CN107933548A - A kind of parking stall recognition methods of automatic parking and system - Google Patents
A kind of parking stall recognition methods of automatic parking and system Download PDFInfo
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- CN107933548A CN107933548A CN201711132246.4A CN201711132246A CN107933548A CN 107933548 A CN107933548 A CN 107933548A CN 201711132246 A CN201711132246 A CN 201711132246A CN 107933548 A CN107933548 A CN 107933548A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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Abstract
The present invention provides parking stall recognition methods and the system of a kind of automatic parking, and wherein method includes connecting vehicle network by cell phone application, further comprising the steps of：Find and go to suitable parking space；Using parking, control module control vehicle carries out gear, direction and speed control automatically, parks；Park completion, cell phone application shows success of parking, and disconnects vehicle network.The application of the present invention allows vehicle in automatic parking process all in unpiloted auto state, and vehicle is by ultrasonic distance-measuring sensor and laser range sensor fusion detection parking stall, and automatically by vehicle parking on parking stall.
Description
Technical field
The present invention relates to self-stopping technical field, the particularly a kind of parking stall recognition methods of automatic parking and system.
Background technology
In recent years, automated parking system (APS) was popular in automobile market, but parked functionally from overall, actually
It is far from the effect for reaching automatic parking, can only say it is a kind of auxiliary parking system.Since during parking, driver
The links such as Throttle Opening Control, parking stall identification must also be participated in, that is to say, that the intervention of someone is had to during entirely parking
And supervision.On the basis of based on automatic Pilot technology, vehicle, which is realized, really automatically to park just becomes possibility.Whole
During a automatic parking, the identification of parking stall is one of its key link.It is that vehicle passes through sensing in driving procedure
Device collects the data of barrier, the position of barrier is determined, so as to determine whether the region that can be stopped.With regard to current automatic pool
For car system, the sensor that fully rely on car itself goes to identification parking stall, then completes completely unmanned intervene on this basis
Automatic parking technology be a new problem.
There is many deficiencies and defect among the prior art：(1) during automatic parking, the searching of parking stall needs
By manipulation of the driver to vehicle, the function that overall process automatically controls is not reaching to；(2) ultrasonic wave passes ranging sensor because of it
Field angle and data are unstable, can bring very big error when detecting barrier, parking stall discrimination is low.
It is automatic that the patent application of Publication No. CN105946853A discloses a kind of long range based on Multi-sensor Fusion
The system and method parked, wherein system include central data processing module, route planning module, build module, storage of parking
Module, communication module and control unit.Sensor used includes but is not limited to：IMU, vehicle-mounted look around camera, ultrasonic wave thunder
Reach, binocular camera.The systematic comparison is complicated, it is necessary to the parking lot one week and to make parking lot three-dimensional of detouring before parking lot is entered
It can park after map, inconvenient to use and more using equipment, cost is higher.
The patent application of Publication No. CN103754219A discloses a kind of automatic parking system of multi-sensor information fusion
System, the automated parking system include ultrasonic control module, image processing module, electronic power assist steering control module, speed
Control module and full-vehicle control module, the ultrasonic control module, can gather parking space and peripheral obstacle with
The distance between vehicle, realizes parking stall identification function；The image processing module, can park around collection vehicle environment letter
Breath, and virtual parking stall can be adjusted in the picture, realize parking stall matching feature；The electronic power assist steering control module, can root
The course changing control to vehicle is realized according to trace information, realizes TRAJECTORY CONTROL function；The speed control module, can control vehicle
Travel speed, realize the low speed control function of vehicle；What the full-vehicle control module can be obtained according to image processing system
Position relationship between vehicle and parking stall generates track of parking, and produces corresponding control signal control vehicle and complete the behaviour that parks
Make.The system, which needs to coordinate using image processing equipment, parks, and cost is higher.
The content of the invention
In order to solve above-mentioned technical problem, the present invention proposes parking stall recognition methods and the system of a kind of automatic parking,
Solve in the automation of the parking stall identification process of whole automatic parking and complete car in the case of no driver behavior vehicle
The problem of position identification and follow-up automatic parking.
The first object of the present invention is to provide a kind of parking stall recognition methods of automatic parking, including is connected by cell phone application
Vehicle network, it is further comprising the steps of：
Step 1：Find and go to suitable parking space；
Step 2：Using parking, control module control vehicle carries out gear, direction and speed control automatically, parks；
Step 3：Park completion, cell phone application shows success of parking, and disconnects vehicle network.
Preferably, it is described that vehicle network is connected also including selecting the side of parking in the cell phone application by cell phone application
Formula.
In any of the above-described scheme preferably, the step 1 includes following sub-step：
Step 01：Speed is obtained using wheel speed meter or Hall sensor, when speed is less than the first speed threshold value, performs step
Rapid 02；
Step 02：Parking space is searched for, and determines whether parking stall is suitable according to parking stall judgment rule；
Step 03：According to environmental information, cook up a nothing and touch safe track for vehicle traveling；
Step 04：Using track following algorithm keeps track trajectory planning as a result, vehicle safety reaches parking position.
In any of the above-described scheme preferably, the step 01 is included when speed is more than or equal to the first speed threshold value,
Driver is reminded to reduce speed.
In any of the above-described scheme preferably, the parking stall judgment rule is to determine bit length of parking using ultrasonic radar
Degree and width, judge whether to meet the condition of parking.
In any of the above-described scheme preferably, under the conditions of Parallel parking, the bit length L that parksbFormula be：Lb
=(T1-T2) × V, wherein, T1For time started, T2For the end time, V is car speed.
In any of the above-described scheme preferably, under the conditions of vertical park, the bit width W that parksbFormula be：Wb
=(T1-T2) × V, wherein, T1For time started, T2For the end time, V is car speed.
In any of the above-described scheme preferably, the parking stall judgment rule is the L under the conditions of Parallel parkingb≥Lc+
La1,Wb≥Wc+Wa1, represent that parking stall can park, wherein, LcFor length of wagon, WcFor body width, La1For the first length
Threshold value, Wa1For the first width threshold value.
In any of the above-described scheme preferably, the parking stall judgment rule is also the L under the conditions of vertical parkb≥Lc+
La2,Wb≥Wc+Wa2, represent that parking stall can park, wherein, La2For the second length threshold, Wa2For the second width threshold value.
In any of the above-described scheme preferably, the track following algorithm is using linear filtering algorithm combination Kalman
Filtering algorithm is to track of vehicle into line trace.
In any of the above-described scheme preferably, the linear filtering algorithm refers to move with stable speed in space
The motion state of single goal be described as X (k+1)=Φ X (k)+V (k), Z (k)=HX (k)+W (k), wherein, X (k) is state
Vector, Φ are state-transition matrix, and V (k) is the system noise (white Gaussian noise) that average is zero, covariance matrix is Q, Z (k)
For observation vector, H is observation transfer matrix, and W (k) is that average is zero, and covariance matrix is the observation noise of R.
In any of the above-described scheme preferably, the Kalman filtering algorithm refer to when target the state vector and
When the observation vector is expressed as above-mentioned formula, its time update equation is
P (K | K-1)=Φ P (K-1 | K-1) Φ+Q, wherein, P (k | k-1) represents one-step prediction error co-variance matrix, P (k-1 | k-1)
It is the state estimation error covariance at k-1 moment；Measurement updaue equation for S (k)=HP (k | k-1) H '+R, K (k)=P (k | k-
1) H '/S (k),P (k | k)=(1-K (k) H) P (k |
K-1), wherein, S (k) is new breath covariance, and K (k) is kalman gain matrix,For k moment optimal estimation values.
In any of the above-described scheme preferably, the ultrasonic sensor includes front and rear parking stall radar and left and right parking stall thunder
Reach.
In any of the above-described scheme preferably, the front and rear parking stall radar is used in parking process to front and rear barrier
It is detected.
In any of the above-described scheme preferably, left and right parking stall radar is used for the detection on parking stall.
In any of the above-described scheme preferably, the step 2 includes vehicle parking treating parking areas.
In any of the above-described scheme preferably, it is described to treat that parking areas refers to body of a motor car away from stopping in Parallel parking
Distance D on the outside of parking stallL1≤DL≤DL2Position, wherein DLRepresent body of a motor car away from the distance on the outside of parking stall, DL1For first
Length distance threshold value, DL2For the second length distance threshold value.
In any of the above-described scheme preferably, it is described to treat that parking areas refers to body of a motor car away from parking stall when vertical
The distance D in outsidew1≤Dw≤Dw2Position, wherein DwRepresent body of a motor car away from the distance on the outside of parking stall, Dw1For the first length
Distance threshold, Dw2For the second length distance threshold value.
In any of the above-described scheme preferably, the control module of parking has the function of as follows：1) auto-steering function：
Automatically control wheel steering；
2) speed control function：Speed is automatically controlled, vehicle velocity V is maintained at V2-V3Between, wherein, V2For the second speed threshold
Value, V3For the 3rd speed threshold value；
3) speed keeps function：Speed is kept to stablize；
4) thrashing function：In parking process, when driver has operational motion, exits the process of parking, and prompt
Driver's adapter vehicle；
5) active collision avoidance function：Prevent vehicle from colliding, scratching with barrier.
In any of the above-described scheme preferably, the operational motion includes moment of torsion >=A to steering wheel application, touches on the brake
At least one of pedal and accelerator pedal, wherein, A is the first torque threshold.
In any of the above-described scheme preferably, whether the step 3 includes determining to park according to the standard of parking completing.
In any of the above-described scheme preferably, it is described park standard be under the conditions of Parallel parking, vehicle front and back end away from
Obstacle distance df and da are both needed to be more than or equal to DL3, lateral separation D of the body of a motor car away from parking stall line or barrierL4≤h≤DL5,
Wherein.DL3For the 3rd length distance threshold value, DL4For the 4th length distance threshold value, DL5For the 5th length distance threshold value.
In any of the above-described scheme preferably, when the standard of parking is completed under the conditions of vertical park, to park, vapour
Car vehicle body is at least greater than equal to D apart from left and right obstacle distance dl and drW3；Distance h >=D of the tailstock away from barrierW4, wherein,
DW3For the 3rd width distance threshold value, DW4For the 4th width distance threshold value.
In any of the above-described scheme preferably, distance h >=D of the tailstock away from barrier is being ensuredW4On the premise of, car
Head should be concordant with barrier.
The second object of the present invention is to provide a kind of parking stall recognition methods of automatic parking, including for passing through cell phone application
The mixed-media network modules mixed-media of vehicle network is connected, is further included with lower module：
Parking position locating module：Find and go to suitable parking space；
Park control module：Control vehicle carries out gear, direction and speed control automatically, parks；
Park and complete module：Park completion, cell phone application shows success of parking, and disconnects vehicle network.
Preferably, the mixed-media network modules mixed-media also has the function of to select mode of parking in the cell phone application.
In any of the above-described scheme preferably, the parking position locating module includes following submodule：
Speed acquisition module：Based on using wheel speed or Hall sensor obtains speed, when speed is less than the first speed threshold
During value, start parking stall and find module；
Find module in parking stall：Determine whether parking stall is suitable for searching for parking space, and according to parking stall judgment rule；
Trajectory planning module：According to environmental information, cook up a nothing and touch safe track for vehicle traveling；
Track following module：Using track following algorithm keeps track trajectory planning as a result, vehicle safety reaches parking position.
In any of the above-described scheme preferably, the speed acquisition module has when speed is more than or equal to the first speed threshold
During value, driver is reminded to reduce the function of speed.
In any of the above-described scheme preferably, the parking stall judgment rule is to determine bit length of parking using ultrasonic radar
Degree and width, judge whether to meet the condition of parking.
In any of the above-described scheme preferably, under the conditions of Parallel parking, the bit length L that parksbFormula be：Lb
=(T1-T2) × V, wherein, T1For time started, T2For the end time, V is car speed.
In any of the above-described scheme preferably, under the conditions of vertical park, the bit width W that parksbFormula be：Wb
=(T1-T2) × V, wherein, T1For time started, T2For the end time, V is car speed.
In any of the above-described scheme preferably, the parking stall judgment rule is the L under the conditions of Parallel parkingb≥Lc+
La1,Wb≥Wc+Wa1, represent that parking stall can park, wherein, LcFor length of wagon, WcFor body width, La1For the first length
Threshold value, Wa1For the first width threshold value.
In any of the above-described scheme preferably, the parking stall judgment rule is also the L under the conditions of vertical parkb≥Lc+
La2,Wb≥Wc+Wa2, represent that parking stall can park, wherein, La2For the second length threshold, Wa2For the second width threshold value.
In any of the above-described scheme preferably, the track following algorithm is using linear filtering algorithm combination Kalman
Filtering algorithm is to track of vehicle into line trace.
In any of the above-described scheme preferably, the linear filtering algorithm refers to move with stable speed in space
The motion state of single goal be described as X (k+1)=Φ X (k)+V (k), Z (k)=HX (k)+W (k), wherein, X (k) is state
Vector, Φ are state-transition matrix, and V (k) is the system noise (white Gaussian noise) that average is zero, covariance matrix is Q, Z (k)
For observation vector, H is observation transfer matrix, and W (k) is that average is zero, and covariance matrix is the observation noise of R.
In any of the above-described scheme preferably, the Kalman filtering algorithm refers to the state vector when target and institute
When stating observation vector and being expressed as formula shown in claim 11, its time update equation is
P (K | K-1)=Φ P (K-1 | K-1) Φ+Q, wherein, P (k | k-1) represents one-step prediction error co-variance matrix, P (k-1 | k-1)
It is the state estimation error covariance at k-1 moment；Measurement updaue equation for S (k)=HP (k | k-1) H '+R, K (k)=P (k | k-
1) H '/S (k),P (k | k)=(1-K (k) H) P (k |
K-1), wherein, S (k) is new breath covariance, and K (k) is kalman gain matrix,For k moment optimal estimation values.
In any of the above-described scheme preferably, the ultrasonic sensor includes front and rear parking stall radar and left and right parking stall thunder
Reach.
In any of the above-described scheme preferably, the front and rear parking stall radar is used in parking process to front and rear barrier
It is detected.
In any of the above-described scheme preferably, left and right parking stall radar is used for the detection of parking position.
In any of the above-described scheme preferably, the parking position locating module has is treating parking areas by vehicle parking
Function.
In any of the above-described scheme preferably, it is described to treat that parking areas refers to body of a motor car away from parking during Parallel parking
The distance D in position outsideL1≤DL≤DL2Position, wherein DLRepresent body of a motor car away from the distance on the outside of parking stall, DL1For the first length
Spend distance threshold, DL2For the second length distance threshold value.
In any of the above-described scheme preferably, it is described to treat that parking areas refers to body of a motor car away from parking stall when vertical
The distance D in outsidew1≤Dw≤Dw2Position, wherein DwRepresent body of a motor car away from the distance on the outside of parking stall, Dw1For the first length
Distance threshold, Dw2For the second length distance threshold value.
In any of the above-described scheme preferably, the control module of parking has the function of as follows：
1) auto-steering function：Automatically control wheel steering；
2) speed control function：Speed is automatically controlled, vehicle velocity V is maintained at V2-V3Between, wherein, V2For the second speed threshold
Value, V3For the 3rd speed threshold value；
3) speed keeps function：Speed is kept to stablize；
4) thrashing function：In parking process, when driver has operational motion, exits the process of parking, and prompt
Driver's adapter vehicle；
5) active collision avoidance function：Prevent vehicle from colliding, scratching with barrier.
In any of the above-described scheme preferably, the operational motion includes moment of torsion >=A to steering wheel application, touches on the brake
At least one of pedal and accelerator pedal, wherein, A is the first torque threshold.
In any of the above-described scheme preferably, the completion module of parking has determines whether park according to the standard of parking
The function of completion.
In any of the above-described scheme preferably, it is described park standard be under the conditions of Parallel parking, vehicle front and back end away from
Obstacle distance df and da are both needed to be more than or equal to DL3, lateral separation D of the body of a motor car away from parking stall line or barrierL4≤h≤DL5,
Wherein.DL3For the 3rd length distance threshold value, DL4For the 4th length distance threshold value, DL5For the 5th length distance threshold value.
In any of the above-described scheme preferably, when the standard of parking is completed under the conditions of vertical park, to park, vapour
Car vehicle body is at least greater than equal to D apart from left and right obstacle distance dl and drW3；Distance h >=D of the tailstock away from barrierW4, wherein,
DW3For the 3rd width distance threshold value, DW4For the 4th width distance threshold value.
In any of the above-described scheme preferably, distance h >=D of the tailstock away from barrier is being ensuredW4On the premise of, car
Head should be concordant with barrier.
The parking stall recognition methods of automatic parking provided by the invention, allows automatic parking process to be all unpiloted automatic shape
State, driver only need car being parked near parking stall, and vehicle is merged by ultrasonic distance-measuring sensor and laser range sensor
Detect parking stall.Driver can get off before parking, and process of entirely parking all gives car oneself completion.
Brief description of the drawings
Fig. 1 is the flow chart of a preferred embodiment of the parking stall recognition methods of automatic parking according to the invention.
Fig. 2 is the function structure chart of a preferred embodiment of the parking stall identifying system of automatic parking according to the invention.
Fig. 3 is the system construction drawing of another preferred embodiment of the parking stall identifying system of automatic parking according to the invention.
Fig. 4 is the installation position of an embodiment of the ultrasonic radar of the parking stall identifying system of automatic parking according to the invention
Put figure.
Fig. 5 is the automatic parking stall of an embodiment of the practical application of the parking stall identifying system of automatic parking according to the invention
Identifying system signal graph.
Fig. 5 A are the ultrasonic radar of the embodiment as shown in Figure 5 of the parking stall identifying system of automatic parking according to the invention
Real time data figure.
Fig. 5 B are the laser ranging mould of the embodiment as shown in Figure 5 of the parking stall identifying system of automatic parking according to the invention
Block real time data figure.
Fig. 5 C are that the parking stall of the embodiment as shown in Figure 5 of the parking stall identifying system of automatic parking according to the invention identifies number
According to feedback diagram.
Embodiment
The present invention is further elaborated with specific embodiment below in conjunction with the accompanying drawings.
Embodiment one
As shown in Figure 1 and Figure 2, step 100 is performed, driver starts automated parking system on mobile phone, passes through mixed-media network modules mixed-media
200 connection vehicles.Order performs step 110 and step 111, selects to park mode and judges whether that completion mode selects.If
Do not complete the mode of parking to select, then re-execute step 110.If completing the mode of parking to select, step 120 is performed, is passed through
Parking stall finds module 212 and finds suitable parking stall according to parking stall judgment rule, passes through speed acquisition module 211 during searching
Automobile low-speed traveling is controlled, when speed is less than 20km/h, system starts to search for parking stall；When speed is more than or equal to 20km/h, system
Prompt driver's Reduced Speed Now.Parking stall judgment rule is to determine parking position length and width using ultrasonic radar, in parallel pool
Under the conditions of car, the bit length L that parksbFormula be：Lb=(T1-T2) × V, wherein, T1For time started, T2For at the end of
Between, V is car speed；Under the conditions of vertical park, the bit width W that parksbFormula be：Wb=(T1-T2) × V, wherein, T1
For time started, T2For the end time, V is car speed.Parking stall judgment rule is also to judge whether to meet the condition of parking, flat
Under the conditions of row is parked, Lb≥Lc+La1,Wb≥Wc+Wa1, represent that parking stall can park, wherein, LcFor length of wagon, WcFor car
Body width, La1(the first length threshold)=2.0m, Wa1(the first width threshold value)=0.6m；Under the conditions of vertical park, Lb≥Lc+
La2,Wb≥Wc+Wa2, represent that parking stall can park, wherein, La2(the second length threshold)=0.5m, Wa2(the second width threshold
Value)=1.0m.Step 121 is performed, judges whether to find suitable parking stall.If not finding suitable parking stall, step is performed
120, continually look for suitable parking stall.If have found suitable parking stall, step 130 is performed, uses trajectory planning module 213
Generate park track and the result in track tracking module 214 using track following algorithm keeps track trajectory planning.Track following is calculated
Method is into line trace using linear filtering algorithm combination Kalman filtering algorithm to track of vehicle.Linear filtering algorithm refers in sky
Between in the motion state of single goal moved with stable speed be described as X (k+1)=Φ X (k)+V (k), Z (k)=HX (k)+W
(k), wherein, X (k) is state vector, and Φ is state-transition matrix, and V (k) is the system noise that average is zero, covariance matrix is Q
Sound (white Gaussian noise), Z (k) are observation vector, and H is observation transfer matrix, and W (k) is that average is zero, and covariance matrix is R's
Observation noise；Kalman filtering algorithm refers to want when the state vector of target and the observation vector are expressed as right
When seeking formula shown in 11, its time update equation is P (K | K-1)=Φ P (K-
1 | K-1) Φ+Q, wherein, P (k | k-1) represents one-step prediction error co-variance matrix, and P (k-1 | k-1) is the state at k-1 moment
Evaluated error covariance；Measurement updaue equation is S (k)=HP (k | k-1) H '+R, K (k)=P (k | k-1) H '/S (k),P (k | k)=(1-K (k) H)
P (k | k-1), wherein, S (k) is new breath covariance, and K (k) is kalman gain matrix,For k moment optimal estimation values.
Step 140 is performed, is linked into and reverses gear, control module 220 starts to park using parking.Step 150 is performed, judges whether to be linked into down
Gear.Reverse gear if be not linked into, re-execute step 140.Reverse gear if be linked into, while perform step 154 and step
155, carry out angle control and distance controlling.In Parallel parking, it is described treat that parking areas refers to body of a motor car away from parking stall outside
The distance D of sideL1≤DL≤DL2Position, wherein DLRepresent body of a motor car away from the distance on the outside of parking stall, DL1(the first length distance
Threshold value)=0.5m, DL2(the second length distance threshold value)=1.8m；When vertical, it is described treat parking areas refer to body of a motor car away from
Distance D on the outside of parking stallw1≤Dw≤Dw2Position, wherein DwRepresent body of a motor car away from the distance on the outside of parking stall, Dw1(first
Length distance threshold value)=0.5m, Dw2(the second length distance threshold value)=2.0m.Step 160 is performed, when judging vehicle parking position
Whether angle and distance control has been met：Under the conditions of Parallel parking, vehicle front and back end is both needed to away from obstacle distance df and da
More than or equal to DL3, lateral separation D of the body of a motor car away from parking stall line or barrierL4≤h≤DL5, wherein.DL3(the 3rd length distance
Threshold value)=0.4m, DL4(the 4th length distance threshold value)=0.2m, DL5(the 5th length distance threshold value)=0.4m；Vertically parking
Under the conditions of, park completion when, body of a motor car is at least greater than equal to D apart from left and right obstacle distance dl and drW3；The tailstock is away from obstacle
Distance h >=D of thingW4, wherein, DW3(the 3rd width distance threshold value)=0.3m, DW4(the 4th width distance threshold value)=0.3m,
On the premise of ensuring distance h >=0.3m of the tailstock away from barrier, headstock should be concordant with barrier (if the obstacle length on both sides is not
Deng on the basis of shorter side barrier).If vehicle is unsatisfactory for angle conditions, step 154 is performed, readjusts angle；Such as
Fruit vehicle meets distance condition, then performs step 155, readjust distance.If vehicle meets angle and distance control condition,
Perform step 161, steering wheel return just, end of parking.Sequence performs step 170 and step 180, stops vehicle, and move back according to prompting
Go out system.While step 154 and step 155 is performed, parallel execution of steps 151, step 152 and step 153, judge certainly
Move during parking, if having foot to touch on the brake, (driver applies to steering wheel for pedal, foot accelerator pedal and touching steering wheel
Moment of torsion >=4N*m) at least one of action.If without above-mentioned action, continue automatic parking.If above-mentioned at least one
Kind action, then order performs step 170 and step 180, stopping vehicle, and logs off according to prompting.
Embodiment two
Problem to be solved of the present invention：
1st, the automation in the parking stall identification process of whole automatic parking is solved, in the case of no driver behavior vehicle
Complete parking stall identification and follow-up automatic parking.
2nd, using the fusion of ultrasonic distance-measuring sensor and laser range sensor, to the edge of barrier and barrier
It is detected so that the identification of parking stall reaches 100%.
Goal of the invention：
Automatic parking process is allowed all to be unpiloted auto state, driver only needs car being parked near parking stall, car
Pass through ultrasonic distance-measuring sensor and laser range sensor fusion detection parking stall.Driver can get off before parking,
Whole process of parking all gives car oneself completion.
The technological means of the application is：
Ultrasonic ranging and laser ranging are used in combination, and using the stability of ultrasonic ranging under various circumstances and swash
Ligh-ranging determines the barrier and obstacle my specific location of automobile side in the accuracy of edge detection.In existing market
It only only used ultrasonic wave module in the detection of obstacles module of upper installation, and before only detecting vehicle in obstacle recognition
The barrier of side and rear side achievees the purpose that auxiliary is parked.On the obstacle recognition of automatic parking, ultrasonic radar is except preceding
Installation is used for detecting outside barrier afterwards, in the side of car at the same time equipped with long away from ultrasonic radar and laser ranging module.Conventional
Ultrasonic radar is indefinite in its investigative range, and the ultrasonic wave that it sends is in coniform, it can only be determined in some model
There is barrier in enclosing, and determine the specific location of barrier without fixed penalty coefficient in the actual environment.Laser Measuring
What it is away from module transmitting is that laser spots, laser spots and intermodule receive for straight line, so it will not bring wave beam when ranging
The error at angle.Particularly in barrier edge detection, error is smaller, in the case of vehicle low speed, can fully meet parking stall
The demand of identification.
The operation principle of the application is as follows：
Vehicle starts to detect parking stall from stop position low-speed motion forward.Once four kinds of situations meet wanting for parking stall
Ask：
First, after vehicle has moved forwards the distance of a parking stall, detecting side does not have barrier, is considered as clear pool
Car.
Clear is parked, and utilize is principle of the ultrasonic radar to detection of obstacles, in vehicle forward process
In, ultrasonic radar does not all detect barrier all the time.Vehicle makees its initial position (position where ultrasonic radar)
For an edge on parking stall.Another edge using the opposite side of a parking stall distance of displacement meter statistics as parking stall.
2nd, during vehicle moves forwards, barrier is detected in the case where being unsatisfactory for parking stall distance, is being surmounted
Barrier is not detected after one parking stall distance of barrier, be considered as has barrier to park backward.
It is to detect barrier and laser ranging module cognitive disorders thing by ultrasonic radar to have barrier to park backward
What the principle at edge was realized, barrier is detected with the ultrasonic radar in car of crossing of vehicle forward, at this moment to be started sharp
The road-edge detection of ligh-ranging module, that is, need to know when barrier is terminating, while the edge of barrier is made
For park for an edge.Behind one parking stall of vehicle forward, be located as parking for another edge.
3rd, during vehicle moves forwards a parking stall, do not detect barrier, but one parking stall of operation away from
The presence of barrier is detected from after, to there is barrier to park before being considered as.
During forward direction has the parking stall measure that barrier is parked, vehicle passes through clear region, ultrasonic radar detection
To it is preceding to barrier, and using laser ranging module determine before to the edge of barrier, as a side of parking position
Edge.On the basis of this edge, using its distance from clear area to one parking stall of pusher as another parking position side
Edge.
4th, vehicle detects first obstacle during moving forwards in the case where being unsatisfactory for parking stall distance
Thing, second obstacle is detected after one parking stall of thing distance that surmounts an obstacle, and is considered as front and rear to there is barrier to park.
It is front and rear to the principle for thering is barrier to park then be using vehicle during advance, by the barrier after parking position
Edge does an edge of parking position, another edge using the barrier edge before parking position as parking position.
Embodiment three
The particular technique index request of full-automatic parking system key technology is as follows：
First, have the function of to search for parking stall automatically.
1. when driver needs to park, driver presses button of parking, and system starts, and system is made according to speed to be sentenced
It is disconnected：When speed is less than 20km/h, system start search for parking stall, search can parking space when, system prompt driver brake simultaneously
It is confirmed whether to park；When speed is more than or equal to 20km/h, system prompt driver's Reduced Speed Now.
2. parking position recognition accuracy is not less than 90%.
3. under the conditions of Parallel parking, parking position that system can identify：L >=length of wagon+2.0m, 0.6m+ vehicle body is wide
Degree≤W, can complete to park.
4. under the conditions of vertical park, parking position that system can identify：L >=length of wagon+0.5m, W >=body width+
1.0m, can complete to park.
2nd, there is the path planning based on whole-car parameters.
After the completion of parking stall measure, systems organization goes out nothing and touches path
3rd, have the function of that the track based on path planning follows.
1. under the conditions of Parallel parking, treating parking areas, body of a motor car away from distance 0.5m≤D on the outside of parking stall≤
1.8m, can carry out parking manoeuvres.
2. under the conditions of vertical park, treating parking areas, automobile and obstacle lateral direction of car distance for 0.5m≤D≤
2.0m, can carry out parking manoeuvres.
3. under the conditions of Parallel parking, park completion when, automobile front and back end away from obstacle distance df and dr be both needed to be more than etc.
In 0.4m, lateral separation 0.2m≤h≤0.4m of the body of a motor car away from parking stall line or barrier.
4. under the conditions of vertical park, park completion when, body of a motor car is both needed to apart from left and right obstacle distance dl and dr
0.3m；Distance h >=0.3m of the tailstock away from barrier, on the premise of distance h >=0.3m of the tailstock away from barrier is ensured, headstock should
(if the obstacle length on both sides differs, on the basis of shorter side barrier) concordant with barrier.
5. park completion when, system control direction disk returns just, prompts driver's parking, flame-out.
4th, there is direction automatic control function.
In parking process, system automatically control wheel steering
5th, there is speed automatic control function.
1. in parking process, speed should be controlled between 2km/h-8km/h.
2. in parking process, system automatically controls speed.
3. in parking process, speed need to keep stable, and process of parking is smooth.
6th, there is thrashing.
1. in parking process, moment of torsion >=4N*m that driver applies to steering wheel, system carry out brake operating to vehicle,
The process of parking is exited, and prompts driver's adapter vehicle.
2. in parking process, driver touch on the brake pedal, system exits the process of parking, and prompts driver's adapter car
.
7th, there is active collision avoidance.
During whole park, vehicle cannot collide with barrier, scratch.Vehicle, which possesses, independently to stop to hinder collision avoidance
Function
Example IV
System software composition is as follows：
1) the parking stall recognizer based on ultrasonic wave：Using the ultrasonic sensor for being installed in vehicle body, detect for vehicle
The parking stall berthed.
2) the parking stall recognizer based on viewing system：Using the panoramic looking-around system for being installed in vehicle body, parking stall line is detected,
Detect the parking stall for vehicle parking.
3) parking stall identification blending algorithm：According to the data message that ultrasonic sensor and viewing system provide jointly into driving
Position detection, improves the accuracy rate of parking stall identification and the fitness of parking stall identification.
4) body information obtains：The information combination additional sensor that can be provided using vehicle body obtains the letter such as vehicle body velocities
Breath.
5) trajectory planning algorithm：According to environmental information, cook up a nothing and touch safe track for vehicle traveling
6) track following algorithm：Effective tracking trajectory planning as a result, realizing the arrival parking position of vehicle safety.
7) vehicle-mounted aobvious control：Information of vehicles and program debugging data are shown, for the debugging of other algorithm routines, and reality
The display of vehicle testing effect.
8) mobile phone A pp：Realize controls of the app to whole system.Controlling behavior includes：Start parking system；Selection is parked
Mode；Terminate automatic parking.
Embodiment five
As shown in Figure 3.Automated parking system hardware mainly include ultrasonic sensor 301 (ultrasonic transducer system),
Look around camera 302 (looking around camera system), wheel speed meter 303, odometer 304, it is tall and handsome up to TK1 development boards 320, MCU control
Device 330 etc., is connected with interact touch-screen 310, the steering 340 on automobile and the braking system 341 in user's hand respectively.
First, it is tall and handsome to reach TK1 development boards 320.
Function：Using the tall and handsome master controller up to TK1 development boards as automated parking system, reached tall and handsome on TK1 development boards
Build the Ros development environments based on ubantu14.04, based on Ros carry out parking stall recognizer, parking stall identification blending algorithm,
The exploitation of PATH GENERATION and track following algorithm, and realize the communication based on zmq with mobile phone app.
2nd, MCU controllers 330.
Model：MC9S12XEP100,
Function：Serial ports receives the tall and handsome data sent up to TK1 of master controller, is converted into CAN message and is sent to bottom execution
Controller.
MCU system main resource is as shown in the table.
| Interface | RS232 serial ports | MSCAN | GPIO | IIC | 12v power supplys | GND | DA is exported |
| Passage/road | 1 | 2 | 7 | 1 | 2 | 2 | 2 |
3rd, body information obtains.
Acquisition for body information is intended using two schemes：
1. vehicle body velocities and attitude information directly can be provided using existing GPS/IMU equipment, auxiliary carries out parking stall inspection
The experiment and research of method of determining and calculating and path planning algorithm；
2. obtaining speed using the wheel speed meter 303 or Hall sensor of model WPT700, model MEAS is utilized
The gyroscope of GY407D obtains vehicle attitude, so as to provide body information to system, (specific sensor model number still needs to continue true
Recognize).
4th, ultrasonic sensor 301.
Ultrasonic radar system forms：Ultrasonic system is intended using by front and rear 8 PDC (parking distacne
Control park distance control systems) (automatic parking ass itance are moored automatically by sensor, the APA of left and right 4
Car system) sensor collectively constitutes, and so as to fulfill all standing to vehicle body, installation site is as shown in figure 4, Grey Point is PDC
(parking distacne control park distance control systems) sensor, black color dots are APA (automat ic
Parking ass itance automated parking systems) sensor.
Function：Side APA sensor are mainly used for the detection on parking stall, and front and rear PDC sensor are mainly used for parking
Cheng Zhong, the detection of front and rear barrier, that realizes vehicle stops barrier collision avoidance.
The requirement of ultrasonic radar：
APA Sensor：Parking stall radar is detected in side, and farther out, minimum detectable range need to reach 3.5m to detection range.
PDC Sensor：Reversing additional barrier analyte detection radar, detection range is slightly near, and minimum detectable range need to reach 1m.
Model：The concrete model of ultrasonic sensor fixes tentatively the ultrasonic radar of the flourish electronics in east at present.
Interaction touch-screen 310 in user's hand can be that smart mobile phone, tablet computer, laptop, PDA etc. carry net
The smart machine of network function.
Embodiment six
The automatic parking stall identification realized on Beijing Automobile Workshop's EV260 new-energy automobiles：
1. the transformation (as shown in Figure 5) of pair automobile.
Automobile improvement mainly includes brake and the transformation turned to so that vehicle can carry out line traffic control by controller.Throttle, shelves
Position, the acquisition of speed can be obtained from the vehicle body CAN of itself.The purpose of transformation is so that vehicle in speed, gear, steering
It can be controlled.
2. the installation of sensor.
Ultrasonic radar is provided with 12, wherein forward direction 4, backward 4, each 2 lateral.Lateral two install respectively
In the surface at front wheels and rear wheels center.Laser ranging module is provided with 2, is separately mounted to directly over two front wheel center axis
Position.
3. the detection (as shown in Figure 5A) of parking stall cognitive disorders thing.
Parking stall identification in, the detection of barrier is completed by ultrasonic sensor, it is front and rear to radar be short distance, lead
To be used as urgent avoidance.Lateral radar is to be long away from being mainly used as the detection of side barrier.
4. the detection (as shown in Figure 5 B) at parking stall cognitive disorders thing edge.
In the identification of parking stall, the detection at barrier edge is completed by organ's range finder module, is had in barrier to not having
Have, or without the saltus step that can all cause sensor to the process having, the saltus step of lock-on range, with excessively to the reckoning of displacement just
It can determine that the position at saltus step edge.
5. the feedback (as shown in Figure 5 C) of parking stall recognition result.
The data being collected into by vehicle during automatic move ahead, judge the position of parking stall, form parking space information, feedback
To automatic parking control system.
Claims (10)
1. a kind of parking stall recognition methods of automatic parking, including vehicle network is connected by cell phone application, it is characterised in that also wrap
Include following steps：
Step 1：Find and go to suitable parking space；
Step 2：Using parking, control module control vehicle carries out gear, direction and speed control automatically, parks；
Step 3：Park completion, cell phone application shows success of parking, and disconnects vehicle network.
2. the parking stall recognition methods of automatic parking as claimed in claim 1, it is characterised in that：The step 1 includes following son
Step：
Step 01：Speed is obtained using wheel speed meter or Hall sensor, when speed is less than the first speed threshold value, performs step
02；
Step 02：Parking space is searched for, and determines whether parking stall is suitable according to parking stall judgment rule；
Step 03：According to environmental information, cook up a nothing and touch safe track for vehicle traveling；
Step 04：Using track following algorithm keeps track trajectory planning as a result, vehicle safety reaches parking position.
3. the parking stall recognition methods of automatic parking as claimed in claim 2, it is characterised in that：The parking stall judgment rule be
Under the conditions of Parallel parking, Lb≥Lc+La1,Wb≥Wc+Wa1, represent that parking stall can park, wherein, LcFor length of wagon, WcFor
Body width, La1For the first length threshold, Wa1For the first width threshold value.
4. the parking stall recognition methods of automatic parking as claimed in claim 3, it is characterised in that：The parking stall judgment rule is also
Under the conditions of vertical park, Lb≥Lc+La2,Wb≥Wc+Wa2, represent that parking stall can park, wherein, La2For the second length threshold
Value, Wa2For the second width threshold value.
5. such as the parking stall recognition methods for the automatic parking that claim 4 is stated, it is characterised in that：The control module of parking has such as
Lower function：
1) auto-steering function：Automatically control wheel steering；
2) speed control function：Speed is automatically controlled, vehicle velocity V is maintained at V2-V3Between, wherein, V2For the second speed threshold value, V3
For the 3rd speed threshold value；
3) speed keeps function：Speed is kept to stablize；
4) thrashing function：In parking process, when driver has operational motion, exits the process of parking, and prompts to drive
Member's adapter vehicle；
5) active collision avoidance function：Prevent vehicle from colliding, scratching with barrier.
6. a kind of parking stall identifying system of automatic parking, including for connecting the mixed-media network modules mixed-media of vehicle network by cell phone application, its
It is characterized in that, further includes with lower module：
Parking position locating module：Find and go to suitable parking space；
Park control module：Control vehicle carries out gear, direction and speed control automatically, parks；
Park and complete module：Park completion, cell phone application shows success of parking, and disconnects vehicle network.
7. the parking stall identifying system of automatic parking as claimed in claim 6, it is characterised in that：The parking position locating module bag
Include following submodule：
Speed acquisition module：Based on using wheel speed or Hall sensor obtains speed, when speed is less than the first speed threshold value,
Start parking stall and find module；
Find module in parking stall：Determine whether parking stall is suitable for searching for parking space, and according to parking stall judgment rule；
Trajectory planning module：According to environmental information, cook up a nothing and touch safe track for vehicle traveling；
Track following module：Using track following algorithm keeps track trajectory planning as a result, vehicle safety reaches parking position.
8. such as the parking stall identifying system for the automatic parking that claim 7 is stated, it is characterised in that：The parking stall judgment rule is use
Ultrasonic radar determines parking position length and width, judges whether to meet the condition of parking.
9. the parking stall identifying system of automatic parking as claimed in claim 8, it is characterised in that：Under the conditions of Parallel parking, institute
State the bit length L that parksbFormula be：Lb=(T1-T2) × V, wherein, T1For time started, T2For the end time, V is vehicle speed
Degree.
10. the parking stall identifying system of automatic parking as claimed in claim 9, it is characterised in that：Described park completes module tool
The with good grounds standard of parking determines the function of whether completing of parking.
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| CN113561966A (en) * | 2021-08-18 | 2021-10-29 | 东南大学 | Automatic parking system parking space detection method based on ultrasonic distance measurement technology |
| CN114265403A (en) * | 2021-12-10 | 2022-04-01 | 智己汽车科技有限公司 | Automatic parking method, system and equipment based on welcome guidance and vehicle |
| CN114265403B (en) * | 2021-12-10 | 2024-03-19 | 智己汽车科技有限公司 | Automatic parking method, system, equipment and vehicle based on welcome guidance |
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Application publication date: 20180420 |