CN108928343A - A kind of panorama fusion automated parking system and method - Google Patents
A kind of panorama fusion automated parking system and method Download PDFInfo
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- CN108928343A CN108928343A CN201810917972.5A CN201810917972A CN108928343A CN 108928343 A CN108928343 A CN 108928343A CN 201810917972 A CN201810917972 A CN 201810917972A CN 108928343 A CN108928343 A CN 108928343A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000004927 fusion Effects 0.000 title claims abstract description 21
- 238000012937 correction Methods 0.000 claims abstract description 6
- 230000004888 barrier function Effects 0.000 claims description 19
- 239000000523 sample Substances 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 9
- 230000006641 stabilisation Effects 0.000 claims description 6
- 238000011105 stabilization Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 230000004913 activation Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 6
- 230000000295 complement effect Effects 0.000 abstract description 3
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 7
- 230000033228 biological regulation Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000009432 framing Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000001133 acceleration Effects 0.000 description 1
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- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
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- 230000007812 deficiency Effects 0.000 description 1
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- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
-
- 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
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- 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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
-
- 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
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of panorama fusion automated parking system and methods, belong to technical field of vehicle control.It includes information acquisition module, controller of parking, vehicle control module.Controller of parking is for receiving the range data and described image information, and it combines from vehicle acquisition of information parking position and redundancy recognition and the parking path of planning correction in real time is carried out to parking stall, it sends control instruction control vehicle control module to travel according to the parking path, to park.Controller of parking calculates range data and image information, the two has complementary advantages, automated parking system is enhanced to the sensing capability of true environment, controller control vehicle control module of parking simultaneously realizes automatic parking function, using multisensor recognition mode, the robustness of enhancing system guarantees convenience and comfort that driver uses.
Description
Technical field
The present invention relates to technical field of vehicle control, merge automated parking system and method more particularly to a kind of panorama.
Background technique
Recently as improvement of living standard, automobile oneself through entering huge numbers of families, in automobile parking, there are some barriers
Some collisions can inevitably be occurred by hindering when object or narrow space be that user brings unnecessary trouble.It develops on the market at present common
Automated parking system generally there are two types of Context awareness mode: one is image recognition modes, i.e., by multiple cameras come
Unloading lot detection and barrier；Another kind is radar recognition mode, i.e., is visited using the ultrasonic radar being mounted on front/rear collision bumper
Head comes unloading lot detection and barrier；Two schemes all by the data recognized be transferred to controller of parking ((APA ECU), then by
Controller of parking calculates reasonable parking path, and issues and execute instruction, and automatic parking is executed by executing agency, until vehicle
Automatic parking enters position.Since single-sensor recognition mode can only provide a part of information of environment, so for certain special
There are some defects for operating condition.Automated parking system based on image recognition carries out data acquisition using camera, has a disadvantage in that
Overcome a wide range of Bonding Problem of image, image processing techniques is not accurate to the judgement of obstacle distance, is easy to appear leakage and knows
The case where not and misidentifying.Automated parking system based on radar identification relies on ultrasonic radar come detecting object, due to ultrasound
The detective limitation of wave radar itself, so that automated parking system comes with some shortcomings for some special operation conditions.
Therefore, the automatic Pilot scheme of above-mentioned single-sensor recognition mode can not inherently evade above-mentioned operating condition
Risk, moreover, the application of the two schemes of single-sensor recognition mode has respective limitation, parking scene is few, vehicle
Position accuracy of identification is low, reliability of parking is relatively low, therefore, and then influences convenience and comfort that driver uses.
Summary of the invention
It is an object of the present invention to provide a kind of panorama fusion automated parking system, above-mentioned technological deficiency is overcome, with
Realize automatic parking.
A further purpose of the invention is to provide for a kind of panorama fusion automated parking system, images in conjunction with combining
Head and the advantage of ultrasonic radar respectively, improve the precision of parking stall, improve the reliability parked, increase the application of scene.
Particularly, the present invention provides a kind of panoramas to merge automated parking system comprising: information acquisition module is parked
Controller, vehicle control module；
The information acquisition module includes that the multiple ultrasonic radar detectors for being arranged in vehicle's surroundings and multiple camera shootings are visited
Head, the ultrasonic radar detector are used to acquire the range data of vehicle and peripheral obstacle, and the range data is passed
It send to the controller of parking, the camera probe is used to acquire the image information of the vehicle periphery, and described image is believed
Breath is sent to the controller of parking；
The controller of parking is moored for receiving the range data and described image information in conjunction with from vehicle acquisition of information
Parking stall carries out redundancy recognition to parking stall, and parking path is corrected in planning in real time, sends control instruction control vehicle control module and presses
It travels, parks according to the parking path；
The vehicle control module includes automobile electronic stabilization system, electronic power assist steering system and automatic gear-box control
Unit or vehicle control unit of electric vehicle processed, for receive the control instruction and vehicle is turned to, speed change, brake,
Parking control, travels vehicle according to the parking path, completes to park.
Optionally, the controller of parking is configured to receive the range data and described image information, works as in conjunction with from vehicle
Preceding travel speed and the current front wheel slip angle of the vehicle obtained from steering system calculate and come from the current theoretical body gesture of vehicle,
And around calculating existing for parking stall size and type, compared and analyzed with vehicle body size, judge parking stall type, described in planning
Parking path sends the control instruction control vehicle control module and travels according to the parking path, parks.
Optionally, the controller of parking is configured that
By ultrasonic distance measurement principle, scanning judge the whether enough vehicles of parking stall space size stop into；Pass through described image
Information identifies the distance between parking stall line or identification object, to judge whether parking stall meets the condition of parking；In conjunction with described apart from number
According to the information for judging parking stall with described image information, comprehensive descision is carried out to parking stall.
Optionally, when parking described in park controller be configured to according to detected from vehicle speed, ultrasonic radar two
The rear obstacle distance that side vehicle distances and camera recognize carries out real-time update correction to the parking path.
Optionally, when parking, the controller of parking is configured to true according to the range data and described image information
Determine the relative position of barrier and parking position and vehicle, and calculates the rail of vehicle traveling by the sideway angle of speed and vehicle body
Mark and body gesture position vehicle for the relative position between parking position and barrier.
Optionally, in parking process, the controller of parking are configured to, when encounter the parking path it is infeasible when,
Again planning path；When selected parking position is infeasible, parking stall selection is re-started.
Optionally, the controller of parking is additionally configured to receiving the ultrasonic radar detector and/or the camera shooting
It pops one's head in and issues the control instruction of emergency braking when recognizing rear and occurring being uneven or having the barrier scurried out suddenly.
The present invention also provides a kind of panoramas to merge automatic parking method, comprising the following steps:
It activates panorama to merge automated parking system, searches for parking stall；
In conjunction with the range data and image information measured, parking stall type is judged；
According to the range data and image information measured, the parking path of vehicle is planned and dynamically adjusted；
Traveling, braking and the speed that vehicle is controlled by automobile electronic stabilization system, pass through electronic power assist steering system control
The steering of vehicle processed is controlled the gear of vehicle by automatic gear-box control unit or vehicle control unit of electric vehicle, makes institute
It states vehicle to travel according to the parking path, park.
Optionally, in parking process, the ultrasonic radar detector and/or the camera probe recognize vehicle institute
When place's dangerous situation in position or when driver has intervened steering wheel control, the panorama fusion automated parking system stops to swash
It is living.
Optionally, in parking process, panorama fusion automated parking system configure promising comfort brake stop mode and
Urgent brake stop mode.
A kind of panorama provided by the invention merges automated parking system, by ultrasonic radar and camera in controller of parking
Information collected is calculated, and the two has complementary advantages, the environmental system database that is identified of extreme enrichment, is enhanced automatic
Parking system overcomes image processing techniques obstacle recognition inaccuracy and ultrasonic sensor to the sensing capability of true environment
The problems such as only parking position of parking stall line cannot be detected.
A kind of panorama of the invention merges automated parking system, and controller of parking controls vehicle control module and realizes automatic pool
Vehicle function using multisensor recognition mode, and then is more enriched accurate environmental information, enhances the robustness of system,
Guarantee the convenience and comfort that driver uses.
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
The above and other objects, advantages and features of the present invention.
Detailed description of the invention
Some specific embodiments of the present invention is described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing:
Fig. 1 is a kind of structural framing schematic diagram of panorama fusion automated parking system according to the present invention；
Fig. 2 is a kind of flow diagram of panorama fusion automatic parking method according to the present invention.
Wherein, 1, information acquisition module, 11, reversing radar, 12, side radars, 13, camera probe；
2, park controller, 21, micro-control unit, 22, sensor receive transmission unit, 23, power adjustment unit, 24,
LED drive unit, 25, control module driving unit, 26, alarm unit；
3, vehicle control module；
4, display device.
Specific embodiment
Fig. 1 is a kind of structural framing schematic diagram of panorama fusion automated parking system according to the present invention.Fig. 2 is according to this
A kind of flow diagram of panorama fusion automatic parking method of invention.Below with reference to Fig. 1-Fig. 2 to one kind provided by the invention
Panorama fusion automated parking system is described in detail.
Specifically, a kind of panorama fusion automated parking system provided by the invention may include generally information collection
Module 1, park controller 2 and vehicle control module 3.Information acquisition module 1 includes the multiple ultrasonic waves for being arranged in vehicle's surroundings
Radar detedtor (11,12) and multiple camera probes 13.Ultrasonic radar detector (11,12) hinders for acquiring vehicle and surrounding
Hinder the range data of object.Camera probe 13 is used to acquire the image information of vehicle periphery.Range data is passed by hard-wire transfer
It send to controller 2 of parking, image information is transmitted to by LVDS transmission by controller 2 of parking.Controller 2 of parking for receive away from
From data and image information, and combines from vehicle acquisition of information parking position and redundancy recognition and in real time planning correction are carried out to parking stall
Parking path sends control instruction control vehicle control module 3 and travels according to parking path, to park.Vehicle control mould
Block 3 includes automobile electronic stabilization system (abbreviation ESC system), electronic power assist steering system (abbreviation EPS system), automatic gear-box
Control unit (abbreviation TCU) or vehicle control unit of electric vehicle (abbreviation VCU), for receiving control instruction and being carried out to vehicle
Steering, speed change, brake, parking control, to realize that vehicle is travelled according to parking path, complete to park.
Specifically, controller 2 of parking includes micro-control unit 21, sensor reception transmission unit 22, power regulation list
Member 23, LED drive unit 24, control module driving unit 25 and alarm unit 26.Wherein micro-control unit 21 is used to combine certainly
Vehicle acquisition of information parking position simultaneously carries out redundancy recognition and the parking path of planning correction in real time to parking stall.Sensor, which receives, sends list
Member 22 is for receiving transmission range data and image information.Power adjustment unit 23 swashs for panorama fusion automated parking system
It is living to close.LED drive unit 24 is used to show the working condition of panorama fusion automated parking system.Control module driving unit 25
For being interacted with vehicle control module 3, to send control instruction control vehicle control module 3 according to parking path row
It sails to park.Alarm unit 26 is for alarm warning under specific circumstances.
Specifically, controller 2 of parking receives range data and image information, in conjunction with from vehicle current driving speed and from turning
The current front wheel slip angle of the vehicle obtained to system calculates and comes from the current theoretical body gesture of vehicle, and calculates sky existing for surrounding
The size and type of position, and compare and analyze with vehicle body size, and judgement is vertical, parallel space, oblique parking stall or has vehicle
The parking stall of bit line, planning parking path control Driving control module are parked；Obtain parking position when, controller of parking fusion away from
From the barrier that data and image information calculate vehicle two sides away from the lateral distance of vehicle body, when lateral distance is greater than first threshold pair
The speed current from vehicle is integrated, and wherein first threshold is that body width adds vehicle required width in turning, only horizontal
It is greater than first threshold to distance and just has the condition of parking, obtains the length in vacancy, when the length in vacancy is greater than second threshold,
Function obtains parking position, and wherein second threshold is length of wagon in turning, required length, the length only having vacant position are big plus vehicle
Just has the condition of parking in second threshold.
Its working principle is that: after detection obtains effective parking stall of both sides of the road, it can start to park.Automatic
Without driver's steer direction disk and gear during parking, steering (EPS) and gear are controlled by automatic parking auxiliary system
(TCU) switching, and parking position is driven into according to the travel route calculated.8 sensings of parking will be also used in the process of backing up
Device and 4 side sensors supervise command range.ESC system can regulation speed and the distance parked, provide comfort brake stop and
Urgent stop is stopped.Comfort, which is stopped, to stop function and can feel to the more gentle brake of driver, park it is urgent stop stop function again can be with
Help driver it is emergent hinder barrier before, emergency braking further reduces the risk of collision.When the process of parking terminates
Afterwards, display equipment can prompt automatic parking auxiliary to be completed.If recognizing vehicle present position during automatic parking has
Dangerous situation or driver have intervened steering wheel control, and automatic parking will stop.
Panorama provided by the invention merges automated parking system comprising automatic parking in have: level moor into parking stall,
It vertically moors and moors out parking stall into parking stall, oblique moor into parking stall, level, vertically moors out parking stall.
The effect of panorama fusion automated parking system (abbreviation APA system) and EPS system communication is to realize APA to steering system
The control of system.After handshake authentication by APA and EPS, APA sends steering angle, steering angular velocity information, and EPS is according to steering
Information executes go to action.Panorama merges automated parking system and carries out route calculation according to the angular signal that EPS is issued simultaneously, obtains
Actual path is obtained to compare and rectify a deviation with programme path.
Panorama merges automated parking system and the effect that ESC system communicates is the longitudinally controlled of realization vehicle.By APA with
After the handshake authentication of ESC, APA sends target range and target velocity or sends acceleration and deceleration information, and ESC is according to longitudinal direction
It controls information and executes corresponding actions.Panorama fusion automated parking system calculates this garage according to the wheel speed information that ESC is issued simultaneously
The distance sailed obtains actual path and compares and rectify a deviation with programme path.
Panorama merges range information of the automated parking system by ultrasonic listening, stop by ESC and stop, then basis
Path planning switches gear.In general, APA, which controls TCU or VCU by ESC system, executes shift.
Controller is parked when parking according to the two sides vehicle distances and camera detected from vehicle speed, ultrasonic radar
The rear obstacle distance recognized calculates track and the vehicle body appearance of vehicle traveling to the sideway angle by speed and vehicle body
State, positioning vehicle carry out real-time update correction for the relative position between parking position and barrier, to parking path.It parks control
Device processed is scurried out suddenly recognizing rear and occur being uneven or have receiving ultrasonic radar detector and/or camera probe
The control instruction of emergency braking is issued when barrier, and provides alarm warning according to minimum range.When parking path is infeasible,
It parks controller planning path again；Or selected parking position it is infeasible when, re-start parking stall selection.
In one embodiment, when driver needs to park, driver's confirmation is parked, and is arranged in the more of vehicle's surroundings
For a ultrasonic radar detector detection vehicle at a distance from peripheral obstacle, it is parallel space or vertical for carrying out parking position identification
Parking stall carries out preliminary planning when detecting vacancy and parks track.Wherein, it is arranged in the quantity of the ultrasonic radar of vehicle's surroundings
It is separately positioned on for 12 on the left-hand mirror of vehicle front/rear collision bumper and vehicle, on the right rear view mirror of vehicle, ultrasonic radar
It is to play detection obstacles around the vehicle distance, the measurement of vehicle all angles is realized, as long as those skilled in the art thinks
Ultrasonic radar can be arranged to increase the detection of barrier in optimum position, and quantity can also decrease or increase.Confirming
When parking space, controller of parking engage range data and image information calculate the barriers of vehicle two sides away from vehicle body laterally away from
From lateral distance integrates when being greater than first threshold to from the current speed of vehicle, obtains the length in vacancy, the length in vacancy is big
When second threshold, i.e., parking position is successfully obtained, only lateral distance is greater than first threshold and the length in vacancy is greater than the second threshold
Value just has the condition of parking；Wherein image information is taken using camera, and camera is separately positioned on head and is respectively arranged at vehicle
Air-inlet grille on, on the left-hand mirror of vehicle, on the right rear view mirror of vehicle and the exterior bottom of the boot of vehicle, camera
It is to carry out to 360 degree of effects of looking around of vehicle, as long as those skilled in the art thinks that camera can be arranged to increase in optimum position
Add the detection of looking around to vehicle, quantity can also decrease or increase.Controller of parking after confirming parking space passes through distance
Data, image information and to from vehicle posture, carry out real-time update with respect to null position, speed, front wheel angle degree from vehicle and park road
Diameter, while park controller control ESC system, EPS system, TCU or VCU, for receiving control instruction and being carried out to vehicle
Steering, speed change, brake, parking control, to realize that vehicle is travelled according to parking path, complete to park.Vehicle controller on the berth receives
Ultrasonic radar detects the minimum range of minimum range data and camera probe the acquisition vehicle periphery of vehicle and peripheral obstacle
Image information or when recognizing rear and occurring being uneven or having small barrier (pet, the child etc.) to scurry out suddenly, control of parking
Device processed can issue instructions to electronic brake system,electronic antiskid system, start emergency braking immediately, guarantee traffic safety, while aobvious by alarm module
Display screen mark barrier or/and sound are warned.
It can judge whether vacancy meets the condition of parking according to space size when parking is to encounter and newly detect barrier, when
It parks when condition meets, when the condition of parking is infeasible, the controller planning path again of parking；Or selected pool
When parking stall is infeasible, parking stall selection is re-started.
In specific one embodiment, controller 2 of parking searches for parking stall the following steps are included: by ultrasonic distance measurement original
Reason, scanning judge the whether enough vehicles of parking stall space size stop into；Parking stall line or identification object are identified by described image information
The distance between, to judge whether parking stall meets the condition of parking；Parking stall is judged in conjunction with the range data and described image information
Information, to parking stall carry out comprehensive descision.
The present invention also provides a kind of panoramas to merge automatic parking method, as shown in Figure 2, comprising the following steps:
S1, activation panorama merge automated parking system, search for parking stall；
S2 judges parking stall type in conjunction with the range data and image information measured；
S3, according to the range data and image information measured, dynamic adjusts the parking path of vehicle；
S4 controls traveling, braking and the speed of vehicle by automobile electronic stabilization system；Pass through electronic power assist steering system
Control the steering of vehicle；The gear of vehicle is controlled by automatic gear-box control unit or vehicle control unit of electric vehicle.
Specifically, in parking process, ultrasonic radar detector (11,12) and/or camera probe 13 recognize vehicle
The dangerous situation in present position or driver have intervened steering wheel control, and panorama merges automated parking system and stops activation.It is on the berth
During vehicle, panorama merges automated parking system and configures promising comfort brake stop mode and urgent brake stop mode.Comfort brake is stopped
Under mode, the distance that ESC system meeting regulation speed slowly declines and parks is stopped with providing a kind of brake of comfort, can be driven
The more gentle brake of the person of sailing is felt.Under urgent brake stop mode, ESC system is meeting emergency situations, for example recognizes rear and go out
When being now uneven or having small barrier (pet, the child etc.) to scurry out suddenly, meeting regulation speed emergency deceleration, emergency braking,
To further reduce the risk of collision.
A kind of panorama provided by the invention merges automated parking system, by ultrasonic radar and camera in controller of parking
Information collected is calculated, and the two has complementary advantages, the environmental system database that is identified of extreme enrichment, is enhanced automatic
Parking system overcomes image processing techniques obstacle recognition inaccuracy and ultrasonic sensor to the sensing capability of true environment
The problems such as only parking position of parking stall line cannot be detected.
A kind of panorama of the invention merges automated parking system, and controller of parking controls vehicle control module and realizes automatic pool
Vehicle function using multisensor recognition mode, and then is more enriched accurate environmental information, enhances the robustness of system,
Guarantee the convenience and comfort that driver uses.
A kind of panorama fusion automated parking system of invention while the information of acquisition camera and ultrasonic radar, to parking stall
Redundancy recognition is carried out, to identify the parking stall of more scenes, and improves the precision of identification.Using+12 ultrasonic waves of 1 controller
+ 4 camera compositions of sensor.In conjunction with the advantage of camera and ultrasonic radar respectively, the precision of parking stall is improved, raising is parked
Reliability, increase the application of scene.A kind of panorama fusion automated parking system of invention integrates the controller of two schemes
At a controller, the arrangement space of a controller is reduced, reduces cost.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (10)
1. a kind of panorama merges automated parking system characterized by comprising information acquisition module, controller of parking, vehicle control
Molding block；
The information acquisition module includes the multiple ultrasonic radar detectors and multiple camera probes for being arranged in vehicle's surroundings, institute
Ultrasonic radar detector is stated for acquiring the range data of vehicle and peripheral obstacle, and the range data is sent to institute
Controller of parking is stated, the camera probe is used to acquire the image information of the vehicle periphery, and described image information is transmitted
To the controller of parking；
The controller of parking, for receiving the range data and described image information, in conjunction with from vehicle acquisition of information parking position,
Redundancy recognition is carried out to parking stall, and parking path is corrected in planning in real time, sends control instruction control vehicle control module according to institute
Parking path traveling is stated, is parked；
The vehicle control module includes that automobile electronic stabilization system, electronic power assist steering system and automatic gear-box control are single
Member or vehicle control unit of electric vehicle, for receiving the control instruction and being turned to vehicle, speed change, brake, parking
Control, travels vehicle according to the parking path, completes to park.
2. panorama according to claim 1 merges automated parking system, which is characterized in that the controller of parking is configured to
The range data and described image information are received, is worked as in conjunction with from vehicle current driving speed and the vehicle obtained from steering system
Preceding front wheel slip angle calculates and comes from the current theoretical body gesture of vehicle, and calculates the size and type of parking stall existing for surrounding, with vehicle
Body size compares and analyzes, and judges parking stall type, plans the parking path, sends the control instruction and controls the vehicle
Control module is travelled according to the parking path, is parked.
3. panorama according to claim 1 merges automated parking system, which is characterized in that the controller configuration of parking
Are as follows:
By ultrasonic distance measurement principle, scanning judge the whether enough vehicles of parking stall space size stop into；Pass through described image information
The distance between parking stall line or identification object are identified, to judge whether parking stall meets the condition of parking；In conjunction with the range data and
Described image information judges the information of parking stall, carries out comprehensive descision to parking stall.
4. panorama according to claim 1 merges automated parking system, which is characterized in that control of parking described in when parking
Device is configured to the rear obstacle recognized according to the two sides vehicle distances and camera that detect from vehicle speed, ultrasonic radar
Distance carries out real-time update correction to the parking path.
5. panorama according to claim 1 merges automated parking system, which is characterized in that when parking, the control of parking
Device processed is configured to determine the relative position of barrier and parking position and vehicle according to the range data and described image information, and
Track and the body gesture that vehicle traveling is calculated by the sideway angle of speed and vehicle body, position vehicle for parking position and barrier
Hinder the relative position between object.
6. panorama according to claim 1 merges automated parking system, which is characterized in that in parking process, the pool
Vehicle controller is configured to, when encounter the parking path it is infeasible when, planning path again；When selected parking position is infeasible
When, re-start parking stall selection.
7. panorama according to claim 1 merges automated parking system, which is characterized in that the controller of parking also configures
To occur being uneven or having suddenly recognizing rear receiving the ultrasonic radar detector and/or the camera probe
The control instruction of emergency braking is issued when the barrier scurried out.
8. a kind of panorama merges automatic parking method, which comprises the following steps:
It activates panorama to merge automated parking system, searches for parking stall；
In conjunction with the range data and image information measured, parking stall type is judged；
According to the range data and image information measured, the parking path of vehicle is planned and dynamically adjusted；
Traveling, braking and the speed that vehicle is controlled by automobile electronic stabilization system control vehicle by electronic power assist steering system
Steering, the gear of vehicle is controlled by automatic gear-box control unit or vehicle control unit of electric vehicle, makes the vehicle
According to the parking path travel, park.
9. panorama according to claim 8 merges automatic parking method, which is characterized in that in parking process is described super
When sound radar detector and/or the camera probe recognize the dangerous situation in vehicle present position or driver intervenes
When steering wheel controls, the panorama fusion automated parking system stops activation.
10. panorama according to claim 8 merges automatic parking method, which is characterized in that in parking process is described complete
Scape merges automated parking system and configures promising comfort brake stop mode and urgent brake stop mode.
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| CN201810917972.5A CN108928343A (en) | 2018-08-13 | 2018-08-13 | A kind of panorama fusion automated parking system and method |
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Application publication date: 20181204 |