CN104554257A - Parking scene recognition method for initial space searching stage of automatic parking - Google Patents
Parking scene recognition method for initial space searching stage of automatic parking Download PDFInfo
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- CN104554257A CN104554257A CN201410837016.8A CN201410837016A CN104554257A CN 104554257 A CN104554257 A CN 104554257A CN 201410837016 A CN201410837016 A CN 201410837016A CN 104554257 A CN104554257 A CN 104554257A
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- parking
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- parked
- recognition method
- park
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000000694 effects Effects 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000012856 packing Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 241000272525 Anas platyrhynchos Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 235000014347 soups Nutrition 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes 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
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to a parking scene recognition method for an initial space searching stage of automatic parking. Aiming at occurrence of a recessed or raised curve in a parking scene, the parking scene recognition method for the initial space searching stage of automatic parking is provided to enable a vehicle to be parked in a target packing space positioned at the recessed or raised curve accurately. By the parking scene recognition method, the parking scene in the initial space searching stage of automatic parking can be recognized effectively, the problems of poor parking effect and low accuracy of an existing automatic parking system in recessed curve parking scenes and raised curve parking scenes are solved, environmental adaptability of the automatic parking system is improved, and intellectuality of automatic parking is further improved.
Description
Technical field
The present invention relates to automatic parking technical field, be specifically related to a kind of initially seek the storehouse stage for automatic parking and to park scene recognition method.
Background technology
Along with the quick increase of automobile pollution, " parking difficulty " problem of modern metropolitan cities becomes increasingly conspicuous, and carries out parking manoeuvres not a duck soup for a lot of chaufeur at the parking area in crowded narrow urban highway, roadside, community.Therefore, to park auxiliary driving technique one of study hotspot becoming automotive engineering field.
Initially seek the initial period that the storehouse stage is automated parking system, vital effect is played to the follow-up process of parking, the effect of initially seeking the storehouse stage is the dimensional characteristic whether size of detection of a target parking position meets this car, the whether accurate normal use directly affecting automated parking system of target parking position identification.
At present, mostly automated parking system on market is initially to seek storehouse for this car side direction linear scene of parking, do not relate to the situation that scene of parking presents spill or convex bend, its automated parking system is caused to be parked under bend scene, there is final vehicle parking situation weak effect, to park the shortcomings such as precision is low, in view of this, be necessary to provide a kind of and initially seek the storehouse stage for automatic parking and park scene recognition method to solve the problem.
Summary of the invention
There will be the situation of spill or convex bend for scene of parking, patent of the present invention provides a kind of and initially seeks the storehouse stage for automatic parking and to park scene recognition method, makes vehicle can stop the target parking position being positioned at spill or convex bend accurately.
For achieving the above object, the concrete technical scheme of the present invention is as follows: a kind of automatic parking that is used for initially is sought the storehouse stage and to be parked scene recognition method, it is characterized in that comprising the steps:
1) start automated parking system, enter and initially seek the storehouse stage;
2) gather a steering wheel angle also successively stored in array 1 every 50ms, wherein, first element of array 1 is initial corner;
3) difference process is done to two elements adjacent in array 1, and by each difference stored in array 2;
4) obtain the center line average values of array 2 all elements, be designated as
5) according to initial corner and
judge to park scene;
6) subprogram of parking of corresponding scene is called according to scene of parking.
Further, above-mentioned scene of parking divides straight line park scene and convex bend of scene, spill bend of parking to park scene three kinds.
Further, above-mentioned steps 5) in, the determination methods of scene of parking is as follows:
5.1) if initial corner=0,
scene of then parking is that straight line is parked scene, if initial corner=0,
then be judged as that chaufeur does not operate according to system regulation, prompting is parked unsuccessfully;
5.2) if initial corner >0,
scene of then parking is that spill bend is parked scene, if initial corner >0,
then be judged as that chaufeur does not operate according to system regulation, prompting is parked unsuccessfully;
5.3) if initial corner <0,
scene of then parking is that convex bend is parked scene, if initial corner <0,
then be judged as that chaufeur does not operate according to system regulation, prompting is parked unsuccessfully;
Further, above-mentioned automatic parking is initially sought the storehouse stage and is parked in scene recognition method, corresponding turn radius R is obtained by steering wheel angle, the arc length l passed by is obtained by the rotating speed of wheel speed sensors, according to arc length formula l=R* θ, try to achieve θ, using θ minimum value as judging that bend to be parked in scene target parking stall whether actv. foundation.
Compared with prior art, the present invention initially can seek the storehouse stage and to park scene by actv. identification automatic parking, solve existing automated parking system to park weak effect, problem that precision is low in spill bend scene and convex bend scene of parking of parking, improve automated parking system to the comformability of environment, improve the intelligent of automatic parking further.
Accompanying drawing explanation
Fig. 1 is that automatic parking is initially sought the storehouse stage and to be parked scene recognition method diagram of circuit.
Fig. 2 is convex bend automatic parking scene schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
Fig. 1 is that automatic parking is initially sought the storehouse stage and to be parked scene recognition method diagram of circuit.Method step is as follows:
1) start automated parking system, enter and initially seek the storehouse stage;
2) automatic parking controller gathers steering wheel angle data at regular intervals also successively stored in predefined array data1, and wherein, first element of array data1 is initial corner; Native system sets the value that every 50ms gathers a steering wheel angle sensor, can gather 200 steering wheel angle values in the time of 10s, and in order to prevent data from overflow, the size of Operation system setting array data1 is 300;
3) difference process is done to two elements adjacent in array data1, and by each difference stored in array data2, the size of Operation system setting array data2 is 300;
4) obtain the center line average values of array data2 all elements, be designated as
be used for judging the situation of change of steering wheel angle;
5) according to initial corner and
judge to park scene, wherein, scene of parking divides straight line park scene and convex bend of scene, spill bend of parking to park scene three kinds, and the determination methods of scene of parking is as follows:
5.1) if initial corner=0,
scene of then parking is that straight line is parked scene, if initial corner=0,
then be judged as that chaufeur does not operate according to system regulation, prompting is parked unsuccessfully;
5.2) if initial corner >0,
scene of then parking is that spill bend is parked scene, if initial corner >0,
then be judged as that chaufeur does not operate according to system regulation, prompting is parked unsuccessfully;
5.3) if initial corner <0,
scene of then parking is that convex bend is parked scene, if initial corner <0,
then be judged as that chaufeur does not operate according to system regulation, prompting is parked unsuccessfully;
6) subprogram of parking of corresponding scene is called according to scene of parking.
Fig. 2 is convex bend automatic parking scene schematic diagram, and wherein, l refers to that vehicle initially seeks at convex bend the arc length that the storehouse stage passes by; L refers to the tangent line of convex bend border at target parking position place; The turn radius of R value vehicle when bend seeks storehouse.By steering wheel angle sensor readout direction dish corner, according to the transmitting ratio of transmission system, try to achieve front-wheel effective rotation, obtain now corresponding turn radius R again, the corresponding arc length l passed by can be tried to achieve by wheel speed sensors, according to arc length formula l=R* θ, try to achieve θ, and using its minimum value as judging that bend to be parked in scene target parking stall whether actv. judging basis.
Claims (4)
1. initially seek the storehouse stage for automatic parking to park a scene recognition method, it is characterized in that comprising the steps:
1) start automated parking system, enter and initially seek the storehouse stage;
2) gather a steering wheel angle also successively stored in array 1 every 50ms, wherein, first element of array 1 is initial corner;
3) difference process is done to two elements adjacent in array 1, and by each difference stored in array 2;
4) obtain the center line average values of array 2 all elements, be designated as
5) according to initial corner and
judge to park scene;
6) subprogram of parking of corresponding scene is called according to scene of parking.
2. as claimed in claim 1 initially seek the storehouse stage for automatic parking to park scene recognition method, the scene that it is characterized in that parking divides straight line park scene and convex bend of scene, spill bend of parking to park scene three kinds.
3. as claimed in claim 1 initially seek the storehouse stage for automatic parking to park scene recognition method, it is characterized in that: described step 5) in, the determination methods of scene of parking is as follows:
5.1) if initial corner=0,
scene of then parking is that straight line is parked scene, if initial corner=0,
then be judged as that chaufeur does not operate according to system regulation, prompting is parked unsuccessfully;
5.2) if initial corner >0,
scene of then parking is that spill bend is parked scene, if initial corner >0,
then be judged as that chaufeur does not operate according to system regulation, prompting is parked unsuccessfully;
5.3) if initial corner <0,
scene of then parking is that convex bend is parked scene, if initial corner <0,
then be judged as that chaufeur does not operate according to system regulation, prompting is parked unsuccessfully.
4. as claimed in claim 1 initially seek the storehouse stage for automatic parking to park scene recognition method, it is characterized in that obtaining corresponding turn radius R by steering wheel angle, the arc length l passed by is obtained by the rotating speed of wheel speed sensors, according to arc length formula l=R* θ, try to achieve θ, using θ minimum value as judging that bend to be parked in scene target parking stall whether actv. foundation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410837016.8A CN104554257B (en) | 2014-12-29 | 2014-12-29 | Parking scene recognition method for initial space searching stage of automatic parking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410837016.8A CN104554257B (en) | 2014-12-29 | 2014-12-29 | Parking scene recognition method for initial space searching stage of automatic parking |
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| CN104554257A true CN104554257A (en) | 2015-04-29 |
| CN104554257B CN104554257B (en) | 2017-01-18 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110211420A (en) * | 2019-06-25 | 2019-09-06 | 重庆长安汽车股份有限公司 | Judge current scene whether be parking lot method, system and computer readable storage medium |
| CN111137280A (en) * | 2020-03-06 | 2020-05-12 | 北京百度网讯科技有限公司 | Control method, device and equipment for autonomous parking and storage medium |
| CN112132111A (en) * | 2020-10-10 | 2020-12-25 | 安徽江淮汽车集团股份有限公司 | Parking typical scene extraction method, device, storage medium and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102398596A (en) * | 2010-09-07 | 2012-04-04 | 北京经纬恒润科技有限公司 | Parking control device and system and parking control method |
| CN102529961A (en) * | 2012-03-26 | 2012-07-04 | 江苏大学 | Initial carport-searching offset correction method of automatic parking system |
| JP2012126193A (en) * | 2010-12-14 | 2012-07-05 | Denso Corp | Automatic parking system for parking lot |
| CN102862531A (en) * | 2012-10-23 | 2013-01-09 | 浙江海康集团有限公司 | Visual parking assist system with continuously variable track and control method thereof |
| CN203974805U (en) * | 2014-07-14 | 2014-12-03 | 江苏大学 | A kind of automated parking system controller |
-
2014
- 2014-12-29 CN CN201410837016.8A patent/CN104554257B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102398596A (en) * | 2010-09-07 | 2012-04-04 | 北京经纬恒润科技有限公司 | Parking control device and system and parking control method |
| JP2012126193A (en) * | 2010-12-14 | 2012-07-05 | Denso Corp | Automatic parking system for parking lot |
| CN102529961A (en) * | 2012-03-26 | 2012-07-04 | 江苏大学 | Initial carport-searching offset correction method of automatic parking system |
| CN102862531A (en) * | 2012-10-23 | 2013-01-09 | 浙江海康集团有限公司 | Visual parking assist system with continuously variable track and control method thereof |
| CN203974805U (en) * | 2014-07-14 | 2014-12-03 | 江苏大学 | A kind of automated parking system controller |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110211420A (en) * | 2019-06-25 | 2019-09-06 | 重庆长安汽车股份有限公司 | Judge current scene whether be parking lot method, system and computer readable storage medium |
| CN110211420B (en) * | 2019-06-25 | 2021-11-30 | 重庆长安汽车股份有限公司 | Method and system for judging whether current scene is parking lot or not and computer readable storage medium |
| CN111137280A (en) * | 2020-03-06 | 2020-05-12 | 北京百度网讯科技有限公司 | Control method, device and equipment for autonomous parking and storage medium |
| CN111137280B (en) * | 2020-03-06 | 2021-05-04 | 北京百度网讯科技有限公司 | Control method, device and equipment for autonomous parking and storage medium |
| CN112132111A (en) * | 2020-10-10 | 2020-12-25 | 安徽江淮汽车集团股份有限公司 | Parking typical scene extraction method, device, storage medium and device |
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| CN104554257B (en) | 2017-01-18 |
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