CN109591809B - Automatic parking method based on electromagnetic tracking and multi-sensor fusion - Google Patents
Automatic parking method based on electromagnetic tracking and multi-sensor fusion Download PDFInfo
- Publication number
- CN109591809B CN109591809B CN201811316148.0A CN201811316148A CN109591809B CN 109591809 B CN109591809 B CN 109591809B CN 201811316148 A CN201811316148 A CN 201811316148A CN 109591809 B CN109591809 B CN 109591809B
- Authority
- CN
- China
- Prior art keywords
- parking
- vehicle
- parking space
- personal computer
- industrial personal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000004927 fusion Effects 0.000 title claims abstract description 15
- 230000004907 flux Effects 0.000 claims description 18
- 238000003745 diagnosis Methods 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 3
- 101001093748 Homo sapiens Phosphatidylinositol N-acetylglucosaminyltransferase subunit P Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Devices For Checking Fares Or Tickets At Control Points (AREA)
Abstract
The invention discloses an automatic parking method based on the fusion of electromagnetic tracking and multiple sensors, which comprises the following steps: step 1, dividing parking spaces of a parking lot, and numbering the parking spaces according to a certain rule; step 2, allocating parking spaces; step 3, automatic parking; and 4, when the vehicle needs to leave the parking lot, the vehicle is delivered out of the parking lot in a magnetic wire tracking mode. The automatic parking system can allocate parking spaces with different sizes according to vehicle types, and starts timing when the vehicle enters a parking lot to finish automatic parking. The charging standards are also distinguished due to different occupied areas, and the fairness is realized.
Description
Technical Field
The invention relates to an automatic parking method, in particular to an automatic parking method based on the fusion of electromagnetic tracking and multiple sensors.
Background
Because urban land resources are limited, most parking lots are arranged underground, parking places are difficult to find and time-consuming, and parking is difficult or wasted due to nonstandard parking.
The automatic parking can greatly reduce the difficulty of parking the vehicle by a driver, shorten the parking time and improve the safety of the parking process. The automatic parking system can promote the development of the intelligent internet automobile, but most of the existing automatic parking technologies stay at a theoretical level, and the whole set of automatic parking equipment is expensive to install and has higher cost.
Chinese patent with application number 201711280759.X and application date 2017-12-06 discloses an automatic parking system and an automatic parking method, the automatic parking system comprising: a smart key identification processor that identifies a smart key located within a first area; a sensor unit that acquires an image around the host vehicle if the smart key is recognized, converts the acquired image into an external image, and synthesizes the external image; a parking space recognition sensor periodically receiving the external images and sequentially comparing the continuous external images using an image recognition technique to recognize a parking area; and a controller that calculates a movement path between a current position of the host vehicle and an optimal parking area among the parking areas, and controls the host vehicle based on the movement path, wherein the parking space recognition sensor detects the parking area in consideration of a length and a width of the host vehicle. The method does not relate to a path planning method from an entrance of a parking lot to a parking space, meanwhile, the cost is relatively high, and the whole planned path is not provided with deviation rectification, so that the parking accuracy is influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an automatic parking method based on the fusion of electromagnetic tracking and multiple sensors, which improves the efficiency of automatic parking and the accuracy of parking.
The invention is realized by the following technical scheme:
the automatic parking method based on the fusion of electromagnetic tracking and multiple sensors comprises the following steps:
step 1, dividing parking spaces of a parking lot, and numbering the parking spaces according to a certain rule;
(1) updating the information of the rest parking spaces in real time through a parking space monitoring system arranged in the parking lot for the allocation of newly entered vehicles;
(2) for a vehicle provided with an OBU, acquiring vehicle information and allocating an empty parking space of a corresponding vehicle type by adopting an ETC system installed at an entrance of a parking lot, and for a vehicle not provided with the OBU, acquiring vehicle information of a newly-entered vehicle in an autonomous registration mode of an owner and allocating an empty parking space of a corresponding vehicle type; for the vehicle with the registered vehicle type information, identifying the license plate number through a camera at a parking lot barrier gate when parking again, automatically matching the stored information, finding out the vehicle type and distributing the empty parking space with the corresponding vehicle type size;
step 3, automatic parking:
(1) after the parking spaces are distributed, when the barrier bars of the parking lot barrier are opened, the power supply is automatically switched on, magnetic wires laid from the entrance of the parking lot to the positions below the corresponding parking space road surface are electrified to generate a magnetic field, and timing is started;
(2) the vehicle identifies the position of a magnet wire through electromagnetic inductors symmetrically arranged on the left side and the right side of a vehicle body and transmits a collected magnetic flux signal to an industrial personal computer arranged outside the vehicle, the industrial personal computer compares the magnetic flux signal with a set threshold value, if the magnetic flux signal is greater than the set threshold value, the industrial personal computer outputs a vehicle driving control signal to a CAN bus through a vehicle-mounted automatic diagnosis system, controls a vehicle execution mechanism to reach the position near a parking space along the wire laying direction, and stops a magnet wire navigation mode when reaching a preset point near the parking space;
(3) the method comprises the following steps of performing multi-sensor information fusion by using a fuzzy reasoning method, judging a parking position and planning a driving path for backing and warehousing, wherein the specific process comprises the following steps:
(a) the distance measurement is carried out through four ultrasonic sensors arranged at the front side, the rear side and the two sides of the vehicle body, and under the condition that vehicles are parked at the two sides of the parking space, the distance between the target parking space and the vehicles at the two sides is obtained through detection;
(b) the method comprises the steps that parking space image information is obtained through an image sensor arranged behind a vehicle, the image sensor transmits the parking space image information to an industrial personal computer, and the industrial personal computer performs filtering and Hough transformation on an image and converts an image coordinate system and a vehicle body coordinate system to obtain the shape and coordinate information of a parking space;
(c) determining parking spaces according to the acquired parking space direction types (vertical or horizontal parking spaces) and the coordinate information through a fuzzy reasoning method and planning paths;
(d) after the path planning is finished, the industrial personal computer outputs vehicle starting and decision control signals to the CAN bus through the vehicle-mounted automatic diagnosis system so as to control the actuating mechanism to start backing and warehousing; carrying out path tracking in the process of backing and warehousing, wherein the path tracking comprises the following specific steps: the method comprises the steps that heading angle information of a vehicle is obtained through a geomagnetic sensor installed in the vehicle and is transmitted to an industrial personal computer, the industrial personal computer calculates the deviation of the heading angle of the vehicle through an expected angle value of track planning and a vehicle angle value measured by the geomagnetic sensor, and the deviation of the heading angle of the vehicle is corrected through an active disturbance rejection controller designed in the industrial personal computer;
and 4, when the vehicle needs to leave the parking lot, the vehicle is delivered out of the parking lot in a magnetic wire tracking mode, and the method specifically comprises the following steps:
(a) when the parking space monitoring system detects that the parking space is vacant, outputting a parking space vacant signal to the industrial personal computer, and outputting a power-on signal to the magnetic wire control system by the industrial personal computer according to the received parking space vacant signal to control the magnetic wire to be powered on;
(b) the electromagnetic inductor transmits the collected magnetic flux signal to the industrial personal computer, the industrial personal computer compares the magnetic flux signal with a set threshold value, if the magnetic flux signal is greater than the set threshold value, the industrial personal computer outputs a vehicle starting control signal to the CAN bus through the vehicle-mounted automatic diagnosis system, controls a vehicle actuating mechanism to leave the parking lot along the laid magnetic wire, obtains parking time and the corresponding parking space size through recognizing the license plate again at an outlet, automatically calculates the parking fee to be paid and prompts a vehicle owner to pay by oneself.
The invention has the beneficial effects that:
the automatic parking system can allocate parking spaces with different sizes according to vehicle types, and starts to time when the vehicle enters the parking lot.
②, the automatic parking system firstly guides the vehicle to reach the position near the parking space in a magnetic wire tracking mode, and then realizes path planning and tracking by combining a multi-sensor fusion mode to finish automatic parking.
the automatic parking system can finish timing and calculate corresponding cost to prompt the user to pay by oneself when the user leaves.
Drawings
FIG. 1 is a flow chart of an automatic parking method provided by the present invention;
FIG. 2 is a schematic diagram of a parking space sensing method of an automatic parking method according to the present invention;
fig. 3 is a mounting structure of an electromagnetic inductor in an automatic parking method according to the present invention.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
As shown in the attached drawings, the automatic parking method based on the fusion of the electromagnetic tracking and the multiple sensors comprises the following steps:
step 1, dividing parking spaces of a parking lot, and numbering the parking spaces according to a certain rule;
as an embodiment of the present invention, a parking lot division method includes: the parking lot is divided into at least two areas, the parking spaces in the same area are the same in size, parking spaces in different sizes are arranged among different areas due to vehicle type differences, parking spaces in different areas such as small vehicles, medium vehicles, large vehicles, SUVs and the like are allocated, and the parking spaces in the areas are numbered in a clockwise sequence.
(1) updating the information of the rest parking spaces in real time through a parking space monitoring system arranged in the parking lot for the allocation of newly entered vehicles;
(2) the ETC system installed at the entrance of the parking lot is adopted for a vehicle provided with the on-board unit (OBU) (the Road Side Unit (RSU) is installed at the entrance of the parking lot, a special short-range communication technology (DSRC) is adopted, and the vehicle is communicated with a vehicle provided with the on-board unit (OBU) in the vehicle), vehicle information is obtained, and an empty parking space of a corresponding vehicle type is distributed. And for the vehicle without the OBU, acquiring the vehicle information of the newly-entered vehicle in an owner autonomous registration mode and distributing the empty parking space of the corresponding vehicle type. For the vehicle with the registered vehicle type information, identifying the license plate number through a camera at a parking lot barrier gate when parking again, automatically matching the stored information, finding out the vehicle type and distributing the empty parking space with the corresponding vehicle type size;
step 3, automatic parking:
(1) after the parking spaces are distributed, when the barrier gates of the parking lot are opened, the power supply is automatically switched on, magnetic wires laid from the entrance of the parking lot to the positions below the corresponding road surface are electrified to generate a magnetic field, timing is started, and 20MHz/100mA alternating current can be introduced into the wires to generate the magnetic field.
(2) The vehicle recognizes the position of a magnet wire through electromagnetic inductors 1 symmetrically arranged on the left side and the right side of a vehicle body and transmits a collected magnetic flux signal to an industrial personal computer arranged outside the vehicle, the industrial personal computer compares the magnetic flux signal with a set threshold value, if the magnetic flux signal is greater than the set threshold value, the industrial personal computer outputs a vehicle driving control signal to a CAN bus through a vehicle-mounted automatic diagnosis system, controls a vehicle execution mechanism to reach the position near a parking space along the wire laying direction, and stops the magnet wire navigation mode when reaching a preset point near the parking space; as shown in fig. 3, the electromagnetic inductor 1 is mounted on the vehicle body via a bracket 2.
The stop magnet wire navigation mode may be: and at a preset point, combining a section of conducting wire with opposite current to enable the magnetic fields to be mutually offset, or suddenly increasing or reducing the magnetic fields by multiple times to end the magnetic wire tracking process.
(3) The method comprises the following steps of performing multi-sensor information fusion by using a fuzzy reasoning method, judging a parking position and planning a driving path for backing and warehousing, wherein the specific process comprises the following steps:
(a) the distance measurement is carried out through four ultrasonic sensors arranged at the front side, the rear side and the two sides of the vehicle body, and under the condition that vehicles are parked at the two sides of the parking space, the distance between the target parking space and the vehicles at the two sides is obtained through detection;
(b) the method comprises the steps that parking space image information is obtained through an image sensor arranged behind a vehicle, the image sensor transmits the parking space image information to an industrial personal computer, and the industrial personal computer performs filtering and Hough transformation on an image and converts an image coordinate system and a vehicle body coordinate system to obtain the shape and coordinate information of a parking space;
(c) determining parking spaces according to the acquired parking space direction types (vertical or horizontal parking spaces) and the coordinate information through a fuzzy reasoning method and planning paths;
(d) after the path planning is finished, the industrial personal computer outputs vehicle starting and decision control signals to the CAN bus through the vehicle-mounted automatic diagnosis system so as to control the actuating mechanism to start backing and warehousing; carrying out path tracking in the process of backing and warehousing, wherein the path tracking comprises the following specific steps: the method comprises the steps that heading angle information of a vehicle is obtained through a geomagnetic sensor installed in the vehicle and is transmitted to an industrial personal computer, the industrial personal computer subtracts an expected angle value of track planning and a vehicle angle value obtained through measurement of the geomagnetic sensor to obtain deviation of a vehicle heading angle, and the deviation of the vehicle heading angle is corrected through an active disturbance rejection controller designed in the industrial personal computer;
in the path tracking process, an active disturbance rejection controller is adopted to carry out real-time deviation correction, and the accurate path tracking effect is achieved. The design of the active-disturbance-rejection controller can be described in detail in chapter five of active-disturbance-rejection control technology (han jingqing) published by national defense industry publishing house in 2008.
And 4, when the vehicle needs to leave the parking lot, the vehicle is delivered out of the parking lot in a magnetic wire tracking mode, and the method specifically comprises the following steps:
(a) when the parking space monitoring system detects that the parking space is vacant, outputting a parking space vacant signal to the industrial personal computer, and outputting a power-on signal to the magnetic wire control system by the industrial personal computer according to the received parking space vacant signal to control the magnetic wire to be powered on;
(b) the electromagnetic inductor transmits the collected magnetic flux signal to the industrial personal computer, the industrial personal computer compares the magnetic flux signal with a set threshold value, if the magnetic flux signal is greater than the set threshold value, the industrial personal computer outputs a vehicle starting control signal to the CAN bus through the vehicle-mounted automatic diagnosis system, controls a vehicle actuating mechanism to leave the parking lot along the laid magnetic wire, obtains parking time and the corresponding parking space size through recognizing the license plate again at an outlet, automatically calculates the parking fee to be paid and prompts a vehicle owner to pay by oneself. The charging of the parking fee in unit time is determined by different occupied areas, so that the fairness of charging of the user is ensured.
Although the invention has been described in connection with the drawings for purposes of illustration, it is not intended to be limited to the specific embodiments described, and the drawings show only one embodiment of the invention, and are not intended to be limiting, since numerous changes may be made and equivalents will be apparent to those skilled in the art without departing from the spirit and scope of the invention, and it is intended that all such changes and modifications be covered by the invention.
Claims (4)
1. The automatic parking method based on the fusion of the electromagnetic tracking and the multiple sensors is characterized by comprising the following steps of:
step 1, dividing parking spaces of a parking lot, and numbering the parking spaces according to a certain rule;
step 2, allocating parking spaces:
(1) updating the information of the rest parking spaces in real time through a parking space monitoring system arranged in the parking lot for the allocation of newly entered vehicles;
(2) for a vehicle provided with an OBU, acquiring vehicle information and allocating an empty parking space of a corresponding vehicle type by adopting an ETC system installed at an entrance of a parking lot, and for a vehicle not provided with the OBU, acquiring vehicle information of a newly-entered vehicle in an autonomous registration mode of an owner and allocating an empty parking space of a corresponding vehicle type; for the vehicle with the registered vehicle type information, identifying the license plate number through a camera at a parking lot barrier gate when parking again, automatically matching the stored information, finding out the vehicle type and distributing the empty parking space with the corresponding vehicle type size;
step 3, automatic parking:
(1) after the parking spaces are distributed, when the barrier bars of the parking lot barrier are opened, the power supply is automatically switched on, magnetic wires laid from the entrance of the parking lot to the positions below the corresponding parking space road surface are electrified to generate a magnetic field, and timing is started;
(2) the vehicle identifies the position of a magnet wire through electromagnetic inductors symmetrically arranged on the left side and the right side of a vehicle body and transmits a collected magnetic flux signal to an industrial personal computer arranged outside the vehicle, the industrial personal computer compares the magnetic flux signal with a set threshold value, if the magnetic flux signal is greater than the set threshold value, the industrial personal computer outputs a vehicle driving control signal to a CAN bus through a vehicle-mounted automatic diagnosis system, controls a vehicle execution mechanism to reach the position near a parking space along the wire laying direction, and stops a magnet wire navigation mode when reaching a preset point near the parking space;
(3) the method comprises the following steps of performing multi-sensor information fusion by using a fuzzy reasoning method, judging a parking position and planning a driving path for backing and warehousing, wherein the specific process comprises the following steps:
(a) the distance measurement is carried out through four ultrasonic sensors arranged at the front side, the rear side and the two sides of the vehicle body, and under the condition that vehicles are parked at the two sides of the parking space, the distance between the target parking space and the vehicles at the two sides is obtained through detection;
(b) the method comprises the steps that parking space image information is obtained through an image sensor arranged behind a vehicle, the image sensor transmits the parking space image information to an industrial personal computer, and the industrial personal computer performs filtering and Hough transformation on an image and converts an image coordinate system and a vehicle body coordinate system to obtain the shape and coordinate information of a parking space;
(c) determining a parking space according to the acquired parking space direction type and the coordinate information through a fuzzy reasoning method and planning a path;
(d) after the path planning is finished, the industrial personal computer outputs vehicle starting and decision control signals to the CAN bus through the vehicle-mounted automatic diagnosis system so as to control the actuating mechanism to start backing and warehousing; carrying out path tracking in the process of backing and warehousing, wherein the path tracking comprises the following specific steps: the method comprises the steps that heading angle information of a vehicle is obtained through a geomagnetic sensor installed in the vehicle and is transmitted to an industrial personal computer, the industrial personal computer calculates the deviation of the heading angle of the vehicle through an expected angle value of track planning and a vehicle angle value measured by the geomagnetic sensor, and the deviation of the heading angle of the vehicle is corrected through an active disturbance rejection controller designed in the industrial personal computer;
and 4, when the vehicle needs to leave the parking lot, the vehicle is delivered out of the parking lot in a magnetic wire tracking mode, and the method specifically comprises the following steps:
(a) when the parking space monitoring system detects that the parking space is vacant, outputting a parking space vacant signal to the industrial personal computer, and outputting a power-on signal to the magnetic wire control system by the industrial personal computer according to the received parking space vacant signal to control the magnetic wire to be powered on;
(b) the electromagnetic inductor transmits the collected magnetic flux signal to the industrial personal computer, the industrial personal computer compares the magnetic flux signal with a set threshold value, if the magnetic flux signal is greater than the set threshold value, the industrial personal computer outputs a vehicle starting control signal to the CAN bus through the vehicle-mounted automatic diagnosis system, controls a vehicle actuating mechanism to leave the parking lot along the laid magnetic wire, obtains parking time and the corresponding parking space size through recognizing the license plate again at an outlet, automatically calculates the parking fee to be paid and prompts a vehicle owner to pay by oneself.
2. The automatic parking method based on the fusion of the electromagnetic tracking and the multiple sensors as claimed in claim 1, wherein the parking lot division method comprises the following steps: the parking lot is divided into at least two areas, the sizes of the parking spaces in the same area are the same, the parking spaces in different areas are set according to the vehicle type difference, and the parking spaces in the areas are numbered according to the clockwise sequence.
3. The automatic parking method based on the fusion of the electromagnetic tracking and the multiple sensors as claimed in claim 1 or 2, characterized in that the magnetic wire navigation stopping mode is as follows: and a section of conducting wire with opposite current is adopted at a preset point to combine so that the magnetic fields can be mutually counteracted.
4. The automatic parking method based on the fusion of electromagnetic tracking and multiple sensors according to claim 3, characterized in that: the parking fee per unit time is charged according to the difference of the occupied area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811316148.0A CN109591809B (en) | 2018-11-07 | 2018-11-07 | Automatic parking method based on electromagnetic tracking and multi-sensor fusion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811316148.0A CN109591809B (en) | 2018-11-07 | 2018-11-07 | Automatic parking method based on electromagnetic tracking and multi-sensor fusion |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109591809A CN109591809A (en) | 2019-04-09 |
| CN109591809B true CN109591809B (en) | 2020-05-19 |
Family
ID=65957839
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811316148.0A Expired - Fee Related CN109591809B (en) | 2018-11-07 | 2018-11-07 | Automatic parking method based on electromagnetic tracking and multi-sensor fusion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109591809B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112133122A (en) * | 2019-06-25 | 2020-12-25 | 上海擎感智能科技有限公司 | Parking lot for automatic parking |
| CN113799765A (en) * | 2020-06-17 | 2021-12-17 | 观致汽车有限公司 | Automatic parking method and system |
| CN113665564B (en) * | 2021-08-10 | 2023-04-18 | 东风汽车集团股份有限公司 | Magnetic track memory parking method and system |
| CN113792796A (en) * | 2021-09-16 | 2021-12-14 | 厦门科拓通讯技术股份有限公司 | Method and device for matching approach vehicle information, server and storage medium |
| CN114913708B (en) * | 2022-07-18 | 2022-10-28 | 深圳市华睿智兴信息科技有限公司 | Parking path guiding system and method for intelligent parking lot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105946853A (en) * | 2016-04-28 | 2016-09-21 | 中山大学 | Long-distance automatic parking system and method based on multi-sensor fusion |
| CN106981215A (en) * | 2017-03-23 | 2017-07-25 | 北京联合大学 | A kind of automatic parking parking stall bootstrap technique of multi sensor combination formula |
| WO2018127365A1 (en) * | 2017-01-03 | 2018-07-12 | Connaught Electronics Ltd. | Method for assisting a driver of a motor vehicle when parking using a driver assistance device, corresponding computer program product and driver assistance device |
| CN108399784A (en) * | 2018-03-07 | 2018-08-14 | 京东方科技集团股份有限公司 | Parking lot automobile navigation method and its device, parking lot Vehicular navigation system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8290703B2 (en) * | 2008-01-18 | 2012-10-16 | Mitac International Corporation | Method and apparatus for access point recording using a position device |
-
2018
- 2018-11-07 CN CN201811316148.0A patent/CN109591809B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105946853A (en) * | 2016-04-28 | 2016-09-21 | 中山大学 | Long-distance automatic parking system and method based on multi-sensor fusion |
| WO2018127365A1 (en) * | 2017-01-03 | 2018-07-12 | Connaught Electronics Ltd. | Method for assisting a driver of a motor vehicle when parking using a driver assistance device, corresponding computer program product and driver assistance device |
| CN106981215A (en) * | 2017-03-23 | 2017-07-25 | 北京联合大学 | A kind of automatic parking parking stall bootstrap technique of multi sensor combination formula |
| CN108399784A (en) * | 2018-03-07 | 2018-08-14 | 京东方科技集团股份有限公司 | Parking lot automobile navigation method and its device, parking lot Vehicular navigation system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109591809A (en) | 2019-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109591809B (en) | Automatic parking method based on electromagnetic tracking and multi-sensor fusion | |
| CN108437986B (en) | Vehicle driving assistance system and assistance method | |
| WO2019214163A1 (en) | Valet parking method and device | |
| CN106327911B (en) | A kind of intelligent parking control system for parking lot | |
| CN101350109B (en) | Method for locating and controlling multilane free flow video vehicle | |
| CN105270410B (en) | Exact curvature algorithm for estimating for the path planning of autonomous land vehicle | |
| CN111712420B (en) | Vehicle control system, vehicle control method, and storage medium | |
| CN108121345A (en) | A kind of parking stall addressing system and method suitable for parking lot | |
| CN113223326B (en) | Multi-vehicle multi-control multi-source low-speed auxiliary parking system based on road side | |
| CN109615927A (en) | A kind of underground parking valet parking control system and method based on V2X | |
| CN106157687A (en) | A kind of parking management method and system | |
| CN111391693B (en) | Management control system based on electric automobile parking charging and control method thereof | |
| CN209433561U (en) | A kind of vehicle identification system of sensing linkage | |
| US20180268694A1 (en) | System and method for identifying an occupancy status of parking facilities | |
| CN109191598A (en) | Parking space management system and its management method | |
| US11840215B2 (en) | Automated valet parking system | |
| US11787395B2 (en) | Automated valet parking system | |
| CN110473425A (en) | Method, parking charging method and the relevant device of parking management | |
| CN111951566A (en) | Vehicle control system, vehicle control method, and storage medium | |
| CN111319631A (en) | Vehicle control device and vehicle control method | |
| CN111415525A (en) | Unmanned parking system based on automatic passenger-replacing parking technology | |
| CN113436361A (en) | Roadside berth management system based on unmanned inspection vehicle | |
| CN109144042B (en) | Method and device for controlling the travel of a vehicle in a toll gate area | |
| CN206097506U (en) | All -weather unmanned on duty parking area system | |
| US20190066502A1 (en) | Method and system for assisting vehicle parking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Room 12-17, Block B, New City Center, No. 3 Wanhua Road, Zhongbei Town, Xiqing District, Tianjin Applicant after: Sinotruk data (Tianjin) Co.,Ltd. Address before: Room 12-17, Block B, New City Center, No. 3 Wanhua Road, Zhongbei Town, Xiqing District, Tianjin Applicant before: TIANJIN KADAKE DATA Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200519 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |