CN105774655B - One kind tilts parking stall detection device and method - Google Patents
One kind tilts parking stall detection device and method Download PDFInfo
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- CN105774655B CN105774655B CN201610141766.0A CN201610141766A CN105774655B CN 105774655 B CN105774655 B CN 105774655B CN 201610141766 A CN201610141766 A CN 201610141766A CN 105774655 B CN105774655 B CN 105774655B
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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
-
- 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
Abstract
The invention discloses one kind to tilt parking stall detection device and method, and sensor unit includes two long away from ultrasonic radar and four wheel speed pulse transducers；Ultrasonic radar is individually fixed on the rotating platform of automobile both sides, can be rotated with rotating platform, for gathering side parking space information；Wheel speed pulse transducer is installed on automobile main reducer, the wheel speed umber of pulse passed by for recording running car；The data processing module handles the data message of sensor unit transmission in real time, and the distance that ultrasonic radar gathers is converted to angle by calculating, and the wheel speed pulse signal that wheel speed pulse transducer transmits is converted to mileage number；The executing agency includes stepper motor, gear mechanism and rotating platform, and stepper motor controls the rotation direction and angle of rotating platform according to the angle information that data processing module transmits by gear mechanism.The present invention, which can realize, tilts parking stall identification and probing, effectively improves parking stall utilization rate.
Description
Technical field
The invention belongs to field of automobile control, is related to automatic parking parking stall Detection Techniques, more particularly to a kind of inclination parking stall
Detection device and method.
Background technology
With the development of economic level and the continuous improvement of living standards of the people, car owning amount is continuously increased, available
Parking space it is fewer and fewer, problem of parking increasingly is subject to people to pay close attention to, and the appearance of automated parking system solves increasingly tired
Disturb the problem of parking of car owner.
Parking position detects the most basic link as automated parking system, and accurate parking stall recognition methods, which directly affects, parks
Can process be smoothed out, but in practical applications since the automobiles such as ultrasonic radar sensor, laser radar sensor are commonly used
Detection sensor can only detect air line distance, so parallel warehouse compartment and vertical warehouse compartment can only be identified, can not realize to tilting warehouse compartment
Effective detection and identification.And in urban road both sides, it is a kind of most commonly seen parking stall form to tilt warehouse compartment, if can not solve
Certainly the effective detection and identification, the popularization of automated parking system that tilt warehouse compartment will be subject to certain restrictions.
The content of the invention
In order to overcome the shortcomings of the prior art, the present invention proposes a kind of inclination parking stall detection device and method.Will be super
Sound radar sensor is fixed on a rotating platform, using driving stepper motor rotating platform, makes it can be according to calculating
Go out angle to be rotated, to realize accurate detection of the system to side parking stall width, especially dump car bit width.
In order to solve the above-mentioned technical problem, the purpose of the present invention is be achieved through the following technical solutions：
One kind tilts parking stall detection device, including：Sensor unit, data processing module, executing agency, the sensor
Unit includes two long away from ultrasonic radar and four wheel speed pulse transducers；Ultrasonic radar is individually fixed at automobile both sides
On rotating platform, it can be rotated with rotating platform, for gathering side parking space information；Wheel speed pulse transducer subtracts installed in automobile primary
On fast device, the wheel speed umber of pulse passed by for recording running car；The data processing module handles sensor unit biography in real time
The distance that ultrasonic radar gathers, angle is converted to by calculating by the data message sent, the transmission of wheel speed pulse transducer
Wheel speed pulse signal is converted to mileage number；The executing agency includes stepper motor, gear mechanism and rotating platform, stepper motor
The rotation direction and angle of rotating platform are controlled by gear mechanism according to the angle information that data processing module transmits.The present invention
It can realize and tilt parking stall identification and probing, effectively improve parking stall utilization rate.
Further, the length is installed on automobile both sides away from ultrasonic radar sensor, and is fixed on one respectively
On a rotating platform；The data processing module handles the range information of ultrasonic radar sensor transmissions in real time, passes through mathematics
Calculate and range information d is converted to angle information α；The stepper motor only starts in parking system and system knows side parking stall
Working status is just opened when Wei not tilt parking stall, gear is housed on stepper motor output shaft, is meshed with the external tooth of rotating platform,
The direction of rotation for the signal control rotating platform that stepper motor is transmitted according to data processing module and angle.
A kind of detection method for tilting parking stall detection device, comprises the following steps：
The first step, starts automated parking system, and system, which enters, seeks the storehouse stage；
Second step, the vertical vehicle body orientation detection side parking space information of side ultrasound ripple radar sensor, ultrasonic radar pass
Sensor detects Ben Che and side spacing d, unit m, the wheel speed umber of pulse that wheel speed pulse transducer record running car is passed by
N, and information above is real-time transmitted to data processing module；
The wheel speed pulse signal n that sensor unit transmits is converted to automobile by the 3rd step, data processing module by calculating
Cross distance s；Distance s is crossed as automobile travels forward, corresponding side spacing d is by maximum dmaxGradually decrease to minimum
Value dmin；
I) if corresponding side spacing d is changed greatly, and dmax-dmin≥Dmin, DminFor the critical value of setting, then system judgement
Side parking stall is tilts warehouse compartment, and data processing module will make following computing at this time, the distance that ultrasonic radar sensor is transmitted
Information d is converted to angle information α, and the angle [alpha] is sent to executing agency, wherein：
Ii) if corresponding side spacing d changes are little, and dmax-dmin＜ Dmin, then system judgement side parking stall is parallel storehouse
Position, at this time data processing module information of not adjusting the distance do translation operation, define angle information α=0, and the angle [alpha] is sent to
Executing agency；
4th step, executing agency receive the angle information α of data processing module transmission, and stepper motor is according to data processing mould
The angle information α of block transmission accurately controls the rotation direction and angle of rotating platform by gear mechanism, and then is fixed on
Side ultrasound ripple radar sensor on rotating platform can be smoothed out parking stall width L's according to when front side parking stall angle of inclination
Detection；
5th step, detection parking stall width L whether meet to park width L ' the needs of；
If i) detect parking stall width L meet to park width L ' the needs of, i.e. L >=L ', then system send a command to execution
Mechanism, stepper motor control rotating platform to reversely rotate identical angle, i.e. rotation angle-α, ultrasonic wave thunder by gear mechanism
Recover up to sensor detection direction to vertical vehicle body direction, automated parking system continues to execute 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 is
System, which continues to execute, seeks storehouse process.
Compared with currently existing scheme, the present invention has following technique effect：
1. device of the present invention is simple and easy to do, ultrasonic radar sensor is fixed on rotating platform, is inlayed and is installed on
Two side position of vehicle body, it is easy for installation, it is versatile.
2. existing vehicle body radar can only detect the range information of fixed-direction, ultrasonic radar is individually fixed at by the present invention
On the rotating platform of automobile both sides, can ultrasonic radar with rotating platform rotate any angle, can detect different directions away from
From information, the detection area coverage of parking stall is improved.
3. data processing module by calculate sensor unit transmit wheel speed pulse signal n be converted to vehicle travels away from
From s；Distance s is crossed as automobile travels forward, corresponding side spacing d is by maximum dmaxGradually decrease to minimum value dmin,
Combined by mileage and the real-time of side distance, the oblique angle α of oblique parking stall can be obtained with reference to mathematical operation, improves data
Accuracy.
4. if corresponding side spacing d is changed greatly, and dmax-dmin≥Dmin, then system judgement side parking stall is inclination storehouse
Position；If corresponding side spacing d changes are little, and dmax-dmin＜ Dmin, then system judgement side parking stall is parallel warehouse compartment.By right
Minimum parking stall depth DminJudgement, be oblique parking stall or parallel space to distinguish, improve the recognition capability of more scenes.
5. conversion of the ultrasonic radar Jing Guo α angles, detection direction is vertical with oblique parking stall width, can be with direct detection
The width of oblique parking stall, avoids ultrasonic radar from detecting the situation of parking stall shaded area, improves the standard of oblique parking stall width detection
True property.
Brief description of the drawings
The invention will be further described below in conjunction with the accompanying drawings.
Fig. 1 is the structure chart of the present apparatus.
Fig. 2 is arrangement of the present apparatus ultrasonic radar sensor on vehicle.
Fig. 3 is present apparatus sound radar sensor and the cooperation installation diagram of executing agency.
Fig. 4 is the work flow diagram of the embodiment of the present invention.
Fig. 5 is detection method demonstration graph in parking stall in the present invention.
Embodiment
The present invention will be further described with reference to the accompanying drawings.
Structure of the present invention as shown in Figure 1, including：Sensor unit, data processing module, executing agency, the sensor
Unit includes two long away from ultrasonic radar and four wheel speed pulse transducers；Ultrasonic radar is individually fixed at automobile both sides
On rotating platform, it can be rotated with rotating platform, for gathering side parking space information；Wheel speed pulse transducer subtracts installed in automobile primary
On fast device, the wheel speed umber of pulse passed by for recording running car；The data processing module handles sensor unit biography in real time
The distance that ultrasonic radar gathers, angle is converted to by calculating by the data message sent, the transmission of wheel speed pulse transducer
Wheel speed pulse signal is converted to mileage number；The executing agency includes stepper motor, gear mechanism and rotating platform, stepper motor
The rotation direction and angle of rotating platform are controlled by gear mechanism according to the angle information that data processing module transmits.
Shown in the arrangement Fig. 2 of ultrasonic radar sensor on vehicle, respectively by two ultrasonic radar sensors
Inlay and be installed on headstock both sides, a small rotating platform is installed on headstock both sides, and ultrasonic radar sensor is fixedly mounted on
On the rotating platform, rotating platform can be followed to turn an angle.
Ultrasonic radar sensor and the cooperation installation diagram of executing agency are as shown in figure 3, ultrasonic radar of the present invention
Sensor is fixed on rotating platform, which is fixed on a gear, passes through gear mechanism and stepper motor phase
Connection.Thus, stepper motor can accurately control the rotation direction and angle of ultrasonic radar sensor by gear mechanism.
A kind of detection method of inclination parking stall detection device of the present invention, comprises the following steps：Start automated parking system,
System, which enters, seeks the storehouse stage；The vertical vehicle body orientation detection side parking space information of side ultrasound ripple radar sensor, ultrasonic radar
Sensor detects Ben Che and side spacing d, unit m, the wheel speed pulse that wheel speed pulse transducer record running car is passed by
Number n, and information above is real-time transmitted to data processing module；What data processing module transmitted sensor unit by calculating
Wheel speed pulse signal n is converted to vehicle travels distance s；With automobile travel forward cross distance s, corresponding side spacing d by
Maximum dmaxGradually decrease to minimum value dmin；I) if corresponding side spacing d is changed greatly, and dmax-dmin≥Dmin, DminTo set
Fixed critical value, then system judgement side parking stall is tilts warehouse compartment, and data processing module will make following computing at this time, by ultrasonic wave
The range information d of radar sensor transmission is converted to angle information α, and the angle [alpha] is sent to executing agency, wherein：
Ii) if corresponding side spacing d changes are little, and dmax-dmin＜ Dmin, then system judge side
Square parking stall is parallel warehouse compartment, and data processing module information of not adjusting the distance does translation operation at this time, defines angle information α=0, and will
The angle [alpha] is sent to executing agency；Executing agency receives the angle information α of data processing module transmission, and stepper motor is according to number
The rotation direction and angle of rotating platform, Jin Eran are accurately controlled by gear mechanism according to the angle information α of processing module transmission
Filling the side ultrasound ripple radar sensor being fixed on rotating platform can be according to when front side parking stall angle of inclination is smoothed out car
The detection of bit width L；Detection parking stall width L whether meet to park width L ' the needs of：
If i) detect parking stall width L meet to park width L ' the needs of, i.e. L >=L ', then system send a command to execution
Mechanism, stepper motor control rotating platform to reversely rotate identical angle, i.e. rotation angle-α, ultrasonic wave thunder by gear mechanism
Recover up to sensor detection direction to vertical vehicle body direction, automated parking system continues to execute 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 is
System, which continues to execute, seeks storehouse process.
With reference to Fig. 4, Fig. 5, rich emerging HSTM42 series single shaft output stepper motor is selected, which is
1.8 °, 4 outlets, rated current 0.4A, fuselage length 26mm；Select ichot ultrasonic radar sensors；Vehicle is selected as speed
Rise, vehicle body length 4.6m, the wide 1.8m of vehicle body, specific implementation method step is as follows：
The first step, starts automated parking system, and system, which enters, seeks the storehouse stage；
Second step, the vertical vehicle body orientation detection side parking space information of side ultrasound ripple radar sensor, ultrasonic radar pass
Sensor detects Ben Che and side spacing d, unit m, the wheel speed umber of pulse that wheel speed pulse transducer record running car is passed by
N, and information above is real-time transmitted to data processing module；
The wheel speed pulse signal n that sensor unit transmits is converted to automobile by the 3rd step, data processing module by calculating
Cross distance s；Distance s is crossed as automobile travels forward, corresponding side spacing d is by maximum dmaxGradually decrease to minimum
Value dmin；
I) if corresponding side spacing d is changed greatly, and dmax-dmin>=1.8, then system judgement side parking stall is inclination storehouse
Position, data processing module will make following computing at this time, and the range information d that ultrasonic radar sensor transmits is converted to angle letter
α is ceased, and the angle [alpha] is sent to executing agency, wherein：
Ii) if corresponding side spacing d changes are little, and dmax-dmin＜ 1.8, then system judgement side parking stall is parallel storehouse
Position, at this time data processing module information of not adjusting the distance do translation operation, define angle information α=0, and the angle [alpha] is sent to
Executing agency；
4th step, executing agency receive the angle information α of data processing module transmission, and stepper motor is according to data processing mould
The angle information α of block transmission accurately controls the rotation direction and angle of rotating platform by gear mechanism, and then is fixed on
Side ultrasound ripple radar sensor on rotating platform can be smoothed out parking stall width L's according to when front side parking stall angle of inclination
Detection；
5th step, detection parking stall width L whether meet to park width 2.5m the needs of；
If i) detect parking stall width L meet to park width L ' the needs of, i.e. L >=2.5, then system send a command to execution
Mechanism, stepper motor control rotating platform to reversely rotate identical angle, i.e. rotation angle-α, ultrasonic wave thunder by gear mechanism
Recover up to sensor detection direction to vertical vehicle body direction, automated parking system continues to execute 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,
System, which continues to execute, seeks storehouse process.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and scope is defined, on the premise of design concept of the present invention is not departed from, ordinary skill technical staff is to this in this area
The all variations and modifications that the technical solution of invention is made, should all fall into protection scope of the present invention.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means to combine specific features, the knot that the embodiment or example describe
Structure, material or feature are contained at least one embodiment of the present invention or example.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point 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：Not
In the case of departing from the principle of the present invention and objective a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The scope of invention is limited by claim and its equivalent.
Claims (2)
1. one kind tilts parking stall detection device, it is characterised in that including sensor unit, data processing module, executing agency, institute
Sensor unit is stated including two long away from ultrasonic radar and four wheel speed pulse transducers；Ultrasonic radar is individually fixed at vapour
On the rotating platform of car both sides, it can be rotated with rotating platform, for gathering side parking space information；Wheel speed pulse transducer is installed on
On automobile main reducer, the wheel speed umber of pulse passed by for recording running car；The data processing module handles sensing in real time
The distance that ultrasonic radar gathers, is converted to angle by calculating, wheel speed pulse is sensed by the data message of device unit transmission
The wheel speed pulse signal of device transmission is converted to mileage number；The executing agency includes stepper motor, gear mechanism and rotating platform,
Stepper motor controls rotation direction and the angle of rotating platform according to the angle information that data processing module transmits by gear mechanism
Degree；
The stepper motor only just opens work shape when parking system starts and system is identified as tilting parking stall by side parking stall
State；Gear mechanism is housed on stepper motor output shaft, is meshed with the external tooth of rotating platform.
2. a kind of detection method for tilting parking stall detection device according to claim 1, it is characterised in that including following step
Suddenly：
The first step, starts automated parking system, and system, which enters, seeks the storehouse stage；
Second step, the ultrasonic radar sensor vertical vehicle body orientation detection side parking space information of side, ultrasonic radar sensing
Device detects Ben Che and side spacing d, unit m, and wheel speed pulse transducer records the wheel speed umber of pulse n that running car is passed by,
And information above is real-time transmitted to data processing module；
The wheel speed pulse signal n that sensor unit transmits is converted to vehicle travels by the 3rd step, data processing module by calculating
Distance s；Distance s is crossed as automobile travels forward, corresponding side spacing d is by maximum dmaxGradually decrease to minimum value
dmin；
I) if corresponding side spacing d is changed greatly, and dmax-dmin≥Dmin, DminFor the critical value of setting, then system judges side
Parking stall is tilts warehouse compartment, and data processing module will make following computing at this time, the range information d that ultrasonic radar sensor is transmitted
Angle information α is converted to, and angle information α is sent to executing agency, wherein：
<mrow>
<mi>&alpha;</mi>
<mo>=</mo>
<mi>arctan</mi>
<mfrac>
<mi>s</mi>
<mrow>
<msub>
<mi>d</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>d</mi>
<mi>min</mi>
</msub>
</mrow>
</mfrac>
<mo>;</mo>
</mrow>
Ii) if corresponding side spacing d changes are little, and dmax-dmin＜ Dmin, then system judgement side parking stall is parallel warehouse compartment, this
When data processing module information of not adjusting the distance do translation operation, define angle information α=0, and angle information α is sent to and is held
Row mechanism；
4th step, executing agency receive the angle information α of data processing module transmission, and stepper motor is passed according to data processing module
The angle information α sent accurately controls the rotation direction and angle of rotating platform by gear mechanism, and then is fixed on rotation
Side ultrasound ripple radar sensor on platform can be according to the inspection that parking stall width L is smoothed out when front side parking stall angle of inclination
Survey；
5th step, detection parking stall width L whether meet to park width L' the needs of；
If i) detect parking stall width L meet to park width L' the needs of, i.e. L >=L', then system send a command to executing agency,
Stepper motor controls rotating platform to reversely rotate identical angle, i.e. rotation angle-α by gear mechanism, and ultrasonic radar passes
Sensor detection direction recovers to vertical vehicle body direction, and automated parking system continues to execute 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, system after
Storehouse process is sought in continuous execution.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610141766.0A CN105774655B (en) | 2016-03-11 | 2016-03-11 | One kind tilts parking stall detection device and method |
Applications Claiming Priority (1)
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| CN201610141766.0A CN105774655B (en) | 2016-03-11 | 2016-03-11 | One kind tilts parking stall detection device and method |
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| CN105774655A CN105774655A (en) | 2016-07-20 |
| CN105774655B true CN105774655B (en) | 2018-04-17 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107776570B (en) * | 2017-09-19 | 2020-09-01 | 广州汽车集团股份有限公司 | Full-automatic parking method and full-automatic parking system |
| CN107650906B (en) * | 2017-09-22 | 2020-06-02 | 合肥晟泰克汽车电子股份有限公司 | Intelligent parking system and control method thereof |
| CN107878343B (en) * | 2017-10-27 | 2020-12-18 | 江苏大学 | Ultrasonic distance measuring device and method considering parking garage searching and rear blind area monitoring |
| CN109284731B (en) * | 2018-10-12 | 2020-04-24 | 合肥工业大学 | Parking space type identification method for inclined parking space of automatic parking system |
| CN109559555B (en) * | 2018-12-21 | 2021-12-28 | 联创汽车电子有限公司 | Parking space identification system and identification method thereof |
| CN111624610B (en) * | 2020-04-29 | 2022-08-30 | 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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Inventor after: Shen Zhengnan Inventor after: Jiang Haobin Inventor after: Ma Shidian Inventor after: Li Chenxu Inventor before: Jiang Haobin Inventor before: Shen Zhengnan Inventor before: Li Chenxu Inventor before: Ma Shidian |
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