CN111055838A - Full-automatic parking control system based on sensor fusion and control method thereof - Google Patents
Full-automatic parking control system based on sensor fusion and control method thereof Download PDFInfo
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- CN111055838A CN111055838A CN201910974916.XA CN201910974916A CN111055838A CN 111055838 A CN111055838 A CN 111055838A CN 201910974916 A CN201910974916 A CN 201910974916A CN 111055838 A CN111055838 A CN 111055838A
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- 230000004927 fusion Effects 0.000 title claims abstract description 13
- 238000000034 method Methods 0.000 title claims description 9
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 230000003993 interaction Effects 0.000 claims abstract description 4
- 230000004913 activation Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 1
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process 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
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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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to a full-automatic parking control system based on sensor fusion, which consists of an automatic parking system and a panoramic image system, wherein the automatic parking system comprises a long-distance ultrasonic radar sensor, a short-distance radar sensor and an APA control unit, the panoramic image system comprises a high-definition wide-angle camera and an AVM control unit, the AVM control unit is used as a master control, the APA control unit is used as a slave control, the long-distance ultrasonic radar sensor is used for searching parking spaces, the short-distance radar sensor is used for detecting obstacle distance and giving an alarm, the high-definition wide-angle camera is used for detecting a parking space line and displaying images, searching proper parking spaces or ground parking space marks between parked vehicles, sending detection signals to CAN network interaction information of the whole vehicle, automatically or manually determining a target parking space according to the selection of a driver, the automatic parking system calculates an automatic parking track and sends transverse, and guiding the vehicle to park at the target parking position through coordination control of steering wheel turning angle, gear, accelerator and brake.
Description
The technical field is as follows:
the invention relates to an automobile driving auxiliary system, in particular to a full-automatic parking control system based on sensor fusion and a control method thereof.
Background art:
with the maturity and application of ADAS vehicle technology, more and more technological configurations have become popular. Automated parking techniques help address some of the parking and traffic problems in densely populated urban areas. At present, a common full-automatic parking system (APA) in mountains in the market searches the surrounding environment of a vehicle through 12 ultrasonic radar sensors, searches for appropriate parking spaces among other parked vehicles or ground parking space marks (such as a parking space line and the like), automatically or manually determines a target parking space according to the selection of a driver, calculates an automatic parking track through the automatic parking system, and sends a transverse and longitudinal movement control command to guide the vehicle to park at the target parking position and meet a certain position precision requirement.
The automatic parking control system on the market at present has the following problems:
1. automatic parking control of a space parking space, i.e. a space parking space in which reference vehicles are located on both sides of a target parking space, can only be achieved.
2. The parking space recognition system is limited to horizontal and vertical parking spaces, and cannot recognize parking spaces on the parking space line and the inclined parking spaces.
3. The parking scene is single, the practicability is poor, and the user experience is not enough.
The reason for this is that: the working principle of the ultrasonic radar sensor is that the distance between a transmitting point and an obstacle is calculated through an algorithm by timing the time required for the transmitted ultrasonic waves to meet the obstacle and reflect back. Although this feature is a distance that can accurately detect an obstacle, it also has a limitation that only an obstacle can be detected. Therefore, such automatic parking systems cannot complete automatic parking in a parking space without a reference vehicle.
The invention content is as follows:
the invention provides a full-automatic parking control system based on sensor fusion and a control method thereof to solve the problems in the prior art.
The invention adopts the following technical scheme: a full-automatic parking control system based on sensor fusion is composed of an automatic parking system and a panoramic image system, wherein the automatic parking system comprises a long-distance ultrasonic radar sensor, a short-distance radar sensor and an APA control unit, the panoramic image system comprises a high-definition wide-angle camera and an AVM control unit, the AVM control unit is used as a master control unit, the APA control unit is used as a slave control unit, the long-distance ultrasonic radar sensor is used for searching parking spaces, the short-distance radar sensor is used for detecting barrier distance and giving an alarm, the high-definition wide-angle camera is used for detecting a parking space line and displaying an image, searching a proper parking space or a ground parking space mark between parked vehicles, sending detection signals to CAN network interaction information of the whole vehicle, automatically or manually determining a target parking space according to the selection of a driver, and the automatic parking system determines the target parking space according, And calculating an automatic parking track according to the information of the vehicle speed, the wheel speed and the yaw angle, sending a transverse and longitudinal motion control command, and guiding the vehicle to park at a target parking position by controlling the steering wheel corner, the gear, the accelerator and the brake in a coordinated manner.
The invention also adopts the following technical scheme: a control method of a full-automatic parking control system based on sensor fusion comprises the following steps:
1) activation system
After the automobile enters a parking area, the automobile slowly runs, and the automatic parking system is manually started or automatically started according to the speed of the automobile;
2) parking space detection
The vehicle-mounted sensor is used for acquiring environmental information, then the long-distance ultrasonic radar sensor and the short-distance radar sensor are used for identifying the parking space, and the high-definition wide-angle camera is used for identifying the parking space of the parking space;
3) path planning
According to the acquired parking space information, the APA control unit models the automobile and the environment and calculates a path which can enable the automobile to safely park in the parking space;
4) path tracking
And the automobile tracks a pre-planned parking path through the coordination control of steering wheel turning angle, accelerator and brake, and is parked and warehoused.
The invention has the following beneficial effects: the full-automatic parking system (APA) and the AVM are fused, so that the recognition capability of the automatic parking system is greatly improved, parking spaces which cannot be recognized by the ultrasonic radar and are formed by parking space lines and inclined parking spaces which cannot be recognized by the ultrasonic radar easily can be directly recognized by the camera, the user experience quality is improved while parking scenes are increased, and the automatic parking is carried out by enabling the user to manually select an empty area which cannot be recognized by the system on an AVM interface as a target parking space.
The specific implementation mode is as follows:
the invention relates to a full-automatic parking control system based on sensor fusion, which consists of an automatic parking system (APA) and a panoramic image system (AVM), wherein the APA comprises a long-distance ultrasonic radar sensor (APA sensor), a short-distance radar sensor (PDC sensor) and an APA control unit, the panoramic image system (AVM) comprises a high-definition wide-angle camera and an AVM control unit, the AVM control unit is used as a master control, and the APA control unit is used as a slave control. The long-distance ultrasonic radar sensor is used for searching parking spaces, the short-distance radar sensor is used for detecting obstacle distance and giving an alarm, the high-definition wide-angle camera is used for detecting a parking space line and displaying images, searching for a proper parking space between parked vehicles or a ground parking space mark (such as a parking space line) and sending detection signals to the whole vehicle CAN network interaction information, automatically or manually determining a target parking space according to the selection of a driver, the automatic parking system calculates an automatic parking track according to information such as gears, vehicle speed, wheel speed and yaw angle and sends a transverse and longitudinal movement control command, and the vehicle is guided to park at the target parking position by controlling the steering wheel corner, the right door and brake coordination control, so that automatic parking and warehousing are realized.
The invention relates to a control method of a full-automatic parking control system based on sensor fusion, which comprises the following steps:
1) activation system
After the automobile enters a parking area, the automobile slowly runs, and the automatic parking system is manually started or automatically started according to the speed of the automobile;
2) parking space detection
Environmental information is obtained through the vehicle-mounted sensor, and then the long-distance ultrasonic radar sensor and the short-distance radar sensor reach the space of the identified parking space, and the high-definition wide-angle camera identifies the parking space of the parking space.
3) Path planning
According to the acquired parking space information, the APA control unit models the automobile and the environment and calculates a path which can enable the automobile to safely park in the parking space.
4) Path tracking
And the automobile tracks a pre-planned parking path through the coordination control of steering wheel turning, accelerator and brake, so that parking and warehousing are realized.
After the high-definition wide-angle camera is added in the full-automatic parking control system based on sensor fusion, the parking space recognition capability of the system based on fusion control is greatly improved, a parking space consisting of parking space lines which cannot be recognized by the ultrasonic radar and an inclined parking space which is difficult to recognize by the ultrasonic radar can be directly recognized by the camera, the usable scene of automatic parking is increased, and the practicability of the parking system is improved. In the design of HMI (large screen), APA and AVM are fused, so that the user experience quality is improved, and meanwhile, the user is allowed to directly select an area which cannot be automatically identified by the system on the AVM interface as a target parking space for automatic parking.
The foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
Claims (2)
1. A full-automatic parking control system based on sensor fusion is characterized in that: the automatic parking system comprises a long-distance ultrasonic radar sensor, a short-distance radar sensor and an APA control unit, the panoramic image system comprises a high-definition wide-angle camera and an AVM control unit, the AVM control unit serves as a master control, the APA control unit serves as a slave control, the long-distance ultrasonic radar sensor is used for searching parking stalls, the short-distance radar sensor is used for detecting obstacle distance and giving an alarm, the high-definition wide-angle camera is used for detecting a parking line and displaying images, searching proper parking stalls or ground parking stall marks among parked vehicles, sending detection signals to CAN network interaction information of the whole vehicle, automatically or manually determining target parking stalls according to selection of a driver, and the automatic parking system calculates an automatic parking track according to gear, vehicle speed, wheel speed and yaw angle information, and sending a transverse and longitudinal movement control command, and guiding the vehicle to park at a target parking position by controlling the steering wheel corner, gear, accelerator and brake coordination control.
2. A control method of a full-automatic parking control system based on sensor fusion is characterized by comprising the following steps: the method comprises the following steps:
1) activation system
After the automobile enters a parking area, the automobile slowly runs, and the automatic parking system is manually started or automatically started according to the speed of the automobile;
2) parking space detection
The vehicle-mounted sensor is used for acquiring environmental information, then the long-distance ultrasonic radar sensor and the short-distance radar sensor are used for identifying the parking space, and the high-definition wide-angle camera is used for identifying the parking space of the parking space;
3) path planning
According to the acquired parking space information, the APA control unit models the automobile and the environment and calculates a path which can enable the automobile to safely park in the parking space;
4) path tracking
And the automobile tracks a pre-planned parking path through the coordination control of steering wheel turning angle, accelerator and brake, and is parked and warehoused.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910974916.XA CN111055838A (en) | 2019-10-14 | 2019-10-14 | Full-automatic parking control system based on sensor fusion and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910974916.XA CN111055838A (en) | 2019-10-14 | 2019-10-14 | Full-automatic parking control system based on sensor fusion and control method thereof |
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| CN111055838A true CN111055838A (en) | 2020-04-24 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111547045A (en) * | 2020-04-30 | 2020-08-18 | 惠州华阳通用电子有限公司 | Automatic parking method and device for vertical parking spaces |
| CN112150857A (en) * | 2020-08-21 | 2020-12-29 | 山东科技大学 | Parking position indicating system and method based on video image processing |
| CN113702983A (en) * | 2020-05-20 | 2021-11-26 | 广州汽车集团股份有限公司 | Parking space fusion identification method and system for automatic parking |
| CN114179785A (en) * | 2021-11-22 | 2022-03-15 | 岚图汽车科技有限公司 | Service-oriented fusion parking control system, electronic equipment and vehicle |
| CN114228701A (en) * | 2021-11-30 | 2022-03-25 | 岚图汽车科技有限公司 | Parking control method and device based on sensor data fusion |
| CN114454872A (en) * | 2020-11-10 | 2022-05-10 | 上汽通用汽车有限公司 | Parking system and parking method |
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| CN106945660A (en) * | 2017-02-24 | 2017-07-14 | 宁波吉利汽车研究开发有限公司 | A kind of automated parking system |
| CN108860140A (en) * | 2018-05-02 | 2018-11-23 | 奇瑞汽车股份有限公司 | A kind of automatic parking emerging system |
| CN109532821A (en) * | 2018-11-09 | 2019-03-29 | 重庆长安汽车股份有限公司 | Merge parking system |
| CN109591810A (en) * | 2018-11-07 | 2019-04-09 | 江苏敏安电动汽车有限公司 | A kind of full-automatic parking system, control method and vehicle |
| DE102018201448A1 (en) * | 2018-01-31 | 2019-08-01 | Bayerische Motoren Werke Aktiengesellschaft | Parking assistance for measuring a potential parking space |
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2019
- 2019-10-14 CN CN201910974916.XA patent/CN111055838A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106945660A (en) * | 2017-02-24 | 2017-07-14 | 宁波吉利汽车研究开发有限公司 | A kind of automated parking system |
| DE102018201448A1 (en) * | 2018-01-31 | 2019-08-01 | Bayerische Motoren Werke Aktiengesellschaft | Parking assistance for measuring a potential parking space |
| CN108860140A (en) * | 2018-05-02 | 2018-11-23 | 奇瑞汽车股份有限公司 | A kind of automatic parking emerging system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111547045A (en) * | 2020-04-30 | 2020-08-18 | 惠州华阳通用电子有限公司 | Automatic parking method and device for vertical parking spaces |
| CN113702983A (en) * | 2020-05-20 | 2021-11-26 | 广州汽车集团股份有限公司 | Parking space fusion identification method and system for automatic parking |
| CN112150857A (en) * | 2020-08-21 | 2020-12-29 | 山东科技大学 | Parking position indicating system and method based on video image processing |
| CN112150857B (en) * | 2020-08-21 | 2021-10-08 | 山东科技大学 | Parking position indicating system and method based on video image processing |
| CN114454872A (en) * | 2020-11-10 | 2022-05-10 | 上汽通用汽车有限公司 | Parking system and parking method |
| CN114179785A (en) * | 2021-11-22 | 2022-03-15 | 岚图汽车科技有限公司 | Service-oriented fusion parking control system, electronic equipment and vehicle |
| CN114179785B (en) * | 2021-11-22 | 2023-10-13 | 岚图汽车科技有限公司 | Service-oriented fusion parking control system, electronic equipment and vehicle |
| CN114228701A (en) * | 2021-11-30 | 2022-03-25 | 岚图汽车科技有限公司 | Parking control method and device based on sensor data fusion |
| CN114228701B (en) * | 2021-11-30 | 2023-10-20 | 岚图汽车科技有限公司 | Parking control method and device based on sensor data fusion |
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Application publication date: 20200424 |
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