CN206773943U - A kind of wireless automated parking system - Google Patents
A kind of wireless automated parking system Download PDFInfo
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- CN206773943U CN206773943U CN201720340585.0U CN201720340585U CN206773943U CN 206773943 U CN206773943 U CN 206773943U CN 201720340585 U CN201720340585 U CN 201720340585U CN 206773943 U CN206773943 U CN 206773943U
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Abstract
The utility model provides a kind of wireless automated parking system, wireless automated parking system includes the context aware systems being arranged in parking lot, base station and vehicle-mounted vehicle control system, substitute ultrasonic radar and laser radar using camera, by the environment sensing of parking system, the context aware systems of parking area are all given in the control of path planning and vehicle, context aware systems computing capability is strong, it is fast to the processing speed of information, sufficiently complex algorithm can be used on the basis of real-time is ensured, global accurate monitoring can be carried out to process of parking.Vehicle control device need to only handle few data, and software and hardware is all simplified, and can effectively reduce cost.
Description
Technical field
The utility model belongs to automated parking system field, and in particular to a kind of wireless automated parking system.
Background technology
With the development of automotive engineering, automatic parking technology is gradually valued by people.Environment during automatic parking
Most complicated, the detection comprising parking position and the various dangerous detections to being run into during parking are perceived, to be also that path is advised
Draw and foundation is provided.Environment sensing part largely uses ultrasonic radar at present, but its detecting error is larger, and dead angle be present；
Some uses laser radar, but its cost is too high, is unsuitable for producing in batches.No matter ultrasonic radar or laser radar are used,
All it is to install environment sensing device onboard, all data processings and the control of vehicle all must be in Vehicle Controllers
Complete, general Vehicle Controller operational capability is limited, and the requirement of real-time of automatic parking is high, and this results in the algorithm of complexity
It can not realize, simple algorithm is parked, and effect is undesirable, and security can not also ensure.
The content of the invention
Existing deficiency, general Vehicle Controller computing during environment sensing for ultrasonic radar and laser radar
It is limited in one's ability, cause the algorithm of complexity can not realize that simple algorithm is parked, and effect is undesirable, and what security can not also ensure asks
Topic, the utility model proposes a kind of wireless automated parking system, and global accurate monitoring is carried out to process of parking to realize.
To achieve these goals, the utility model concrete technical scheme is as follows：A kind of wireless automated parking system, including
Context aware systems, base station and vehicle control system；The context aware systems are arranged in parking lot, including camera, figure
As processing module, message processing module, path planning module and memory module；Wherein, camera is used to shoot garage image, defeated
Go out end with image processing module to be connected；Image processing module input is connected with camera, output end and path planning module and
Memory module is connected, for extracting the Part I status information for waiting to park from parking area image and being sent to path rule
Unit and memory module are drawn, while the image that camera is shot during entirely parking is sent to memory module；Information processing
Module with base station is two-way is connected, output end is connected with path planning module and memory module, waits to moor for receive that base station sends
Vehicle Part II status information, control strategy is formulated, and vehicle Part II status information and control strategy are sent to and deposited
Store up module；Path planning module is bi-directionally connected with memory module, and output end is connected with base station, for according to vehicle safety housing,
Vehicle Part I status information, vehicle Part II status information and parking area environmental information carry out path planning, according to
The path of planning, which is drawn, most preferably parks scheme and sends memory module, while is sent to vehicle by base station and wireless communication module
Controller；Memory module be used for store parking area environmental information, park during image processing module send over information,
The information that the information and message processing module that path planning module sends over send over；The base station is arranged on parking lot
Interior, for the communication between context aware systems and vehicle control system, base station is connected with context aware systems by data wire,
Base station and vehicle control system wireless connection；The vehicle control system is arranged on automobile, including vehicle control device, sensor
Module, wireless communication module and display screen；Wherein, wireless communication module is wireless between vehicle control device and base station for realizing
Communication；Display screen is used to show the prompt message during parking；Sensor assembly includes wheel speed sensors and steering wheel angle
Sensor, wheel speed sensors are used to gather speed, and steering wheel angle sensor is used to gather steering wheel angle；Vehicle control device bag
Containing data processing unit and control unit, data processing unit is used to handle the wheel speed and front wheel angle for coming from sensor assembly
Information, and base station is sent to by wireless communication module, control unit is used for according to the wheel speed that context aware systems are sent with before
Corner control information is taken turns, control vehicle is completed to park.
Further, an above-mentioned Part I status information for waiting to park includes Quick Response Code, position and the course on vehicle body
Angle；A Part II status information for waiting to park includes wheel speed, front wheel angle, wheelbase, vehicle body housing physical dimension, vehicle body
On Quick Response Code and driver order；Whether the control strategy includes whether to allow to park, allows path planning module to advise
Draw path and whether allow path planning module to take over vehicle；The vehicle safety housing is in vehicle body housing dimensioning
On the basis of very little, outwards expand the region that a safe distance is established；The parking area environmental information is set in advance stops
Coordinate range corresponding to the barrier in car region and parking stall.
Prompt message of the prompt message that further, above-mentioned display screen is shown including wait context aware systems adapter,
Agree to the prompt message of context aware systems adapter, by the prompting of the prompt message of context aware systems adapter and end of parking
Information.
Further, above-mentioned context aware systems can communicate with multiple vehicle control systems, while control multiple vehicles
Complete automatic parking.
Further, above-mentioned vehicle body Quick Response Code has 2, and first Quick Response Code is directly over automobile front axle center, second
Quick Response Code identifies automobile for image processing module and determines position and the course angle of automobile directly over automobile hind axle center；
The order of the driver parked including request, agree to context aware systems adapter vehicle and confirmation is parked end.
The beneficial effects of the utility model are：Substitute ultrasonic radar and laser radar with camera, by parking system
The control of environment sensing, path planning and vehicle all give the context aware systems of parking area, context aware systems meter
Calculation ability is strong, fast to the processing speed of information, and sufficiently complex algorithm can be used on the basis of real-time is ensured, can be right
Process of parking carries out global accurate monitoring.Vehicle control device need to only handle few data, and software and hardware is all simplified, and can have
Effect reduces cost.
Brief description of the drawings
Fig. 1 is wireless automated parking system structural representation.
Embodiment
The utility model is further described with reference to the accompanying drawings and examples.
It is as shown in Figure 1 wireless automated parking system structural representation of the present utility model, wireless automated parking system bag
Include context aware systems, base station and vehicle control system.Context aware systems include camera, image processing module, at information
Module, path planning module and memory module are managed, vehicle control system includes vehicle control device, sensor assembly, radio communication
Module and display screen；Context aware systems and base station are arranged in parking lot, and vehicle control system is arranged on automobile；Use base station
Communication between context aware systems and vehicle control system, base station are connected with context aware systems by data wire, base station
With vehicle control system wireless connection.Context aware systems can communicate with multiple vehicle control systems, while control multiple cars
Complete automatic parking.
Camera is used to shoot parking area image, and output end is connected with image processing module.
Image processing module input is connected with camera, and output end is connected with path planning module and memory module, uses
The Part I status information for waiting to park is extracted in the parking area image photographed from camera and is sent to path rule
Unit and memory module are drawn, while the image that camera is shot during entirely parking is sent to memory module.Wherein, wait to moor
The Part I status information of vehicle includes Quick Response Code, position and the course angle on vehicle body.
Message processing module with base station is two-way is connected, output end is connected with path planning module and memory module, for connecing
Receive the Part II status information of waiting to park sent base station, formulate control strategy, and by vehicle Part II status information and
Control strategy is sent to memory module；Wherein, the Part II status information for waiting to park include wheel speed, front wheel angle, wheelbase,
Vehicle body housing physical dimension, the Quick Response Code on vehicle body and the order of driver；Whether control strategy includes whether to allow to park, permits
Perhaps path planning module path planning and whether path planning module is allowed to take over vehicle, the order of driver includes please
Ask and park, agree to context aware systems adapter vehicle and confirmation is parked end.
Path planning module is bi-directionally connected with memory module, and output end is connected with base station, for according to vehicle safety housing,
Vehicle Part I status information, vehicle Part II status information and parking area environmental information carry out path planning, according to
The path of planning, which is drawn, most preferably parks scheme and sends memory module, while is sent to vehicle by base station and wireless communication module
Controller.Wherein, vehicle safety housing is on the basis of vehicle body housing physical dimension, outwards expands a safe distance and establishes
Region, parking area environmental information be parking area set in advance barrier and parking stall corresponding to coordinate range.
Memory module is for image processing module, path planning mould during storing the environmental information of parking area, parking
The information that block and message processing module send over.
Wireless communication module is used to realize the radio communication between vehicle control device and base station.
Display screen is used to show the various prompt messages during parking, including waits context aware systems adapter, agrees to
Context aware systems are taken over, taken over by context aware systems, end etc. of parking.
Sensor assembly includes wheel speed sensors and steering wheel angle sensor, and wheel speed sensors are used to gather speed, side
It is used to gather steering wheel angle to disk rotary angle transmitter.
Vehicle control device is bi-directionally connected with wireless communication module, and input is connected with sensor assembly, output end and display
Screen be connected, comprising data processing unit and control unit, data processing unit be used for come from sensor assembly wheel speed and
Front wheel angle information is filtered processing, and is sent to base station by wireless communication module, and control unit is used for according to environment sense
Know wheel speed and front wheel angle control information that system is sent, control vehicle parking.
Claims (5)
1. a kind of wireless automated parking system, it is characterised in that including context aware systems, base station and vehicle control system；It is described
Context aware systems are arranged in parking lot, including camera, image processing module, message processing module, path planning module
And memory module；Wherein, camera is used to shoot garage image, and output end is connected with image processing module；Image processing module
Input is connected with camera, and output end is connected with path planning module and memory module, for being carried from parking area image
Take the Part I status information for waiting to park and be sent to path planning unit and memory module, while by process of entirely parking
The image of middle camera shooting is sent to memory module；Message processing module with base station is two-way is connected, output end and path planning
Module is connected with memory module, the Part II status information of waiting to park sent for receiving base station, formulates control strategy, and
Vehicle Part II status information and control strategy are sent to memory module；Path planning module and the two-way company of memory module
Connect, output end is connected with base station, for according to vehicle safety housing, vehicle Part I status information, vehicle Part II shape
State information and parking area environmental information carry out path planning, show that optimal park and sends storage at scheme according to the path of planning
Module, while vehicle control device is sent to by base station and wireless communication module；Memory module is used to store parking area environment
Information, park during at the image processing module information, the path planning module that the send over information and information that send over
The information that reason module sends over；The base station is arranged in parking lot, for context aware systems and vehicle control system it
Between communication, base station is connected with context aware systems by data wire, base station and vehicle control system wireless connection；The vehicle
Control system is arranged on automobile, including vehicle control device, sensor assembly, wireless communication module and display screen；Wherein, wirelessly
Communication module is used to realize the radio communication between vehicle control device and base station；Display screen is used to show the prompting during parking
Information；Sensor assembly includes wheel speed sensors and steering wheel angle sensor, and wheel speed sensors are used to gather speed, steering wheel
Rotary angle transmitter is used to gather steering wheel angle；Vehicle control device includes data processing unit and control unit, data processing list
Member is used to handle the wheel speed and front wheel angle information for coming from sensor assembly, and is sent to base station by wireless communication module,
Control unit is used for the wheel speed and front wheel angle control information sent according to context aware systems, and control vehicle is completed to park.
2. wireless automated parking system as claimed in claim 1, it is characterised in that a Part I state for waiting to park
Information includes Quick Response Code, position and the course angle on vehicle body；A Part II status information for waiting to park includes wheel speed, preceding
Take turns corner, wheelbase, vehicle body housing physical dimension, the Quick Response Code on vehicle body and the order of driver；The control strategy includes
It is no to allow to park, whether allow path planning module path planning and whether allow path planning module to take over vehicle；
The vehicle safety housing is on the basis of vehicle body housing physical dimension, outwards expands the region that a safe distance is established；
The parking area environmental information be parking area set in advance barrier and parking stall corresponding to coordinate range.
3. wireless automated parking system as claimed in claim 1, it is characterised in that the prompt message bag that the display screen is shown
Include and wait the prompt message of context aware systems adapter, agree to the prompt message of context aware systems adapter, by environment sensing
The prompt message of system adapter and the prompt message for end of parking.
4. wireless automated parking system as claimed in claim 1, it is characterised in that the context aware systems can with it is multiple
Vehicle control system communicates, while controls multiple vehicles to complete automatic parking.
5. wireless automated parking system as claimed in claim 2, it is characterised in that the vehicle body Quick Response Code has 2, first
Quick Response Code is directly over automobile front axle center, and second Quick Response Code is directly over automobile hind axle center, for image processing module
Identification automobile simultaneously determines position and the course angle of automobile；The order of the driver parks including request, agrees to environment sensing system
System adapter vehicle and confirmation are parked end.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720340585.0U CN206773943U (en) | 2017-04-01 | 2017-04-01 | A kind of wireless automated parking system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720340585.0U CN206773943U (en) | 2017-04-01 | 2017-04-01 | A kind of wireless automated parking system |
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| CN206773943U true CN206773943U (en) | 2017-12-19 |
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| CN201720340585.0U Expired - Fee Related CN206773943U (en) | 2017-04-01 | 2017-04-01 | A kind of wireless automated parking system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106875736A (en) * | 2017-04-01 | 2017-06-20 | 江苏大学 | A kind of wireless automated parking system and method |
| CN108118930A (en) * | 2017-12-23 | 2018-06-05 | 安徽乐库智能停车设备有限公司 | A kind of double-layer lifting cross sliding type parking equipment intelligent management system |
| CN109727481A (en) * | 2019-01-08 | 2019-05-07 | 北京优位智停科技有限公司 | A kind of more mesh parking position monitorings and detection device |
| CN109785652A (en) * | 2019-01-29 | 2019-05-21 | 广州大学 | A kind of automatic stopping control method, device, system, medium and equipment |
| CN111762153A (en) * | 2020-06-02 | 2020-10-13 | 武汉理工大学 | Automatic automobile parking method based on 5G communication mode |
| 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 |
| CN115601989A (en) * | 2021-09-18 | 2023-01-13 | 江苏小白兔智造科技有限公司（Cn） | Operation-free vehicle taking method based on parking robot parking lot |
-
2017
- 2017-04-01 CN CN201720340585.0U patent/CN206773943U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106875736A (en) * | 2017-04-01 | 2017-06-20 | 江苏大学 | A kind of wireless automated parking system and method |
| CN108118930A (en) * | 2017-12-23 | 2018-06-05 | 安徽乐库智能停车设备有限公司 | A kind of double-layer lifting cross sliding type parking equipment intelligent management system |
| CN109727481A (en) * | 2019-01-08 | 2019-05-07 | 北京优位智停科技有限公司 | A kind of more mesh parking position monitorings and detection device |
| CN109785652A (en) * | 2019-01-29 | 2019-05-21 | 广州大学 | A kind of automatic stopping control method, device, system, medium and equipment |
| CN111762153A (en) * | 2020-06-02 | 2020-10-13 | 武汉理工大学 | Automatic automobile parking method based on 5G communication mode |
| 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 |
| CN115601989A (en) * | 2021-09-18 | 2023-01-13 | 江苏小白兔智造科技有限公司（Cn） | Operation-free vehicle taking method based on parking robot parking lot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171219 Termination date: 20180401 |