the identification of scene variety and method thereof.
Background technology
Along with the develop rapidly of China's economy, automobile pollution increases fast, and the parking position day in city is becoming tight.Simultaneously concerning the chaufeur of lacking experience, disposable warehouse-in comparatively difficulty of parking.
Along with the develop rapidly of automotive electronic technology, a lot of middle-to-high end car is all configured with automated parking system, but does not substantially there is scene Recognition function.Under inclement weather conditions, coefficient of road adhesion there will be larger change, if parking strategy is parked routinely, very likely occurs turning to the too fast phenomenon causing tyre slip.
Summary of the invention
In order to overcome the deficiency that existing automatic parking technology exists, the present invention proposes a kind of automated parking system based on the identification of scene variety and method thereof, stops formulate different parking strategies, to improve the safety of automated parking system according to different scenes.
For achieving the above object, the concrete technical scheme of the present invention is as follows: a kind of automatic parking method based on the identification of scene variety, is characterized in that comprising the steps:
1) start parking system, go to step 2);
2) ultrasonic sensor modules detects automobile side distance D, goes to step 3);
3) main control module judges whether automobile side distance D meets requirement of parking safely, goes to step 4 as met), otherwise go to step 2);
4) ultrasonic sensor modules detects edge, parking stall, gathers parking stall depth h, and acceleration sensor module calculates parking stall length H simultaneously, goes to step 5);
5) main control module is according to parking stall depth h and parking stall length H, differentiates that whether parking stall is effective, if parking stall effectively goes to step 6), otherwise go to step 2);
6) vehicle-mounted the Internet module obtains network Weather information, according to network Weather information and weather history information storage comprehensive descision current weather information, goes to step 7);
7) the current weather information comprehensive descision current weather pattern that provides according to the status information of fog lamp module, wiper module and vehicle-mounted the Internet module of main control module, goes to step 8); Wherein, synoptic model comprises: normal mode, rainy day pattern, snow day mode and greasy weather pattern;
8) main control module formulates concrete parking strategy according to current weather pattern, goes to step 9), wherein parking strategy comprises Parallel parking strategy and vertical parking strategy;
9) voice module completes according to parking strategy real-time prompting chaufeur and controls throttle, brake, engage a gear operation; Execution module, according to parking strategy, controls steer motor in real time, and adjustment direction dish angle, goes to step 10);
10) complete and park.
Further above-mentioned steps 3) in, judge whether automobile side distance D meets the method for safety requirements as follows: as D > 2.5L 1time (L 1for this car back mirror is long), then think that side distance meets requirement of parking; Otherwise think that side distance does not meet requirement of parking.
Further above-mentioned steps 4) in, the fore-and-aft distance H method of calculating on parking stall is as follows: when side distance D undergos mutation, be then judged as edge, parking stall being detected, now the time is designated as t 0, acceleration/accel is designated as a 0; When side distance D undergos mutation again, be then judged as another edge, parking stall being detected, now the time is designated as t 1, acceleration/accel is designated as a t1, fore-and-aft distance H computing formula is: a tfor acceleration/accel.
Further above-mentioned steps 5) in, judge whether effective method is as follows on parking stall:
5.1) when the pattern of parking is Parallel parking, if H > is L × k 1, h > L × k 2(L is this car vehicle commander, k 1, k 2for Parallel parking mode safety coefficient), then think that this parking stall is effective, otherwise think that this parking stall is invalid;
5.2) when the pattern of parking is for vertically parking, if H > is L × k 3, h > L × k 4(L is this car vehicle commander, k 3, k 4for mode safety coefficient of vertically parking), then think that this parking stall is effective, otherwise think that this parking stall is invalid.
Further above-mentioned steps 7) in, judge that the method for current weather pattern is as follows:
7.1) when vehicle-mounted the Internet module transmits the cloudy or cloudy information of fine day, and during wiper module not enabled, current weather is normal mode;
7.2) when vehicle-mounted the Internet module transmits the cloudy or cloudy information of fine day, and when wiper module is enabled, current weather is rainy day pattern;
7.3) when vehicle-mounted the Internet module transmits rainy day information, no matter whether wiper module enables, and current weather is rainy day pattern;
7.4) when vehicle-mounted the Internet module transmission snow sky information, current weather is snow day mode;
7.5) when fog lamp module is enabled, current weather is greasy weather pattern;
Further above-mentioned steps 8) in, described Parallel parking strategy is:
8.1.1) if when weather is normal mode, execution module outgoing current I 0to steer motor, control rotating of steering wheel, automobile by right making retrogressings, keep straight on retreat, a left side makes the whole process that retrogressing three step completes Parallel parking warehouse-in, wherein, it is S that retrogressing mileage is made on the right side 1, keeping straight on and retreating mileage is S 2, a left side is made and retreated mileage is S 3, S 1, S 2, S 3all measured by acceleration pick-up;
8.1.2) if when weather is rainy day pattern, execution module outgoing current I 0* b 1(0<b 1< 1) to steer motor, reduce rotating of steering wheel moment of torsion, automobile makes retrogressing by the right side, craspedodrome retreats, the whole process that retrogressing three step completes Parallel parking warehouse-in is made on a left side, and wherein, the right side is made and retreated mileage is S 1* c 1, keeping straight on and retreating mileage is S 2* d 1, a left side is made and retreated mileage is S 3* e 1, c 1, d 1, e 1for coefficient of correction;
8.1.3) if when weather is for snow day mode, execution module outgoing current I 0* b 2(0<b 2< b 1) to steer motor, reducing rotating of steering wheel moment of torsion, automobile makes retrogressing by the right side, craspedodrome retreats, the whole process that retrogressing three step completes Parallel parking warehouse-in is made on a left side, and wherein, the right side is made and retreated mileage is S 1* c 2, keeping straight on and retreating mileage is S 2* d 2, a left side is made and retreated mileage is S 3* e 2, c 2, d 2, e 2for coefficient of correction;
8.1.4) no matter in fine day pattern, rainy day pattern or avenge day mode, when fog lamp module is activated, automobile is automatically enabled horn trumpet and is blown a whistle in the process of parking, and notes with the people warning surrounding.
Further above-mentioned steps 8) in, described vertical parking strategy is:
8.2.1) if when weather is normal mode, execution module outgoing current I 0to steer motor, control rotating of steering wheel, automobile by left make move ahead, retrogressings is made on the right side, craspedodrome retrogressing three step completes the whole process of vertically parking and putting in storage, wherein, it is S that the mileage that moves ahead is made on a left side 4, the right side is made and retreated mileage is S 5, keeping straight on and retreating mileage is S 6, S 4, S 5, S 6all measured by acceleration pick-up;
8.2.2) if when weather is rainy day pattern, execution module outgoing current I 0* b 3(0<b 3< 1) to steer motor, reduce rotating of steering wheel moment of torsion, automobile by left make move ahead, retrogressings is made on the right side, craspedodrome retrogressing three step completes warehouse-in of vertically parking whole process, wherein, it is S that retrogressing mileage is made on the right side 4* c 3, the right side is made and retreated mileage is S 5* d 3, keeping straight on and retreating mileage is S 6* e 3, c 3, d 3, e 3for coefficient of correction;
8.2.3) if when weather is for snow day mode, execution module outgoing current I 0* b 4(0<b 4< b 3) to steer motor, reduce rotating of steering wheel moment of torsion, automobile by left make move ahead, retrogressings is made on the right side, craspedodrome retrogressing three step completes warehouse-in of vertically parking whole process, wherein, it is S that retrogressing mileage is made on the right side 4* c 4, the right side is made and retreated mileage is S 5* d 4, keeping straight on and retreating mileage is S 6* e 4, c 4, d 4, e 4for coefficient of correction;
8.2.4) no matter in fine day pattern, rainy day pattern or avenge day mode, when fog lamp module is activated, automobile is automatically enabled horn trumpet and is blown a whistle in the process of parking, and notes with the people warning surrounding.
The present invention also provides a kind of automated parking system based on the identification of scene variety, comprising: ultrasonic sensor modules, acceleration sensor module, vehicle-mounted the Internet module, fog lamp module, wiper module, main control module, execution module, voice module; Described ultrasonic sensor modules is for detecting edge, parking stall and probe vehicle side distance, and its mouth is connected with main control module; Described acceleration sensor module is for calculating parking stall length, and its mouth is connected with main control module; Described vehicle-mounted the Internet module mouth is connected with main control module, network Weather information is obtained for interconnection network, according to network Weather information and weather history information storage comprehensive descision current weather information, and when enabling parking system, current weather information is passed to main control module; Described fog lamp module mouth is connected with main control module, for dense fog information is passed to main control module; Described wiper module mouth is connected with main control module, for rainy day information is passed to main control module; Described main control module mouth is connected with execution module, voice module, for the data gathered according to vehicle body parameter, ultrasonic sensor modules and acceleration sensor module, identify that whether parking stall is effective, current weather information comprehensive descision current weather pattern also for providing according to status information and the vehicle-mounted the Internet module of fog lamp module, wiper module, and formulate parking strategy according to synoptic model; Described execution module is used for the parking strategy formulated according to main control module, controls steer motor in real time, adjustment direction dish angle; Described voice module is used for the parking strategy formulated according to main control module, and voice message chaufeur completes and controls throttle, brake, engage a gear operation.
Further, above-mentioned vehicle-mounted the Internet module comprises communication unit and data storage cell, and data storage cell comprises weather history information storage in two days, for carrying out comprehensive descision current weather information in conjunction with real-time weather information; Communication unit, for obtaining network Weather information, can select any one communication module in gsm module, TD-SCDMA module, WCDMA module, CDMA module, FDD-LTE module, TD-LTE module.
Compared with prior art, usefulness of the present invention is, by specifically formulating parking strategy in conjunction with real-time weather information, avoiding occurring turning to the too fast phenomenon causing tyre slip under inclement weather conditions, further increasing the safety of automated parking system.
Accompanying drawing explanation
Fig. 1 is based on the automated parking system frame diagram of scene variety identification.
Fig. 2 is based on the automatic parking method flow diagram of scene variety identification.
Storehouse process is sought in Fig. 3 Parallel parking position.
The vertical parking position of Fig. 4 seeks storehouse process.
Fig. 5 Parallel parking position path planning.
The vertical parking position path planning of Fig. 6.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
Figure 1 shows that the automated parking system frame diagram based on the identification of scene variety, the automated parking system based on the identification of scene variety comprises: ultrasonic sensor modules, acceleration sensor module, vehicle-mounted the Internet module, fog lamp module, wiper module, main control module, execution module, voice module; Ultrasonic sensor modules is for detecting edge, parking stall and probe vehicle side distance, and its mouth is connected with main control module; Acceleration sensor module is for calculating parking stall length, and its mouth is connected with main control module; Vehicle-mounted the Internet module mouth is connected with main control module, network Weather information is obtained for interconnection network, according to network Weather information and weather history information storage comprehensive descision current weather information, and when enabling parking system, current weather information is passed to main control module; Fog lamp module mouth is connected with main control module, for dense fog information is passed to main control module; Wiper module mouth is connected with main control module, for rainy day information is passed to main control module; Main control module mouth is connected with execution module, voice module, for the data gathered according to vehicle body parameter, ultrasonic sensor modules and acceleration sensor module, identify that whether parking stall is effective, current weather information comprehensive descision current weather pattern also for providing according to status information and the vehicle-mounted the Internet module of fog lamp module, wiper module, and formulate parking strategy according to synoptic model, control execution module, voice module complete whole process of parking; Execution module is used for the parking strategy formulated according to main control module, controls steer motor in real time, adjustment direction dish angle; Voice module is used for the parking strategy formulated according to main control module, and voice message chaufeur completes and controls throttle, brake, engage a gear operation.
Vehicle-mounted the Internet module comprises communication unit and data storage cell, and data storage cell comprises weather history information storage in two days, for carrying out comprehensive descision current weather information in conjunction with real-time weather information; Communication unit, for obtaining network Weather information, can select any one communication module in gsm module, TD-SCDMA module, WCDMA module, CDMA module, FDD-LTE module, TD-LTE module.
As the preferred embodiments of the present invention, above-mentioned main control module adopts Infineon XC866 chip or XC886 chip, and acceleration sensor module adopts MPU-6050 module chip, and ultrasonic transduter adopts PGA450-Q1 ultrasonic signal regulating control.
Figure 2 shows that the automatic parking method flow diagram that the present invention is based on the identification of scene variety, the automatic parking method based on the identification of scene variety comprises the following steps:
1) parking system is started;
2) ultrasonic sensor modules detects automobile side distance D;
3) control module judges whether automobile side distance D meets requirement of parking safely, as D > 2.5L 1time (L 1for this car back mirror is long), then think that side distance meets requirement of parking, go to step 4); Otherwise think that side distance does not meet requirement of parking, go to step 2);
4) ultrasonic sensor modules detects edge, parking stall, gathers parking stall depth h, and acceleration sensor module calculates parking stall length H simultaneously, goes to step 5);
Parallel parking position is sought storehouse process and is sought storehouse process respectively as shown in Figure 3, Figure 4 with vertical parking position, and wherein, the method for calculating of parking stall length H is: when automobile side distance D undergos mutation, be then judged as edge, parking stall being detected, now the time is designated as t 0, acceleration/accel is designated as a 0; When automobile side distance D undergos mutation again, be then judged as another edge, parking stall being detected, now the time is designated as t 1, acceleration/accel is designated as a t1, fore-and-aft distance H computing formula is: a tfor acceleration/accel;
5) main control module is according to parking stall depth h and parking stall length H, differentiates that whether parking stall is effective, if parking stall effectively goes to step 6), otherwise go to step 2); Wherein, judge whether effective method is as follows on parking stall:
5.1) when the pattern of parking is Parallel parking, if H > is L × k 1, h > L × k 2(L is this car vehicle commander, k 1, k 2for Parallel parking mode safety coefficient is), think that this parking stall is effective, otherwise think that this parking stall is invalid;
5.2) when the pattern of parking is for vertically parking, if H > is L × k 3, h > L × k 4(k 3, k 4for mode safety coefficient of vertically parking), think that this parking stall is effective, otherwise think that this parking stall is invalid.
6) vehicle-mounted the Internet module obtains network Weather information, and vehicle-mounted the Internet module comprises weather history information storage in two days, vehicle-mounted the Internet module carrys out comprehensive descision current weather information according to network Weather information and weather history information storage, such as, work as winter, real-time weather be fine day and display the previous day when snowing, due to may be still snowy or icing by the too low ground that affects of temperature, thus now vehicle-mounted the Internet module judges that current weather information is as snowing; When real-time weather is fine day, before two hours, display is rained, ground is still likely in wet and slippery, and thus now vehicle-mounted the Internet module judges that current weather information is still rainy;
7) current weather information that main control module provides according to the status information of fog lamp module, wiper module and vehicle-mounted the Internet module judges current weather pattern, goes to step 8); Wherein, synoptic model comprises: normal mode, rainy day pattern, snow day mode and greasy weather pattern, judge that the method for current weather pattern is as follows:
7.1) when vehicle-mounted the Internet module transmits the cloudy or cloudy information of fine day, and during wiper module not enabled, current weather is normal mode;
7.2) when vehicle-mounted the Internet module transmits the cloudy or cloudy information of fine day, and when wiper module is enabled, current weather is rainy day pattern;
7.3) when vehicle-mounted the Internet module transmits rainy day information, no matter whether wiper module enables, and current weather is rainy day pattern;
7.4) when vehicle-mounted the Internet module transmission snow sky information, current weather is snow day mode;
7.5) when fog lamp module is enabled, current weather is greasy weather pattern;
8) main control module formulates concrete parking strategy according to current weather pattern, goes to step 9), wherein parking strategy comprises Parallel parking strategy and vertical parking strategy two kinds;
Figure 5 shows that Parallel parking position path planning, its parking strategy is:
8.1.1) if when weather is normal mode, execution module outgoing current I 0to steer motor, control rotating of steering wheel, automobile by right making retrogressings, keep straight on retreat, a left side makes the whole process that retrogressing three step completes Parallel parking warehouse-in, wherein, it is S that retrogressing mileage is made on the right side 1, keeping straight on and retreating mileage is S 2, a left side is made and retreated mileage is S 3, S 1, S 2, S 3all measured by acceleration pick-up;
8.1.2) if when weather is rainy day pattern, execution module outgoing current I 0* b 1(0<b 1< 1) to steer motor, reduce rotating of steering wheel moment of torsion, automobile makes retrogressing by the right side, craspedodrome retreats, the whole process that retrogressing three step completes Parallel parking warehouse-in is made on a left side, and wherein, the right side is made and retreated mileage is S 1* c 1, keeping straight on and retreating mileage is S 2* d 1, a left side is made and retreated mileage is S 3* e 1, c 1, d 1, e 1for coefficient of correction;
8.1.3) if when weather is for snow day mode, execution module outgoing current I 0* b 2(0<b 2< b 1) to steer motor, reducing rotating of steering wheel moment of torsion, automobile makes retrogressing by the right side, craspedodrome retreats, the whole process that retrogressing three step completes Parallel parking warehouse-in is made on a left side, and wherein, the right side is made and retreated mileage is S 1* c 2, keeping straight on and retreating mileage is S 2* d 2, a left side is made and retreated mileage is S 3* e 2, c 2, d 2, e 2for coefficient of correction;
8.1.4) no matter in fine day pattern, rainy day pattern or avenge day mode, when fog lamp module is activated, automobile is automatically enabled horn trumpet and is blown a whistle in the process of parking, and notes with the people warning surrounding.
Figure 6 shows that Parallel parking position path planning, its parking strategy is:
8.2.1) if when weather is normal mode, execution module outgoing current I 0to steer motor, control rotating of steering wheel, automobile by left make move ahead, retrogressings is made on the right side, craspedodrome retrogressing three step completes the whole process of vertically parking and putting in storage, wherein, it is S that the mileage that moves ahead is made on a left side 4, the right side is made and retreated mileage is S 5, keeping straight on and retreating mileage is S 6, S 4, S 5, S 6all measured by acceleration pick-up;
8.2.2) if when weather is rainy day pattern, execution module outgoing current I 0* b 3(0<b 3< 1) to steer motor, reduce rotating of steering wheel moment of torsion, automobile by left make move ahead, retrogressings is made on the right side, craspedodrome retrogressing three step completes warehouse-in of vertically parking whole process, wherein, it is S that retrogressing mileage is made on the right side 4* c 3, the right side is made and retreated mileage is S 5* d 3, keeping straight on and retreating mileage is S 6* e 3, c 3, d 3, e 3for coefficient of correction;
8.2.3) if when weather is for snow day mode, execution module outgoing current I 0* b 4(0<b 4< b 3) to steer motor, reduce rotating of steering wheel moment of torsion, automobile by left make move ahead, retrogressings is made on the right side, craspedodrome retrogressing three step completes warehouse-in of vertically parking whole process, wherein, it is S that retrogressing mileage is made on the right side 4* c 4, the right side is made and retreated mileage is S 5* d 4, keeping straight on and retreating mileage is S 6* e 4, c 4, d 4, e 4for coefficient of correction;
8.2.4) no matter in fine day pattern, rainy day pattern or avenge day mode, when fog lamp module is activated, automobile is automatically enabled horn trumpet and is blown a whistle in the process of parking, and notes with the people warning surrounding.
9) voice module completes according to parking strategy real-time prompting chaufeur and controls throttle, brake, engage a gear operation; Execution module, according to parking strategy, controls steer motor in real time, and adjustment direction dish angle, goes to step 10);
10) complete and park.

Claims (9)

1., based on an automatic parking method for scene variety identification, it is characterized in that comprising the steps:
1) start parking system, go to step 2);
2) ultrasonic sensor modules detects automobile side distance D, goes to step 3);
3) main control module judges whether automobile side distance D meets requirement of parking safely, goes to step 4 as met), otherwise go to step 2);
4) ultrasonic sensor modules detects edge, parking stall, gathers parking stall depth h, and acceleration sensor module calculates parking stall length H simultaneously, goes to step 5);
5) main control module is according to parking stall depth h and parking stall length H, differentiates that whether parking stall is effective, if parking stall effectively goes to step 6), otherwise go to step 2);
6) vehicle-mounted the Internet module obtains network Weather information, according to network Weather information and weather history information storage comprehensive descision current weather information, goes to step 7);
7) the current weather information comprehensive descision current weather pattern that provides according to the status information of fog lamp module, wiper module and vehicle-mounted the Internet module of main control module, go to step 8), wherein, synoptic model comprises: normal mode, rainy day pattern, snow day mode and greasy weather pattern;
8) main control module formulates concrete parking strategy according to current weather pattern, goes to step 9), wherein parking strategy comprises Parallel parking strategy and vertical parking strategy;
9) voice module completes according to parking strategy real-time prompting chaufeur and controls throttle, brake, engage a gear operation; Execution module, according to parking strategy, controls steer motor in real time, and adjustment direction dish angle, goes to step 10);
10) complete and park.
2., as claimed in claim 1 based on the automatic parking method of scene variety identification, it is characterized in that: described step 3) in, judge that whether satisfied the method for automobile side distance D requirement of parking safely be as follows: as D > 2.5L 1time, then think that side distance meets requirement of parking, otherwise think that side distance does not meet park requirement, wherein L 1for this car back mirror is long.
3. as claimed in claim 1 based on the automatic parking method of scene variety identification, it is characterized in that: described step 4) in, the fore-and-aft distance H method of calculating on parking stall is as follows: when side distance D undergos mutation, be then judged as edge, parking stall being detected, now the time is designated as t 0, acceleration/accel is designated as a 0; When side distance D undergos mutation again, be then judged as another edge, parking stall being detected, now the time is designated as t 1, acceleration/accel is designated as a t1, fore-and-aft distance H computing formula is: wherein a tfor acceleration/accel.
4., as claimed in claim 1 based on the automatic parking method of scene variety identification, it is characterized in that: described step 5) in, judge whether effective method is as follows on parking stall:
5.1) when the pattern of parking is Parallel parking, if H > is L × k 1, h > L × k 2, then think that this parking stall is effective, otherwise think that this parking stall is invalid, wherein L is this car vehicle commander, k 1, k 2for Parallel parking mode safety coefficient;
5.2) when the pattern of parking is for vertically parking, if H > is L × k 3, h > L × k 4, then think that this parking stall is effective, otherwise think that this parking stall is invalid, wherein L is this car vehicle commander, k 3, k 4for mode safety coefficient of vertically parking.
5., as claimed in claim 1 based on the automatic parking method of scene variety identification, it is characterized in that: described step 7) in, judge that the method for current weather pattern is as follows:
7.1) when vehicle-mounted the Internet module transmits the cloudy or cloudy information of fine day, and during wiper module not enabled, current weather is normal mode;
7.2) when vehicle-mounted the Internet module transmits the cloudy or cloudy information of fine day, and when wiper module is enabled, current weather is rainy day pattern;
7.3) when vehicle-mounted the Internet module transmits rainy day information, no matter whether wiper module enables, and current weather is rainy day pattern;
7.4) when vehicle-mounted the Internet module transmission snow sky information, current weather is snow day mode;
7.5) when fog lamp module is enabled, current weather is greasy weather pattern.
6., as claimed in claim 1 based on the automatic parking method of scene variety identification, it is characterized in that step 8) in, described Parallel parking strategy is:
8.1.1) if when weather is normal mode, execution module outgoing current I 0to steer motor, control rotating of steering wheel, automobile by right making retrogressings, keep straight on retreat, a left side makes the whole process that retrogressing three step completes Parallel parking warehouse-in, wherein, it is S that retrogressing mileage is made on the right side 1, keeping straight on and retreating mileage is S 2, a left side is made and retreated mileage is S 3, S 1, S 2, S 3all measured by acceleration pick-up;
8.1.2) if when weather is rainy day pattern, execution module outgoing current I 0* b 1to steer motor, reduce rotating of steering wheel moment of torsion, automobile by rightly making retrogressings, keep straight on retreat, a left side makes the whole process that retrogressing three step completes Parallel parking warehouse-in, wherein, it is S that retrogressing mileage is made on the right side 1* c 1, keeping straight on and retreating mileage is S 2* d 1, a left side is made and retreated mileage is S 3* e 1, wherein c 1, d 1, e 1for coefficient of correction, 0<b 1< 1;
8.1.3) if when weather is for snow day mode, execution module outgoing current I 0* b 2to steer motor, reduce rotating of steering wheel moment of torsion, automobile by rightly making retrogressings, keep straight on retreat, a left side makes the whole process that retrogressing three step completes Parallel parking warehouse-in, wherein, it is S that retrogressing mileage is made on the right side 1* c 2, keeping straight on and retreating mileage is S 2* d 2, a left side is made and retreated mileage is S 3* e 2, wherein c 2, d 2, e 2for coefficient of correction, 0<b 2< b 1;
8.1.4) no matter in fine day pattern, rainy day pattern or avenge day mode, when fog lamp module is activated, automobile is automatically enabled horn trumpet and is blown a whistle in the process of parking, and notes with the people warning surrounding.
7., as claimed in claim 1 based on the automatic parking method of scene variety identification, it is characterized in that step 8) in, described vertical parking strategy is:
8.2.1) if when weather is normal mode, execution module outgoing current I 0to steer motor, control rotating of steering wheel, automobile by left make move ahead, retrogressings is made on the right side, craspedodrome retrogressing three step completes the whole process of vertically parking and putting in storage, wherein, it is S that the mileage that moves ahead is made on a left side 4, the right side is made and retreated mileage is S 5, keeping straight on and retreating mileage is S 6, S 4, S 5, S 6all measured by acceleration pick-up;
8.2.2) if when weather is rainy day pattern, execution module outgoing current I 0* b 3to steer motor, reduce rotating of steering wheel moment of torsion, automobile by left make move ahead, retrogressings is made on the right side, craspedodrome retrogressing three step completes warehouse-in of vertically parking whole process, wherein, it is S that retrogressing mileage is made on the right side 4* c 3, the right side is made and retreated mileage is S 5* d 3, keeping straight on and retreating mileage is S 6* e 3, wherein c 3, d 3, e 3for coefficient of correction, 0<b 3< 1;
8.2.3) if when weather is for snow day mode, execution module outgoing current I 0* b 4to steer motor, reduce rotating of steering wheel moment of torsion, automobile by left make move ahead, retrogressings is made on the right side, craspedodrome retrogressing three step completes warehouse-in of vertically parking whole process, wherein, it is S that retrogressing mileage is made on the right side 4* c 4, the right side is made and retreated mileage is S 5* d 4, keeping straight on and retreating mileage is S 6* e 4, wherein c 4, d 4, e 4for coefficient of correction, 0<b 4< b 3;
8.2.4) no matter in fine day pattern, rainy day pattern or avenge day mode, when fog lamp module is activated, automobile is automatically enabled horn trumpet and is blown a whistle in the process of parking, and notes with the people warning surrounding.
8. based on an automated parking system for scene variety identification, it is characterized in that comprising: ultrasonic sensor modules, acceleration sensor module, vehicle-mounted the Internet module, fog lamp module, wiper module, main control module, execution module, voice module; Described ultrasonic sensor modules is for detecting edge, parking stall and probe vehicle side distance, and its mouth is connected with main control module; Described acceleration sensor module is for calculating parking stall length, and its mouth is connected with main control module; Described vehicle-mounted the Internet module mouth is connected with main control module, network Weather information is obtained for interconnection network, according to network Weather information and weather history information storage comprehensive descision current weather information, and when enabling parking system, current weather information is passed to main control module; Described fog lamp module mouth is connected with main control module, for dense fog information is passed to main control module; Described wiper module mouth is connected with main control module, for rainy day information is passed to main control module; Described main control module mouth is connected with execution module, voice module, for the data gathered according to vehicle body parameter, ultrasonic sensor modules and acceleration sensor module, identify that whether parking stall is effective, current weather information comprehensive descision current weather pattern also for providing according to status information and the vehicle-mounted the Internet module of fog lamp module, wiper module, and formulate parking strategy according to synoptic model; Described execution module is used for the parking strategy formulated according to main control module, controls steer motor in real time, adjustment direction dish angle; Described voice module is used for the parking strategy formulated according to main control module, and voice message chaufeur completes and controls throttle, brake, engage a gear operation.
9. as claimed in claim 8 based on the automated parking system of scene variety identification, it is characterized in that: described vehicle-mounted the Internet module comprises communication unit and data storage cell, data storage cell comprises weather history information storage in two days, for carrying out comprehensive descision current weather information in conjunction with real-time weather information; Communication unit, for obtaining network Weather information, can select any one communication module in gsm module, TD-SCDMA module, WCDMA module, CDMA module, FDD-LTE module, TD-LTE module.
CN201410850147.XA 2014-12-31 2014-12-31 Automatic parking system and method based on scene diversity identification CN104527642A (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105869432A (en) * 2016-03-29 2016-08-17 江苏大学 Method for identifying parking lot scene based on multiple-sensor fusion
CN106080774A (en) * 2016-07-13 2016-11-09 重庆长安汽车股份有限公司 Guiding parking system and method
CN106553645A (en) * 2016-11-30 2017-04-05 浙江吉利控股集团有限公司 Automatic parking control system and the control method based on the system
CN107298097A (en) * 2016-04-15 2017-10-27 株式会社万都 Parking aid device and its control method for stopping
WO2018233072A1 (en) * 2017-06-21 2018-12-27 深圳市盛路物联通讯技术有限公司 Weather information combined vehicle parking guidance system and method
CN109353335A (en) * 2018-11-21 2019-02-19 清华大学苏州汽车研究院(吴江) A kind of parking space's detection method and device
CN109532825A (en) * 2019-01-25 2019-03-29 深圳普思英察科技有限公司 Unmanned vehicle automatic parking householder method and system based on GPS
CN110095769A (en) * 2018-01-29 2019-08-06 杭州海康汽车技术有限公司 A kind of method for detecting parking stalls, device and electronic equipment

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105869432A (en) * 2016-03-29 2016-08-17 江苏大学 Method for identifying parking lot scene based on multiple-sensor fusion
CN105869432B (en) * 2016-03-29 2019-03-15 江苏大学 Parking stall scene recognition method based on Multi-sensor Fusion
CN107298097A (en) * 2016-04-15 2017-10-27 株式会社万都 Parking aid device and its control method for stopping
US10579061B2 (en) 2016-04-15 2020-03-03 Mando Corporation Parking assistance device for vehicle and parking control method thereof
CN106080774A (en) * 2016-07-13 2016-11-09 重庆长安汽车股份有限公司 Guiding parking system and method
CN106553645A (en) * 2016-11-30 2017-04-05 浙江吉利控股集团有限公司 Automatic parking control system and the control method based on the system
CN106553645B (en) * 2016-11-30 2018-11-20 浙江吉利控股集团有限公司 automatic parking control system and control method based on the system
WO2018233072A1 (en) * 2017-06-21 2018-12-27 深圳市盛路物联通讯技术有限公司 Weather information combined vehicle parking guidance system and method
CN110095769A (en) * 2018-01-29 2019-08-06 杭州海康汽车技术有限公司 A kind of method for detecting parking stalls, device and electronic equipment
CN110095769B (en) * 2018-01-29 2020-07-31 杭州海康汽车技术有限公司 Parking space detection method and device and electronic equipment
CN109353335A (en) * 2018-11-21 2019-02-19 清华大学苏州汽车研究院(吴江) A kind of parking space's detection method and device
CN109532825A (en) * 2019-01-25 2019-03-29 深圳普思英察科技有限公司 Unmanned vehicle automatic parking householder method and system based on GPS

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