CN203318408U - Automatic parking system - Google Patents
Automatic parking system Download PDFInfo
- Publication number
- CN203318408U CN203318408U CN2013202501941U CN201320250194U CN203318408U CN 203318408 U CN203318408 U CN 203318408U CN 2013202501941 U CN2013202501941 U CN 2013202501941U CN 201320250194 U CN201320250194 U CN 201320250194U CN 203318408 U CN203318408 U CN 203318408U
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- vehicle
- automatic parking
- environment sensing
- policy
- parking
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The utility model provides an automatic parking system and belongs to the technical field of automatic parking control. The automatic parking system comprises three portions: an environmental perception portion, a central decision portion and an execution portion. The implementation process of the automatic parking system is that a vehicle is made to perform turning in the reverse direction twice and perform automatic parking along the path calculated by the system. The environmental perception portion mainly comprises an ultrasonic wave sensor and a camera and is used for obtaining environmental information around a vehicle body and transmitting the obtained information to a central processor, wherein the environmental information comprises range information between the vehicle body and an obstacle in the environment and location information of the vehicle body relative to a parking place. The central decision portion is used for analyzing and processing environmental data to obtain relative parameters and make a parking strategy and transmitting the strategy to the execution portion through electric signals. The execution portion is used for controlling a steering wheel so as to control the vehicle to run according to the parking strategy.
Description
Technical field
The utility model relates to a kind of Intelligent parking system, relates to automatic parking control technology field.
Background technology
Along with the development of auto-industry, the speed of development of urban infrastructure construction lags behind the growth of city automobile quantity, so the problem of parking difficulty highlights day by day.Therefore each large automobile vendor caters to the research that this demand is devoted to the automatic parking technology one after another.The nineties in last century, research institution and automobile vendor take up in the research of automatic parking technology.
Automated parking system is actual and significant for chaufeur.In the process of parking, detect peripheral obstacle from parking system by the sensor be arranged on vehicle body, calculating path, allow automobile be parked according to predefined paths.The automatic parking method of main flow is to collect environmental information by sensor at present, and, according to these information path plannings, then by the steering swivel system of controlling vehicle, realizes automatic parking.There is limitation in this method, and robustness is poor, larger error easily occurs.
The utility model content
The utility model proposes a kind of automated parking system, can allow automobile in the situation that nobody interferes, automatic running, to parking position, is realized automatic parking.
This automated parking system comprises environment sensing part, policy of Central Government part, operating part; The environment sensing of described carries out image collection and vehicle-mounted distance measurement partly is connected to the policy of Central Government part that institute's image data is processed and analyzed, the mouth of described policy of Central Government part is connected to supports to vehicle travel direction, electric power-assisted the operating part of controlling
Described environment sensing partly comprise be installed on the auto body surrounding carry out image acquisition CMOS camera.
Described environment sensing partly comprises that being installed on the auto body surrounding gathers the ultrasonic distance detector of peripheral obstacle body apart from the range data of vehicle body.
Described environment sensing partly comprises vehicle-mounted distance measurement equipment, and described vehicle-mounted distance measurement equipment is trailer-mounted radar or vehicle mounted infrared distance measurement equipment.
Described policy of Central Government part consists of the STM32 chip.
Described operating part comprises electric power steering device and automatically controlled AMT controller, and the electric power steering device is controlled the driving angle of vehicle, and automatically controlled AMT controller is controlled direction of traffic and the power support of vehicle.
Native system also is equipped with the man-machine interface of the environmental information of a set of real-time monitoring round of vehicle, and chaufeur can be monitored whole process, can carry out manual manipulation, the safety of parking with raising in case of necessity.
The present invention can obtain following beneficial effect:
Native system can check the parking stall situation in roadside, helps chaufeur to carry out automatic parking.
Ambient image around the image capturing system of native system can make shows in real time.
The ultrasonic distance detector of native system can the testing environment data, and vehicle and obstacle are not bumped.
The chip cost that the policy of Central Government of native system adopts is low, but powerful.
The electric power steering device of native system and automatically controlled AMT controller can make automobile in the situation that non-driver interferes driving angle to vehicle, direction of traffic etc. to be controlled.
Native system can show the travel situations of vehicle to chaufeur in real time, and chaufeur can be selected operate in manual mode in case of necessity.
The accompanying drawing explanation
Fig. 1 is structure principle chart of the present utility model.
Fig. 2 is summary structural representation of the present utility model.
The specific embodiment
Below the utility model is described in further detail.
As shown in Figure 1, structure of the present utility model is comprised of environment sensing part, policy of Central Government part, operating part.Perception partly is the collection environmental data, and the policy of Central Government part carries out decision-making according to data, and operating part is controlled vehicle according to decision-making.Between each several part, by the vehicle interior bus, undertaken interconnected.
Main image and the range data of gathering of environment sensing part, wherein, gather image by charge coupled device ccd or the CMOS camera that is installed on the auto body surrounding; Around the vehicle-mounted distance measurement equipment collection of the surrounding by being installed on auto body, object is apart from the range data of vehicle body, and vehicle-mounted distance measurement equipment is ultrasonic transduter.Operating part is mainly to control vehicle operating according to the indication of central process unit, comprises electric power steering system and automatically controlled AMT control system.Native system is mainly realized on the STM32 platform.
In addition, as shown in Figure 2, the utility model also comprises an in-vehicle display system, this system provides a close friend's man-machine interface, the situation that can reflect in time automatic parking, chaufeur can not add any operation supervise and control whole process, can make auxiliary according to reality again in good time.Strengthen like this safety of automated parking system.Concrete annexation of the present invention is: the camera of environment sensing part and supersonic range finder are connected to the central process unit of policy of Central Government part, the electric assistant that the mouth of the central process unit of policy of Central Government part is connected to operating part turns to and automatically controlled AMT, and the interaction end of central process unit is also connected to man-machine interface.
Claims (1)
1. automated parking system is characterized in that: it comprises environment sensing part, policy of Central Government part, operating part; The environment sensing of described carries out image collection and vehicle-mounted distance measurement partly is connected to the policy of Central Government part that institute's image data is processed and analyzed, and the mouth of described policy of Central Government part is connected to supports to vehicle travel direction, electric power-assisted the operating part of controlling;
Described environment sensing partly comprise be installed on the auto body surrounding carry out image acquisition CMOS camera;
Described environment sensing partly comprises that being installed on the auto body surrounding gathers the ultrasonic distance detector of peripheral obstacle body apart from the range data of vehicle body;
Described environment sensing partly comprises vehicle-mounted distance measurement equipment, and described vehicle-mounted distance measurement equipment is trailer-mounted radar or vehicle mounted infrared distance measurement equipment;
Described policy of Central Government part consists of the STM32 chip;
Described operating part comprises electric power steering device and automatically controlled AMT controller, and the electric power steering device is controlled the driving angle of vehicle, and automatically controlled AMT controller is controlled direction of traffic and the power support of vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202501941U CN203318408U (en) | 2013-05-09 | 2013-05-09 | Automatic parking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202501941U CN203318408U (en) | 2013-05-09 | 2013-05-09 | Automatic parking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203318408U true CN203318408U (en) | 2013-12-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013202501941U Expired - Fee Related CN203318408U (en) | 2013-05-09 | 2013-05-09 | Automatic parking system |
Country Status (1)
| Country | Link |
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| CN (1) | CN203318408U (en) |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661372A (en) * | 2013-12-26 | 2014-03-26 | 江苏大学 | Multi-agent optimization control device and method for automatic parking system |
| CN103950409A (en) * | 2014-04-24 | 2014-07-30 | 中国科学院深圳先进技术研究院 | Method and system for assisting in parking |
| CN104269053A (en) * | 2014-08-29 | 2015-01-07 | 陈业军 | Intelligent traffic system and method and intelligent automobile |
| CN104260727A (en) * | 2014-09-25 | 2015-01-07 | 江苏大学 | Vertical and automatic parking system and method for four-wheel independent-drive hub motor car |
| CN104908589A (en) * | 2015-06-23 | 2015-09-16 | 陈元喜 | Back-vision automobile data recorder with automobile speed control automatic assisting function |
| CN105129295A (en) * | 2015-09-24 | 2015-12-09 | 中联重科股份有限公司 | Reversing control method, device and system and garbage transfer truck |
| CN105128856A (en) * | 2015-08-24 | 2015-12-09 | 奇瑞汽车股份有限公司 | Method and device for parking vehicle into garage |
| CN108806308A (en) * | 2018-04-29 | 2018-11-13 | 惠州市德赛西威汽车电子股份有限公司 | A kind of parking stall recognition methods and method of parking |
| CN108860140A (en) * | 2018-05-02 | 2018-11-23 | 奇瑞汽车股份有限公司 | Automatic parking fusion system |
| CN109050522A (en) * | 2018-09-06 | 2018-12-21 | 武汉乐庭软件技术有限公司 | A kind of automated parking system based on radar sensor and panoramic shooting |
| CN109649381A (en) * | 2018-12-29 | 2019-04-19 | 百度在线网络技术（北京）有限公司 | It parks control method, device, electronic equipment and storage medium |
| CN110654376A (en) * | 2018-06-29 | 2020-01-07 | 百度（美国）有限责任公司 | Planning of parking trajectories for autonomous vehicles |
| US10949686B2 (en) | 2018-12-14 | 2021-03-16 | Denso Ten Limited | Image processing device and image processing method |
| US11100342B2 (en) | 2018-12-14 | 2021-08-24 | Denso Ten Limited | Image processing device and image processing method |
| US11138450B2 (en) | 2018-12-14 | 2021-10-05 | Denso Ten Limited | Image processing device and image processing method |
| US11145041B2 (en) | 2018-12-14 | 2021-10-12 | Denso Ten Limited | Image processing device and method predicting areas in which to search for parking space delimiting lines |
| US11157757B2 (en) | 2018-12-14 | 2021-10-26 | Denso Ten Limited | Image processing device and image processing method |
| US11170235B2 (en) | 2018-12-14 | 2021-11-09 | Denso Ten Limited | Image processing device and image processing method |
| US11182627B2 (en) | 2018-12-14 | 2021-11-23 | Denso Ten Limited | Image processing device and image processing method |
| US11195032B2 (en) | 2018-12-14 | 2021-12-07 | Denso Ten Limited | Image processing device and image processing method detecting vehicle parking space |
| US11250290B2 (en) | 2018-12-14 | 2022-02-15 | Denso Ten Limited | Image processing device and image processing method |
| US11256933B2 (en) | 2018-12-14 | 2022-02-22 | Denso Ten Limited | Image processing device and image processing method |
| US11373416B2 (en) | 2018-12-14 | 2022-06-28 | Denso Ten Limited | Image processing device and image processing method |
-
2013
- 2013-05-09 CN CN2013202501941U patent/CN203318408U/en not_active Expired - Fee Related
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661372A (en) * | 2013-12-26 | 2014-03-26 | 江苏大学 | Multi-agent optimization control device and method for automatic parking system |
| CN103661372B (en) * | 2013-12-26 | 2016-08-31 | 江苏大学 | The multiple agent optimal control device of a kind of automated parking system and control method |
| CN103950409A (en) * | 2014-04-24 | 2014-07-30 | 中国科学院深圳先进技术研究院 | Method and system for assisting in parking |
| CN104269053A (en) * | 2014-08-29 | 2015-01-07 | 陈业军 | Intelligent traffic system and method and intelligent automobile |
| CN104260727A (en) * | 2014-09-25 | 2015-01-07 | 江苏大学 | Vertical and automatic parking system and method for four-wheel independent-drive hub motor car |
| CN104908589A (en) * | 2015-06-23 | 2015-09-16 | 陈元喜 | Back-vision automobile data recorder with automobile speed control automatic assisting function |
| CN105128856A (en) * | 2015-08-24 | 2015-12-09 | 奇瑞汽车股份有限公司 | Method and device for parking vehicle into garage |
| CN105128856B (en) * | 2015-08-24 | 2018-06-26 | 奇瑞汽车股份有限公司 | Stop storage method and device |
| CN105129295A (en) * | 2015-09-24 | 2015-12-09 | 中联重科股份有限公司 | Reversing control method, device and system and garbage transfer truck |
| CN108806308A (en) * | 2018-04-29 | 2018-11-13 | 惠州市德赛西威汽车电子股份有限公司 | A kind of parking stall recognition methods and method of parking |
| CN108860140A (en) * | 2018-05-02 | 2018-11-23 | 奇瑞汽车股份有限公司 | Automatic parking fusion system |
| CN110654376B (en) * | 2018-06-29 | 2022-10-14 | 百度（美国）有限责任公司 | Planning of parking trajectories for autonomous vehicles |
| CN110654376A (en) * | 2018-06-29 | 2020-01-07 | 百度（美国）有限责任公司 | Planning of parking trajectories for autonomous vehicles |
| CN109050522A (en) * | 2018-09-06 | 2018-12-21 | 武汉乐庭软件技术有限公司 | A kind of automated parking system based on radar sensor and panoramic shooting |
| US11145041B2 (en) | 2018-12-14 | 2021-10-12 | Denso Ten Limited | Image processing device and method predicting areas in which to search for parking space delimiting lines |
| US11100342B2 (en) | 2018-12-14 | 2021-08-24 | Denso Ten Limited | Image processing device and image processing method |
| US11138450B2 (en) | 2018-12-14 | 2021-10-05 | Denso Ten Limited | Image processing device and image processing method |
| US10949686B2 (en) | 2018-12-14 | 2021-03-16 | Denso Ten Limited | Image processing device and image processing method |
| US11157757B2 (en) | 2018-12-14 | 2021-10-26 | Denso Ten Limited | Image processing device and image processing method |
| US11170235B2 (en) | 2018-12-14 | 2021-11-09 | Denso Ten Limited | Image processing device and image processing method |
| US11182627B2 (en) | 2018-12-14 | 2021-11-23 | Denso Ten Limited | Image processing device and image processing method |
| US11195032B2 (en) | 2018-12-14 | 2021-12-07 | Denso Ten Limited | Image processing device and image processing method detecting vehicle parking space |
| US11250290B2 (en) | 2018-12-14 | 2022-02-15 | Denso Ten Limited | Image processing device and image processing method |
| US11256933B2 (en) | 2018-12-14 | 2022-02-22 | Denso Ten Limited | Image processing device and image processing method |
| US11373416B2 (en) | 2018-12-14 | 2022-06-28 | Denso Ten Limited | Image processing device and image processing method |
| US11104329B2 (en) | 2018-12-29 | 2021-08-31 | Baidu Online Network Technology (Beijing) Co., Ltd. | Parking control method and apparatus, and storage medium |
| CN109649381A (en) * | 2018-12-29 | 2019-04-19 | 百度在线网络技术（北京）有限公司 | It parks control method, device, electronic equipment and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131204 Termination date: 20140509 |