CN105774655A - Oblique parking space detection device and method - Google Patents
Oblique parking space detection device and method Download PDFInfo
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- CN105774655A CN105774655A CN201610141766.0A CN201610141766A CN105774655A CN 105774655 A CN105774655 A CN 105774655A CN 201610141766 A CN201610141766 A CN 201610141766A CN 105774655 A CN105774655 A CN 105774655A
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- parking stall
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
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- Mechanical Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an oblique parking space detection device and method. A sensor unit comprises two long-distance ultrasonic radars and four wheel speed pulse sensors. The ultrasonic radars are fixed to a rotary platform on the two sides of a car correspondingly, can rotate along with the rotary platform and are used for collecting lateral parking space information. The wheel speed pulse sensors are mounted on a main reducing gear of the car and used for recording the number of wheel speed pulses of the car during running. A data processing module is used for processing data information transmitted by the sensor unit in real time, converting distances collected by the ultrasonic radars into angles through calculation and converting wheel speed pulse signals transmitted by the wheel speed pulse sensors into mileages. An execution mechanism comprises a stepping motor, a gear mechanism and the rotary platform. The stepping motor controls the rotating direction and angle of the rotary platform through the gear mechanism according to the angle information transmitted by the data processing module. Through the oblique parking space detection device and method, oblique parking spaces can be recognized and detected, so that the utilization rate of the parking spaces is increased effectively.
Description
Technical field
The invention belongs to field of automobile control, relate to automatic parking parking stall Detection Techniques, particularly relate to a kind of inclination parking stall detection device and method.
Background technology
Along with the development of economic level and improving constantly of living standards of the people, car owning amount is continuously increased, available parking space is fewer and feweri, and problem of parking increasingly is subject to people and pays close attention to, and the appearance of automated parking system solves the difficult problem of parking day by day perplexing car owner.
Parking position detection is as the most basic link of automated parking system, can the recognition methods of accurate parking stall directly affect the process of parking and be smoothed out, but in actual applications owing to the automobiles such as ultrasonic radar sensor, laser radar sensor conventional detection sensor can only detect air line distance, so parallel warehouse compartment and vertical warehouse compartment can only be identified, it is impossible to realize tilting the effectively detection of warehouse compartment and identifying.And in urban road both sides, inclination warehouse compartment is but most commonly seen a kind of parking stall form, if cannot solve effectively detection and the identification tilting warehouse compartment, the universal of automated parking system will be subject to certain restrictions.
Summary of the invention
For the deficiency overcoming prior art to exist, the present invention proposes a kind of inclination parking stall detection device and method.Ultrasonic radar sensor is fixed on a rotation platform, utilizes step motor drive rotation platform so that it is can rotate according to calculating angle, to realize system to parking stall, side width, the especially accurate detection of dump car bit width.
In order to solve above-mentioned technical problem, it is an object of the invention to be achieved through the following technical solutions:
A kind of tilt parking stall detection device, including sensor unit, data processing module, actuator, described sensor unit include two long from ultrasonic radar with four wheel speed impulsers；Ultrasonic radar is individually fixed on the rotation platform of automobile both sides, can rotate with rotation platform, is used for gathering side parking space information；Wheel speed impulser is arranged on automobile main reducer, for recording the wheel speed umber of pulse that running car is passed by；Described data processing module processes the data message that sensor unit transmits in real time, by calculating, the distance of ultrasonic radar collection is converted to angle, and the wheel speed pulse signal that wheel speed impulser is transmitted is converted to mileage number；Described actuator includes motor, gear mechanism and rotation platform, and motor passes through gear mechanism according to the angle information that data processing module transmits and controls rotation direction and the angle of rotation platform.The present invention can realize parking stall and identify and probing, is effectively improved parking stall utilization rate.
Further, described length is arranged on automobile both sides from ultrasonic radar sensor, and is respectively mounted and is fixed on a rotation platform；Described data processing module processes the range information of ultrasonic radar sensor transmissions in real time, by mathematical calculation, range information d is converted to angle information α；Described motor only just opens duty when parking stall, side is identified as inclination parking stall by park system start-up and system, equipped with gear on stepper motor output shaft, being meshed with the external tooth of rotation platform, motor controls direction of rotation and the angle of rotation platform according to the signal that data processing module transmits.
A kind of tilt parking stall detection device detection method, comprise the following steps:
The first step, starts automated parking system, and system enters and seeks the storehouse stage；
Second step, ultrasonic radar sensor vertical vehicle body orientation detection side, side parking space information, ultrasonic radar sensor detects Ben Che and side spacing d, unit is m, the wheel speed umber of pulse n that wheel speed impulser record running car is passed by, and information above is real-time transmitted to data processing module；
3rd step, data processing module is converted to vehicle travels distance s by calculating the wheel speed pulse signal n that sensor unit is transmitted；Crossing distance s along with automobile travels forward, corresponding side spacing d is by maximum dmaxGradually decrease to minima dmin；
If i) corresponding side spacing d changes greatly, and dmax-dmin≥Dmin, DminFor the marginal value set, then system judges that parking stall, side is as tilting warehouse compartment, and now data processing module will do following computing, the range information d that ultrasonic radar sensor transmits is converted to angle information α, and this angle [alpha] is sent to actuator, wherein:
Ii) if corresponding side spacing d change is little, and dmax-dmin< Dmin, then system judges that parking stall, side is as parallel warehouse compartment, and now the data processing module not information of adjusting the distance does translation operation, defines angle information α=0, and this angle [alpha] is sent to actuator；
4th step, actuator receives the angle information α that data processing module transmits, the angle information α that motor transmits according to data processing module accurately controls rotation direction and the angle of rotation platform by gear mechanism, so be fixed on the side ultrasonic radar sensor on rotation platform can according to the detection being smoothed out parking stall width L when angle of inclination, parking stall, front side；
5th step, whether detection parking stall width L meets the demand of the width L ' that parks；
If i) detecting, parking stall width L meets the demand of the width L ' that parks, i.e. L >=L ', then system sends a command to actuator, motor controls rotation platform by gear mechanism and reversely rotates identical angle, the i.e. anglec of rotation-α, ultrasonic radar sensor detection direction recovers to vertical vehicle body direction, and automated parking system continues executing with follow-up process of parking；
Ii) if detecting, parking stall width L is unsatisfactory for parking the demand of width L ', i.e. L < L ', then automobile moves forward, and system continues executing with seeks storehouse process.
Compared with currently existing scheme, the present invention has following technical effect that
1. device of the present invention is simple and easy to do, and ultrasonic radar sensor is fixed on rotation platform, inlays and is arranged on vehicle body two side position, easy for installation, highly versatile.
2. existing vehicle body radar can only detect the range information of fixed-direction, ultrasonic radar is individually fixed on the rotation platform of automobile both sides by the present invention, can rotate arbitrarily angled with rotation platform by ultrasonic radar, it is possible to the range information of detection different directions, improve the detection area coverage of parking stall.
3. data processing module is converted to vehicle travels distance s by calculating the wheel speed pulse signal n that sensor unit is transmitted；Crossing distance s along with automobile travels forward, corresponding side spacing d is by maximum dmaxGradually decrease to minima dmin, by the real-time combination of mileage with side distance, just can obtain the oblique angle α of oblique parking stall in conjunction with mathematical operation, improve the accuracy of data.
If 4. corresponding side spacing d changes greatly, and dmax-dmin≥Dmin, then system judges that parking stall, side is as tilting warehouse compartment；If corresponding side spacing d change is little, and dmax-dmin< Dmin, then system judges that parking stall, side is as parallel warehouse compartment.By to minimum parking stall degree of depth DminJudgement, distinguish it is oblique parking stall or parallel space, improve the identification ability of many scenes.
5. ultrasonic radar is through the conversion of α angle, and detection direction is vertical with oblique parking stall width, it is possible to the width of the oblique parking stall of direct detection, it is to avoid ultrasonic radar detects the situation of parking stall shaded area, improves the accuracy of oblique parking stall width detection.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described.
Fig. 1 is the structure chart of this device.
Fig. 2 is this device ultrasonic radar sensor arrangement on vehicle.
Fig. 3 be this device sound radar sensor with actuator coordinate installation diagram.
Fig. 4 is the workflow diagram of the embodiment of the present invention.
Fig. 5 is detection method demonstration graph in parking stall in the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing illustrated embodiment, the present invention is further illustrated.
Present configuration is as it is shown in figure 1, include: sensor unit, data processing module, actuator, described sensor unit include two long from ultrasonic radar with four wheel speed impulsers；Ultrasonic radar is individually fixed on the rotation platform of automobile both sides, can rotate with rotation platform, is used for gathering side parking space information；Wheel speed impulser is arranged on automobile main reducer, for recording the wheel speed umber of pulse that running car is passed by；Described data processing module processes the data message that sensor unit transmits in real time, by calculating, the distance of ultrasonic radar collection is converted to angle, and the wheel speed pulse signal that wheel speed impulser is transmitted is converted to mileage number；Described actuator includes motor, gear mechanism and rotation platform, and motor passes through gear mechanism according to the angle information that data processing module transmits and controls rotation direction and the angle of rotation platform.
Shown in ultrasonic radar sensor arrangement Fig. 2 on vehicle, respectively two ultrasonic radar sensors are inlayed and be arranged on headstock both sides, one little rotation platform is arranged on headstock both sides, ultrasonic radar sensor is fixedly mounted on this rotation platform, can follow rotation platform and turn an angle.
Ultrasonic radar sensor coordinates installation diagram as it is shown on figure 3, ultrasonic radar sensor of the present invention is fixed on rotation platform with actuator, and this rotation platform is fixed on a gear, is connected with motor by gear mechanism.Thus, motor can pass through gear mechanism and accurately control rotation direction and the angle of ultrasonic radar sensor.
The present invention a kind of tilt parking stall detection device detection method, comprise the following steps: start automated parking system, system enter seek the storehouse stage；Ultrasonic radar sensor vertical vehicle body orientation detection side, side parking space information, ultrasonic radar sensor detects Ben Che and side spacing d, unit is m, the wheel speed umber of pulse n that wheel speed impulser record running car is passed by, and information above is real-time transmitted to data processing module；Data processing module is converted to vehicle travels distance s by calculating the wheel speed pulse signal n that sensor unit is transmitted；Crossing distance s along with automobile travels forward, corresponding side spacing d is by maximum dmaxGradually decrease to minima dmin；If i) corresponding side spacing d changes greatly, and dmax-dmin≥Dmin, DminFor the marginal value set, then system judges that parking stall, side is as tilting warehouse compartment, and now data processing module will do following computing, the range information d that ultrasonic radar sensor transmits is converted to angle information α, and this angle [alpha] is sent to actuator, wherein:Ii) if corresponding side spacing d change is little, and dmax-dmin< Dmin, then system judges that parking stall, side is as parallel warehouse compartment, and now the data processing module not information of adjusting the distance does translation operation, defines angle information α=0, and this angle [alpha] is sent to actuator；Actuator receives the angle information α that data processing module transmits, the angle information α that motor transmits according to data processing module accurately controls rotation direction and the angle of rotation platform by gear mechanism, so be fixed on the side ultrasonic radar sensor on rotation platform can according to the detection being smoothed out parking stall width L when angle of inclination, parking stall, front side；Whether detection parking stall width L meets the demand of the width L ' that parks:
If i) detecting, parking stall width L meets the demand of the width L ' that parks, i.e. L >=L ', then system sends a command to actuator, motor controls rotation platform by gear mechanism and reversely rotates identical angle, the i.e. anglec of rotation-α, ultrasonic radar sensor detection direction recovers to vertical vehicle body direction, and automated parking system continues executing with follow-up process of parking；
Ii) if detecting, parking stall width L is unsatisfactory for parking the demand of width L ', i.e. L < L ', then automobile moves forward, and system continues executing with seeks storehouse process.
In conjunction with Fig. 4, Fig. 5, selecting rich emerging HSTM42 series single shaft output motor, this motor step pitch angle is 1.8 °, 4 outlets, rated current 0.4A, and fuselage length is 26mm；Select ichot ultrasonic radar sensor；Selection vehicle is Sagitar, the long 4.6m of vehicle body, vehicle body width 1.8m, and specific implementation method step is as follows:
The first step, starts automated parking system, and system enters and seeks the storehouse stage；
Second step, ultrasonic radar sensor vertical vehicle body orientation detection side, side parking space information, ultrasonic radar sensor detects Ben Che and side spacing d, unit is m, the wheel speed umber of pulse n that wheel speed impulser record running car is passed by, and information above is real-time transmitted to data processing module；
3rd step, data processing module is converted to vehicle travels distance s by calculating the wheel speed pulse signal n that sensor unit is transmitted；Crossing distance s along with automobile travels forward, corresponding side spacing d is by maximum dmaxGradually decrease to minima dmin；
If i) corresponding side spacing d changes greatly, and dmax-dmin>=1.8, then system judges that parking stall, side is as tilting warehouse compartment, and now data processing module will do following computing, the range information d that ultrasonic radar sensor transmits is converted to angle information α, and this angle [alpha] is sent to actuator, wherein:
Ii) if corresponding side spacing d change is little, and dmax-dmin< 1.8, then system judges that parking stall, side is as parallel warehouse compartment, and now the data processing module not information of adjusting the distance does translation operation, defines angle information α=0, and this angle [alpha] is sent to actuator；
4th step, actuator receives the angle information α that data processing module transmits, the angle information α that motor transmits according to data processing module accurately controls rotation direction and the angle of rotation platform by gear mechanism, so be fixed on the side ultrasonic radar sensor on rotation platform can according to the detection being smoothed out parking stall width L when angle of inclination, parking stall, front side；
5th step, whether detection parking stall width L meets the demand of the width 2.5m that parks；
If i) detecting, parking stall width L meets the demand of the width L ' that parks, i.e. L >=2.5, then system sends a command to actuator, motor controls rotation platform by gear mechanism and reversely rotates identical angle, the i.e. anglec of rotation-α, ultrasonic radar sensor detection direction recovers to vertical vehicle body direction, and automated parking system continues executing with follow-up process of parking；
Ii) if detecting, parking stall width L is unsatisfactory for parking the demand of width 2.5m, i.e. L < 2.5, then automobile moves forward, and system continues executing with seeks storehouse process.
Embodiment described above is only that the preferred embodiment of the present invention is described; not the spirit and scope of the present invention are defined; under the premise without departing from design concept of the present invention; various modification that in this area, technical scheme is made by ordinary skill technical staff and improvement, all should fall into protection scope of the present invention.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " illustrative examples ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example describe are contained at least one embodiment or the example of the present invention.In this manual, the schematic representation of above-mentioned term is not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: these embodiments can being carried out multiple change, amendment, replacement and modification when without departing from principles of the invention and objective, the scope of the present invention is limited by claim and equivalent thereof.
Claims (3)
1. one kind tilts parking stall detection device, it is characterised in that include sensor unit, data processing module, actuator, described sensor unit include two long from ultrasonic radar with four wheel speed impulsers；Ultrasonic radar is individually fixed on the rotation platform of automobile both sides, can rotate with rotation platform, is used for gathering side parking space information；Wheel speed impulser is arranged on automobile main reducer, for recording the wheel speed umber of pulse that running car is passed by；Described data processing module processes the data message that sensor unit transmits in real time, by calculating, the distance of ultrasonic radar collection is converted to angle, and the wheel speed pulse signal that wheel speed impulser is transmitted is converted to mileage number；Described actuator includes motor, gear mechanism and rotation platform, and motor passes through gear mechanism according to the angle information that data processing module transmits and controls rotation direction and the angle of rotation platform.
2. one according to claims 1 tilts parking stall detection device, it is characterised in that described motor only just opens duty when parking stall, side is identified as inclination parking stall by park system start-up and system；Equipped with gear mechanism on stepper motor output shaft, it is meshed with the external tooth of rotation platform.
3. according to claim 1 a kind of tilt parking stall detection device detection method, it is characterised in that comprise the following steps:
The first step, starts automated parking system, and system enters and seeks the storehouse stage；
Second step, the ultrasonic radar sensor vertical vehicle body orientation detection side parking space information of side, ultrasonic radar sensor detects Ben Che and side spacing d, unit is m, the wheel speed umber of pulse n that wheel speed impulser record running car is passed by, and information above is real-time transmitted to data processing module；
3rd step, data processing module is converted to vehicle travels distance s by calculating the wheel speed pulse signal n that sensor unit is transmitted；Crossing distance s along with automobile travels forward, corresponding side spacing d is by maximum dmaxGradually decrease to minima dmin；
If i) corresponding side spacing d changes greatly, and dmax-dmin≥Dmin, DminFor the marginal value set, then system judges that parking stall, side is as tilting warehouse compartment, and now data processing module will do following computing, the range information d that ultrasonic radar sensor transmits is converted to angle information α, and this angle [alpha] is sent to actuator, wherein:
Ii) if corresponding side spacing d change is little, and dmax-dmin< Dmin, then system judges that parking stall, side is as parallel warehouse compartment, and now the data processing module not information of adjusting the distance does translation operation, defines angle information α=0, and this angle [alpha] is sent to actuator；
4th step, actuator receives the angle information α that data processing module transmits, the angle information α that motor transmits according to data processing module accurately controls rotation direction and the angle of rotation platform by gear mechanism, so be fixed on the side ultrasonic radar sensor on rotation platform can according to the detection being smoothed out parking stall width L when angle of inclination, parking stall, front side；
5th step, whether detection parking stall width L meets the demand of the width L ' that parks；
If i) detecting, parking stall width L meets the demand of the width L ' that parks, i.e. L >=L ', then system sends a command to actuator, motor controls rotation platform by gear mechanism and reversely rotates identical angle, the i.e. anglec of rotation-α, ultrasonic radar sensor detection direction recovers to vertical vehicle body direction, and automated parking system continues executing with follow-up process of parking；
Ii) if detecting, parking stall width L is unsatisfactory for parking the demand of width L ', i.e. L < L ', then automobile moves forward, and system continues executing with seeks storehouse process.
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| CN107269080A (en) * | 2017-07-26 | 2017-10-20 | 合肥巨步机械科技有限公司 | A kind of parking systems based on controller adjust automatically parking stall |
| CN107650906A (en) * | 2017-09-22 | 2018-02-02 | 合肥晟泰克汽车电子股份有限公司 | Intelligent parking system and its control method |
| CN107776570A (en) * | 2017-09-19 | 2018-03-09 | 广州汽车集团股份有限公司 | Full-automatic park method and full-automatic parking system |
| CN107878343A (en) * | 2017-10-27 | 2018-04-06 | 江苏大学 | It is a kind of to take into account vehicle automatic parking Xun Ku and the supersonic range finder and its method of the monitoring of rear blind area |
| CN109284731A (en) * | 2018-10-12 | 2019-01-29 | 合肥工业大学 | A kind of parking stall kind identification method of the inclined parking stall for automated parking system |
| CN109559555A (en) * | 2018-12-21 | 2019-04-02 | 联创汽车电子有限公司 | Parking stall identifying system and its recognition methods |
| CN111624610A (en) * | 2020-04-29 | 2020-09-04 | 东风汽车集团有限公司 | Parking space angle-based self-adaptive parking ultrasonic radar adjusting method |
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| CN111624610A (en) * | 2020-04-29 | 2020-09-04 | 东风汽车集团有限公司 | Parking space angle-based self-adaptive parking ultrasonic radar adjusting method |
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