CN104637342A - Intelligent identification and parking path planning system and method for narrow and vertical parking space scene - Google Patents
Intelligent identification and parking path planning system and method for narrow and vertical parking space scene Download PDFInfo
- Publication number
- CN104637342A CN104637342A CN201510032312.5A CN201510032312A CN104637342A CN 104637342 A CN104637342 A CN 104637342A CN 201510032312 A CN201510032312 A CN 201510032312A CN 104637342 A CN104637342 A CN 104637342A
- Authority
- CN
- China
- Prior art keywords
- parking
- path
- module
- parking stall
- path planning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides an intelligent identification and parking path planning method for a narrow and vertical parking space scene. The intelligent identification and parking path planning method for the narrow and vertical parking space scene adopts an information acquisition module, an information processing module, a path planning module, a singlechip MCU (Micro Controller Unit) and a power supply module; the information acquisition module is used for carrying out online acquisition on a distance between a vehicle and a parked vehicle in a lateral parking space, a width of the lateral parking space and an image of the parked vehicle and transmitting information to the information processing module; the information processing module feeds back a processing result to the singlechip MCU; the singlechip MCU carries out comparison on the processing result fed back by the information processing module, judges a parking space scene and calls the path planning module to determine a parking garaging path and an in-garage vehicle body position regulating path. According to the intelligent identification and parking path planning method disclosed by the invention, the space utilization rate of a parking lot and convenience of getting off after a driver completes parking are improved; the phenomenon that due to a narrow space caused by a conventional parking path a vehicle door cannot be opened is avoided; the intelligent identification and parking path planning method uses simple equipment, has strong universality and can be widely used on vehicles.
Description
Technical field
The invention belongs to automotive field, especially a kind of narrow and small vertical parking stall scene intelligent identification and parking path planning system and method.
Background technology
Along with the development of economic level and improving constantly of living standards of the people, car owning amount constantly increases, available parking space is fewer and feweri, parking lot parking position is more and more compacter, the vertical parking stall detected when causing automobile to seek storehouse is less than systemic presupposition width, and this parking stall width this cars enough enter but system is considered as the problem of invalid parking stall, automobile faces again the too small driver in space and to be inconvenient to get off the problem of even both sides vehicle all effected after entering parking stall in addition.
Existing automated parking system is when vertically parking, and when detecting parking stall width and being less than systemic presupposition width (usual systemic presupposition width is for being greater than body width about 80cm), system can abandon this parking stall automatically.But time in actual process of parking, when running into parking stall and be narrow and small but enough automobiles entering, by differentiating that the vehicle body parked cars in parking stall, both sides is towards carrying out this this car of decision-making with which kind of towards entering parking stall and carrying out adjusting in rational storehouse to facilitate driver's opening car door, so now this narrow parking stall still exists available possibility.
Summary of the invention
In order to overcome the deficiency that prior art exists, the present invention proposes a kind of narrow and small vertical parking stall scene intelligent identification and parking path planning system and method, is beneficial to the convenience of having got off after the space availability ratio in raising parking lot and driver have parked.
The present invention realizes above-mentioned technical purpose by following technological means.
A kind of narrow and small vertical parking stall scene intelligent identification and parking path planning system, comprise information acquisition module, message processing module, path planning module, single-chip microprocessor MCU, power module; Described information acquisition module link information processing module, described message processing module is all connected with single-chip microprocessor MCU with path planning module, and described power module is all connected with path planning module with information acquisition module, message processing module, single-chip microprocessor MCU;
Described power module is used for providing power supply;
Described information acquisition module comprises ultrasonic sensor and high-definition camera, the width of the parking stall, Distance geometry side that described ultrasonic sensor is used for having stopped in this car of online acquisition and parking stall, side, described high-definition camera is for gathering the image parked cars in parking stall, side;
Described message processing module comprises data processing unit and Computer Vision unit, and described data processing unit is used for the range information that process ultrasonic sensor in real time collects; Described Computer Vision unit be used for processing in real time the image information of high-definition camera collection and show that side parked cars towards; Result is fed back to single-chip microprocessor MCU by described message processing module;
Described path planning module is used for parking according to the parking position scene planning preset putting path in storage, and formulates adjustment path, vehicle body position in the storehouse under corresponding scene, and described path planning module can carry out communication with single-chip microprocessor MCU;
The result that described single-chip microprocessor MCU is used for message processing module to feed back is compared, and judges parking position scene, and calls path planning module to determine park warehouse-in path and adjustment path, Ku Nei vehicle body position.
Further, described ultrasonic sensor is two, and is arranged on the centre position of the front-seat car door of body of a motor car both sides respectively; Described high-definition camera is two, and is arranged on respectively below automobile arranged on left and right sides rearview mirror.
A kind of narrow and small vertical parking stall scene intelligent identification and parking path planing method, comprise the following steps:
(1) power module is started, the width of the parking stall, Distance geometry side of to have stopped in this car of the online real-time detection of ultrasonic sensor in information acquisition module and parking stall, side, the image parked cars in parking stall, high-definition camera captured in real-time side;
(2) width information of the parking stall, Distance geometry side of to have stopped in this car of data processing unit process in message processing module and parking stall, side, the image parked cars in parking stall, Computer Vision cell processing high-definition camera captured in real-time side, and result is sent to single-chip microprocessor MCU;
(3) single-chip microprocessor MCU is integrated according to the information of the simultaneity of information to data processing unit and Computer Vision unit, draws the availability information of parking stall, differentiates parking position scene now; And according to the parking position scene differentiated, instruction is sent to path planning module;
(4) path planning module receives the instruction that single-chip microprocessor MCU transmits, and warehouse-in routing information of parking is transmitted back to single-chip microprocessor MCU; Single-chip microprocessor MCU calls warehouse-in path of parking, and sends instruction and is performed by topworks, complete warehouse-in process of parking;
(5) after vehicle warehouse-in, range information between the Current vehicle that single-chip microprocessor MCU is measured according to current parking position scene and ultrasonic sensor again and both sides vehicle, call the adjustment path, vehicle body position of path planning module, send commands direct topworks completes vehicle body position in storehouse adjustment by this path, parked.
Further, described in step (2), the processing procedure of Computer Vision unit is off-line training process and identifying; Described off-line training process utilizes a large amount of vehicle frontal samples and vehicle back side sample, the feature that Classification and Identification is played a crucial role is chosen on the one hand, on the other hand for identifying prepares the AdaBoost sorter being used for two class Classification and Identification from a large amount of Like-Fenton Oxidation; Described identifying is first extract the image of high-definition camera collection, then the crucial Like-Fenton Oxidation obtained according to off-line training and AdaBoost sorter carry out feature extraction and Classification and Identification to image, finally export side parked cars towards testing result.
Further, when path planning module described in step (4) accepts the instruction that single-chip microprocessor MCU transmits, what scene of first selecting to park therewith was corresponding park warehouse-in path.
Further, the adjustment path, vehicle body position of calling path planning module described in step (5) is the non-pilothouse side adjustment of automobile to parking stall.
The invention has the beneficial effects as follows:
(1) the present invention parks in conjunction with the automatic vertical that ultrasonic sensor, high-definition camera, data processing unit, Computer Vision unit and path planning module technology are narrow and small parking stall and provides new paths planning method, improves the space availability ratio in parking lot.
(2) in the storehouse in the present invention, vehicle body adjustment path has larger space for driver side after ensureing automobile parking and completing, improve the convenience of getting off after driver has parked, avoid the phenomenon that traditional parking path causes narrow space car door to open.
(3) equipment of the present invention's use is simple, and highly versatile, can widely use on automobile.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described.
Fig. 1 is the structural drawing of scene intelligent identification of the present invention and parking path planning system.
Fig. 2 is the process flow diagram of scene intelligent identification of the present invention and parking path planing method.
Fig. 3 be in parking position scene of the present invention storing cycle towards recognizer process flow diagram.
Fig. 4 is the class Haar rectangular characteristic figure in off-line training process.
Fig. 5 is the AdaBoost categorised decision dendrogram in off-line training process.
Fig. 6 is the optimum vehicle body stand schematic diagram utilizing parking path planning department of the present invention in scene one situation.
Fig. 7 is the path profile of automatic parking driving warehouse-in in the present invention.
Fig. 8 is the optimum vehicle body stand schematic diagram utilizing parking path planning department of the present invention in scene two situation.
Fig. 9 is the path profile of automatic parking reversing warehouse-in in the present invention.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment, the present invention is further illustrated; it is to be noted; only with the optimized technical scheme of one, technical scheme of the present invention and design concept are described in detail below, but protection scope of the present invention is not limited to this.
According to the requirement of Functional Design in the present invention, in the present embodiment, Computer Vision unit adopts the QS-PTE9 core board that Beijing Qian Shi Science and Technology Ltd. develops, the XC866 enhancement mode MCU that MCU selects Infineon company to produce.
As shown in Figure 1, the narrow and small vertical parking stall scene intelligent identification of one of the present invention and parking path planning system, comprise information acquisition module, message processing module, path planning module, single-chip microprocessor MCU, power module; Described information acquisition module link information processing module, described message processing module is all connected with single-chip microprocessor MCU with path planning module, and described power module is all connected with path planning module with information acquisition module, message processing module, single-chip microprocessor MCU;
Power module is used for providing power supply for information acquisition module described above, message processing module, single-chip microprocessor MCU and path planning module.Information acquisition module comprises two ultrasonic sensors and two high-definition cameras, and two ultrasonic sensors are arranged on the centre position of the front-seat car door of automobile both sides respectively, and two high-definition cameras are arranged on the below of automobile sided mirror unit respectively; The width of the parking stall, Distance geometry side that ultrasonic sensor is used for having stopped in this car of online acquisition and parking stall, side, high-definition camera is for gathering the image parked cars in parking stall, side; And the distance collected, width and image information are transferred to message processing module.
Message processing module comprises data processing unit and Computer Vision unit, and data processing unit is used for the Distance geometry width information that process ultrasonic sensor in real time collects; Computer Vision unit be used for processing in real time the image information of high-definition camera collection and show that side parked cars towards; The information processing acquired results that message processing module is used for information acquisition module to collect feeds back to single-chip microprocessor MCU.
Path planning module relies on the planning of software programming realizing route by reading side sensor distance information, for warehouse-in path of parking according to the parking position scene planning preset, and formulate adjustment path, vehicle body position in the storehouse under corresponding scene.
The result that single-chip microprocessor MCU is used for message processing module to feed back judges parking position scene, and calls path planning module to determine park warehouse-in path and adjustment path, Ku Nei vehicle body position.
Figure 2 shows that the process flow diagram of illustrated narrow and small vertical parking stall scene intelligent identification and parking path planing method, driver drives to sail parking lot into and presses power knob, automatic vertical parking system starts, automobile starts automatic seeking storehouse, the width of the parking stall, Distance geometry side of to have stopped in this car of ultrasonic sensor real-time detection in information acquisition module and parking stall, side, the image parked cars in parking stall, high-definition camera captured in real-time side.
Message processing module receives and the relevant information of process information acquisition module transmission; Wherein, data processing unit receives and the real-time information processing ultrasonic sensor and collect, comprise the range information that parking stall, side width information and Ben Che and side have parked cars: first Computer Vision unit extracts the image of high-definition camera collection, then the crucial Like-Fenton Oxidation obtained according to off-line training and AdaBoost sorter carry out feature extraction and Classification and Identification to image, finally export side parked cars towards testing result; Parking space information and vehicle are sent to single-chip microprocessor MCU towards testing result by message processing module.
Single-chip microprocessor MCU receives the information that message processing module transmits, and integrate according to the information of simultaneity to data processing unit and Computer Vision unit of information, draw the availability information of parking stall and both sides, available parking stall parked cars towards, differentiate parking position scene now; And according to the parking position scene differentiated, instruction is sent to path planning module.
Path planning module receives the instruction that single-chip microprocessor MCU transmits, what scene of first selecting to park therewith was corresponding park warehouse-in path, and be transmitted back to single-chip microprocessor MCU, single-chip microprocessor MCU calls warehouse-in path of parking, send instruction to be performed by topworks, complete warehouse-in process of parking.
After vehicle warehouse-in, be inconvenient to open car door after putting in storage to prevent from parking, single-chip microprocessor MCU calls adjustment path, vehicle body position in the storehouse of path planning module planning according to current parking position scene, namely automobile is side adjustment to the non-driving of parking stall, make pilothouse side have adequate space, facilitate driver's opening car door; Subsequently, single-chip microprocessor MCU sends the topworks of instruction by automated parking system completes vehicle body position in storehouse adjustment according to this path, has parked.
In Computer Vision unit process, first in QS-PTE9 core board, carry out writing of recognizer, whole algorithm comprises off-line training process and identifying.As shown in Figure 3, off-line training process utilizes a large amount of vehicle frontal samples and vehicle back side sample, the feature that Classification and Identification is played a crucial role is chosen on the one hand from a large amount of Like-Fenton Oxidation, on the other hand for identifying prepares the AdaBoost sorter being used for two class Classification and Identification, to improve the degree of accuracy of identification; First identifying is extracted video pictures, and the crucial Like-Fenton Oxidation then obtained according to off-line training and AdaBoost sorter carry out feature extraction and Classification and Identification to image, finally export vehicle towards testing result.First, Like-Fenton Oxidation utilizes rectangular integration figure method to carry out characteristic quantification to vehicle, such as any one rectangle in shown in Fig. 4 is put on vehicle frontal region, then with the pixel of white portion and deduct black region pixel and, the value obtained is exactly so-called vehicle frontal eigenwert, if same rectangle is put into the vehicle back side or non-vehicle region, the eigenwert so calculated should be different with vehicle frontal eigenwert, and difference is the bigger the better, to distinguish vehicle frontal, the vehicle back side and non-vehicle region; Secondly, what AdaBoost sorter utilized is a kind of iterative algorithm, and as shown in Figure 5, it is a simple weak typing algorithm lifting process, and the eigenwert obtained by constantly utilizing Like-Fenton Oxidation is trained, and improves the classification capacity to data.Such as: in this patent, use four Like-Fenton Oxidation f1, f2, g1, g2 judge that input data are vehicle frontal or the vehicle back side or are not vehicles.
As shown in Fig. 6 Scene one, first, due to left side vehicle invade in the middle of parking stall left side bearing, right side car, by middle parking stall right side bearing, causes middle parking stall comparatively narrow and small, but this parking stall still enough automobiles enter so this parking stall can be used; Secondly, these both sides, parking stall have parked cars and have been headstock forward, and Ruo Benche still performs conventional reversing warehouse-in, then these three automobiles all from left side opening car door, now need will cause the equal inconvenient opening car door of right side two car because parking stall is narrow and small; So, under this scene, best parking path is warehouse-in (as shown in Figure 7) of driving, and the adjustment path of the vehicle body position in storehouse of being made rational planning for by path planning module, carry out vehicle body position adjustment in storehouse, namely automobile is to the non-pilothouse side adjustment of parking stall, make pilothouse side have adequate space, facilitate driver's opening car door.
As shown in Fig. 8 Scene two, first, due to left side vehicle invade in the middle of parking stall left side bearing, right side car, by middle parking stall right side bearing, causes middle parking stall comparatively narrow and small, but this parking stall still enough automobiles enter so this parking stall can be used; Secondly, parked cars on the left of this parking stall into the tailstock forward, right side parked cars into headstock forward, namely two cars all need from medial side opening car door; So, under this scene, this car not only can select reversing warehouse-in (as shown in Figure 9) but also can select warehouse-in (as shown in Figure 7) of driving, but need the path of adjustment in path planning module planning library, make this car be in two positions, car middle, not only met this car energy opening car door but also left certain operating space for both sides vehicle.
Described embodiment is preferred embodiment of the present invention; but the present invention is not limited to above-mentioned embodiment; when not deviating from flesh and blood of the present invention, any apparent improvement that those skilled in the art can make, replacement or modification all belong to protection scope of the present invention.
Claims (6)
1. narrow and small vertical parking stall scene intelligent identification and a parking path planning system, is characterized in that, comprise information acquisition module, message processing module, path planning module, single-chip microprocessor MCU, power module; Described information acquisition module link information processing module, described message processing module is all connected with single-chip microprocessor MCU with path planning module, and described power module is all connected with path planning module with information acquisition module, message processing module, single-chip microprocessor MCU;
Described power module is used for providing power supply;
Described information acquisition module comprises ultrasonic sensor and high-definition camera, described ultrasonic sensor is used for the width of the parking stall, Distance geometry side parked cars in this car of online acquisition and parking stall, side, and described high-definition camera is for gathering the image parked cars in parking stall, side;
Described message processing module comprises data processing unit and Computer Vision unit, and described data processing unit is used for the range information that process ultrasonic sensor in real time collects; Described Computer Vision unit be used for processing in real time the image information of high-definition camera collection and draw parked cars in parking stall, side towards; Result is fed back to single-chip microprocessor MCU by described message processing module;
Described path planning module is used for parking according to the parking position scene planning preset putting path in storage, and formulates adjustment path, vehicle body position in the storehouse under corresponding scene, and described path planning module can carry out communication with MCU;
The result that described single-chip microprocessor MCU is used for message processing module to feed back is compared, and judges parking position scene, and calls path planning module to determine park warehouse-in path and adjustment path, Ku Nei vehicle body position.
2. the narrow and small vertical parking stall scene intelligent identification of one according to claim 1 and parking path planning system, it is characterized in that, described ultrasonic sensor is two, and is arranged on the centre position of the front-seat car door of body of a motor car both sides respectively; Described high-definition camera is two, and is arranged on respectively below automobile arranged on left and right sides rearview mirror.
3. narrow and small vertical parking stall scene intelligent identification and a parking path planing method, is characterized in that, comprise the following steps:
(1) power module is started, the width of the parking stall, Distance geometry side parked cars in this car of the online real-time detection of ultrasonic sensor in information acquisition module and parking stall, side, the image parked cars in parking stall, high-definition camera captured in real-time side;
(2) width information of the parking stall, Distance geometry side parked cars in this car of data processing unit process in message processing module and parking stall, side, the image parked cars in parking stall, Computer Vision cell processing high-definition camera captured in real-time side, and result is sent to single-chip microprocessor MCU;
(3) single-chip microprocessor MCU is integrated according to the information of the simultaneity of information to data processing unit and Computer Vision unit, draws the availability information of parking stall, differentiates parking position scene now; And according to the parking position scene differentiated, instruction is sent to path planning module;
(4) path planning module receives the instruction that single-chip microprocessor MCU transmits, and warehouse-in routing information of parking is transmitted back to single-chip microprocessor MCU; Single-chip microprocessor MCU calls warehouse-in path of parking, and sends instruction and is performed by topworks, complete warehouse-in process of parking;
(5) after vehicle warehouse-in, range information between the Current vehicle that single-chip microprocessor MCU is measured according to current parking position scene and ultrasonic sensor again and both sides vehicle, call the adjustment path, vehicle body position of path planning module, send commands direct topworks completes vehicle body position in storehouse adjustment by this path, parked.
4. the narrow and small vertical parking stall scene intelligent identification of one according to claim 3 and parking path planing method, it is characterized in that, described in step (2), the processing procedure of Computer Vision unit is off-line training process and identifying; Described off-line training process utilizes a large amount of vehicle frontal samples and vehicle back side sample, the feature that Classification and Identification is played a crucial role is chosen on the one hand, on the other hand for identifying prepares the AdaBoost sorter being used for two class Classification and Identification from a large amount of Like-Fenton Oxidation; Described identifying is first extract the image of high-definition camera collection, then the crucial Like-Fenton Oxidation obtained according to off-line training and AdaBoost sorter carry out feature extraction and Classification and Identification to image, finally export side parked cars towards testing result.
5. the narrow and small vertical parking stall scene intelligent identification of one according to claim 3 and parking path planing method, it is characterized in that, when path planning module described in step (4) accepts the instruction that single-chip microprocessor MCU transmits, what scene of first selecting to park therewith was corresponding park warehouse-in path.
6. the narrow and small vertical parking stall scene intelligent identification of one according to claim 3 and parking path planing method, it is characterized in that, the adjustment path, vehicle body position of calling path planning module described in step (5) is the non-pilothouse side adjustment of automobile to parking stall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510032312.5A CN104637342B (en) | 2015-01-22 | 2015-01-22 | A kind of narrow and small vertical parking stall scene intelligent identification and parking path planning system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510032312.5A CN104637342B (en) | 2015-01-22 | 2015-01-22 | A kind of narrow and small vertical parking stall scene intelligent identification and parking path planning system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104637342A true CN104637342A (en) | 2015-05-20 |
| CN104637342B CN104637342B (en) | 2017-01-04 |
Family
ID=53216037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510032312.5A Expired - Fee Related CN104637342B (en) | 2015-01-22 | 2015-01-22 | A kind of narrow and small vertical parking stall scene intelligent identification and parking path planning system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104637342B (en) |
Cited By (13)
| 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 |
| TWI613601B (en) * | 2016-12-09 | 2018-02-01 | Chunghwa Telecom Co Ltd | System and method for intelligent image recognition dynamic programming |
| CN108303987A (en) * | 2018-03-27 | 2018-07-20 | 新日(无锡)发展有限公司 | A kind of automatic driving control system and method for electric vehicle |
| CN108766017A (en) * | 2018-05-08 | 2018-11-06 | 上海海事大学 | A kind of visualization garage system |
| CN109910872A (en) * | 2019-03-18 | 2019-06-21 | 中国汽车工程研究院股份有限公司 | A kind of park scene extraction system and method based on natural driving data |
| CN110089127A (en) * | 2016-12-20 | 2019-08-02 | 三井金属爱科特株式会社 | Portable terminal, the remote operation method of vehicle and program |
| CN110466509A (en) * | 2019-08-23 | 2019-11-19 | 威马智慧出行科技（上海）有限公司 | Automatic parking mode selecting method, electronic equipment and automobile |
| CN111114538A (en) * | 2020-02-18 | 2020-05-08 | 威马智慧出行科技（上海）有限公司 | Automatic parking, backing and warehousing parking space judgment method, electronic equipment and automobile |
| CN111311925A (en) * | 2020-01-21 | 2020-06-19 | 北京百度网讯科技有限公司 | Parking space detection method and device, electronic equipment, vehicle and storage medium |
| TWI710967B (en) * | 2018-08-31 | 2020-11-21 | 開曼群島商創新先進技術有限公司 | Method, device and equipment for assisting vehicle damage fixing image shooting |
| CN113920782A (en) * | 2021-10-08 | 2022-01-11 | 安徽江淮汽车集团股份有限公司 | Multi-sensor fusion method applied to parking space detection |
| CN114220291A (en) * | 2021-12-01 | 2022-03-22 | 阿维塔科技(重庆)有限公司 | Garage parking/picking-up positioning method, system, automobile and computer readable storage medium |
| WO2022262418A1 (en) * | 2021-06-15 | 2022-12-22 | Oppo广东移动通信有限公司 | Image display method and apparatus, and vehicle and storage medium |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1987357A (en) * | 2006-12-26 | 2007-06-27 | 浙江工业大学 | Intelligent parking auxiliary device based on omnibearing computer sight |
| TW200840735A (en) * | 2007-04-02 | 2008-10-16 | Automotive Res & Testing Ct | Automatic parking device |
| WO2011009653A1 (en) * | 2009-07-20 | 2011-01-27 | Robert Bosch Gmbh | Apparatus and method for the assisted parking of a vehicle |
| CN102529961A (en) * | 2012-03-26 | 2012-07-04 | 江苏大学 | Initial carport-searching offset correction method of automatic parking system |
| JP2012131460A (en) * | 2010-12-24 | 2012-07-12 | Daihatsu Motor Co Ltd | Target path calculation device |
| EP2560150A1 (en) * | 2010-04-12 | 2013-02-20 | Toyota Jidosha Kabushiki Kaisha | Vehicle remote operation system and on-board device |
| CN102963356A (en) * | 2012-12-12 | 2013-03-13 | 涂亚庆 | Human-simulated intelligent control structure of automatic parking system |
| CN103241239A (en) * | 2013-04-27 | 2013-08-14 | 重庆邮电大学 | Parking space identifying method for automatic parking system |
| CN103332191A (en) * | 2013-02-07 | 2013-10-02 | 江苏大学 | EPS integrated intelligent parking control system and control method |
| CN103600707A (en) * | 2013-11-06 | 2014-02-26 | 同济大学 | Parking position detecting device and method of intelligent parking system |
| CN103661372A (en) * | 2013-12-26 | 2014-03-26 | 江苏大学 | Multi-agent optimization control device and method for automatic parking system |
| CN103754219A (en) * | 2014-02-21 | 2014-04-30 | 重庆邮电大学 | Automatic parking system of information fusion of multiple sensors |
| CN103839440A (en) * | 2012-11-27 | 2014-06-04 | 西安正昌电子有限责任公司 | Automatic identification type parking system control circuit |
| US20140163862A1 (en) * | 2012-12-11 | 2014-06-12 | Hyundai Motor Company | Apparatus and method for controlling parking assistance |
| CN104057950A (en) * | 2014-05-21 | 2014-09-24 | 重庆长安汽车股份有限公司 | Full-automatic parking system |
| CN204463465U (en) * | 2015-01-22 | 2015-07-08 | 江苏大学 | A kind of narrow and small vertical parking stall scene intelligent identification and parking path planning system |
-
2015
- 2015-01-22 CN CN201510032312.5A patent/CN104637342B/en not_active Expired - Fee Related
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1987357A (en) * | 2006-12-26 | 2007-06-27 | 浙江工业大学 | Intelligent parking auxiliary device based on omnibearing computer sight |
| TW200840735A (en) * | 2007-04-02 | 2008-10-16 | Automotive Res & Testing Ct | Automatic parking device |
| WO2011009653A1 (en) * | 2009-07-20 | 2011-01-27 | Robert Bosch Gmbh | Apparatus and method for the assisted parking of a vehicle |
| EP2560150A1 (en) * | 2010-04-12 | 2013-02-20 | Toyota Jidosha Kabushiki Kaisha | Vehicle remote operation system and on-board device |
| JP2012131460A (en) * | 2010-12-24 | 2012-07-12 | Daihatsu Motor Co Ltd | Target path calculation device |
| CN102529961A (en) * | 2012-03-26 | 2012-07-04 | 江苏大学 | Initial carport-searching offset correction method of automatic parking system |
| CN103839440A (en) * | 2012-11-27 | 2014-06-04 | 西安正昌电子有限责任公司 | Automatic identification type parking system control circuit |
| US20140163862A1 (en) * | 2012-12-11 | 2014-06-12 | Hyundai Motor Company | Apparatus and method for controlling parking assistance |
| CN102963356A (en) * | 2012-12-12 | 2013-03-13 | 涂亚庆 | Human-simulated intelligent control structure of automatic parking system |
| CN103332191A (en) * | 2013-02-07 | 2013-10-02 | 江苏大学 | EPS integrated intelligent parking control system and control method |
| CN103241239A (en) * | 2013-04-27 | 2013-08-14 | 重庆邮电大学 | Parking space identifying method for automatic parking system |
| CN103600707A (en) * | 2013-11-06 | 2014-02-26 | 同济大学 | Parking position detecting device and method of intelligent parking system |
| CN103661372A (en) * | 2013-12-26 | 2014-03-26 | 江苏大学 | Multi-agent optimization control device and method for automatic parking system |
| CN103754219A (en) * | 2014-02-21 | 2014-04-30 | 重庆邮电大学 | Automatic parking system of information fusion of multiple sensors |
| CN104057950A (en) * | 2014-05-21 | 2014-09-24 | 重庆长安汽车股份有限公司 | Full-automatic parking system |
| CN204463465U (en) * | 2015-01-22 | 2015-07-08 | 江苏大学 | A kind of narrow and small vertical parking stall scene intelligent identification and parking path planning system |
Non-Patent Citations (2)
| Title |
|---|
| 吴冰，等: "基于RBF神经网络的自动泊车路径规划", 《合肥工业大学学报(自然科学版)》 * |
| 高航，等: "基于多传感器多路径规划自动泊车系统仿真及实车验证", 《自动化与仪器仪表》 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105869432B (en) * | 2016-03-29 | 2019-03-15 | 江苏大学 | Parking stall scene recognition method based on Multi-sensor Fusion |
| CN105869432A (en) * | 2016-03-29 | 2016-08-17 | 江苏大学 | Method for identifying parking lot scene based on multiple-sensor fusion |
| TWI613601B (en) * | 2016-12-09 | 2018-02-01 | Chunghwa Telecom Co Ltd | System and method for intelligent image recognition dynamic programming |
| CN110089127B (en) * | 2016-12-20 | 2022-09-09 | 三井金属爱科特株式会社 | Portable terminal, remote operation method for vehicle, and program |
| CN110089127A (en) * | 2016-12-20 | 2019-08-02 | 三井金属爱科特株式会社 | Portable terminal, the remote operation method of vehicle and program |
| CN108303987A (en) * | 2018-03-27 | 2018-07-20 | 新日(无锡)发展有限公司 | A kind of automatic driving control system and method for electric vehicle |
| CN108766017A (en) * | 2018-05-08 | 2018-11-06 | 上海海事大学 | A kind of visualization garage system |
| TWI710967B (en) * | 2018-08-31 | 2020-11-21 | 開曼群島商創新先進技術有限公司 | Method, device and equipment for assisting vehicle damage fixing image shooting |
| CN109910872A (en) * | 2019-03-18 | 2019-06-21 | 中国汽车工程研究院股份有限公司 | A kind of park scene extraction system and method based on natural driving data |
| CN110466509A (en) * | 2019-08-23 | 2019-11-19 | 威马智慧出行科技（上海）有限公司 | Automatic parking mode selecting method, electronic equipment and automobile |
| CN111311925A (en) * | 2020-01-21 | 2020-06-19 | 北京百度网讯科技有限公司 | Parking space detection method and device, electronic equipment, vehicle and storage medium |
| US11594134B2 (en) | 2020-01-21 | 2023-02-28 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Parking space detection method and apparatus, electronic device, vehicle and storage medium |
| CN111114538A (en) * | 2020-02-18 | 2020-05-08 | 威马智慧出行科技（上海）有限公司 | Automatic parking, backing and warehousing parking space judgment method, electronic equipment and automobile |
| WO2022262418A1 (en) * | 2021-06-15 | 2022-12-22 | Oppo广东移动通信有限公司 | Image display method and apparatus, and vehicle and storage medium |
| CN113920782B (en) * | 2021-10-08 | 2022-08-09 | 安徽江淮汽车集团股份有限公司 | Multi-sensor fusion method applied to parking space detection |
| CN113920782A (en) * | 2021-10-08 | 2022-01-11 | 安徽江淮汽车集团股份有限公司 | Multi-sensor fusion method applied to parking space detection |
| CN114220291A (en) * | 2021-12-01 | 2022-03-22 | 阿维塔科技(重庆)有限公司 | Garage parking/picking-up positioning method, system, automobile and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104637342B (en) | 2017-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104637342A (en) | Intelligent identification and parking path planning system and method for narrow and vertical parking space scene | |
| CN204463465U (en) | A kind of narrow and small vertical parking stall scene intelligent identification and parking path planning system | |
| CN107745710B (en) | A kind of automatic parking method and system based on machine vision and machine learning | |
| CN111091718B (en) | Parking monitoring early warning method and parking monitoring early warning system | |
| CN107401309B (en) | A kind of parking/withdrawing system and method applied to parking systems | |
| CN101105097A (en) | Platform shield door intelligent control method | |
| CN103714660A (en) | System for achieving fatigue driving judgment on basis of image processing and fusion between heart rate characteristic and expression characteristic | |
| CN102708691B (en) | False license plate identification method based on matching between license plate and automobile type | |
| CN104700114A (en) | Method and device for recognizing pedestrian and vehicle supporting the same | |
| CN108961809A (en) | Method, electronic-parking auxiliary system and the motor vehicles of the docking process of auxiliary maneuvering vehicle | |
| CN107719361A (en) | Automatic parking assisting method and system based on image vision | |
| CN106950950A (en) | A kind of automobile doubling accessory system and control method based on camera | |
| CN110264781A (en) | A kind of intelligent parking lot charging administration system | |
| CN101770642A (en) | Method and system for counting number of people in car | |
| CN1231873C (en) | Traffic fee-collecting system and method | |
| CN103489323A (en) | Traffic light recognizing device | |
| CN105741589A (en) | Parking spot detection method and device based on vehicle-to-vehicle communication | |
| CN105059184A (en) | Device for early warning, active prevention, and active control of side tumbling of passenger vehicle at bend, and judgment method thereof | |
| CN108515967B (en) | Anti-collision early warning method and device based on license plate recognition | |
| CN105206060B (en) | A kind of vehicle type recognition device and its method based on SIFT feature | |
| CN115303263A (en) | Automatic parking method and system based on neural network | |
| CN102582514A (en) | Method and device for controlling drunk driving | |
| CN102024324A (en) | Automatic control system for parking lot barrier | |
| CN201556298U (en) | Automatic park barrier machine control device | |
| CN111126338B (en) | Intelligent vehicle environment perception method integrating visual attention mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170104 Termination date: 20180122 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |