CN207345798U - Automated parking system - Google Patents
Automated parking system Download PDFInfo
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- CN207345798U CN207345798U CN201721211161.0U CN201721211161U CN207345798U CN 207345798 U CN207345798 U CN 207345798U CN 201721211161 U CN201721211161 U CN 201721211161U CN 207345798 U CN207345798 U CN 207345798U
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- parking
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Abstract
A kind of automated parking system, including the environment information acquisition device for collection vehicle and peripheral obstacle range information, sensor interface control device for drive environment information collecting device, for carrying out obstacle distance calculating according to the range information of vehicle and peripheral obstacle, parking stall identifies, parking path planning and the automatic parking control unit that instruction of parking is issued according to the parking path of planning, and the instruction of parking issued for basis perform engine management system, electronic power assist steering system, transmission system and the electronic parking system of automatic parking.The automated parking system of the utility model to preceding automatic running and can find suitable parking stall after automatic parking function activation, after suitable parking stall is searched out, automatically vehicle is moored in parking stall, whole searching parking stall and the process of parking are not required to artificially participate in, and realize and parking completely not against the full-automatic of driver.
Description
Technical field
It the utility model is related to technical field of automobile control, more particularly to a kind of automated parking system.
Background technology
In recent years, being continuously increased with domestic automobile owning amount, parking congested problem, which becomes, perplexs the one of numerous car owners
Hang-up, some new hand's stopping technicals are immature, though often resulting in vehicle can not stop to stop into parking stall into parking stall or vehicle
Scratched with other vehicles or situations such as a car occupies two parking stalls.
To solve the predicament, a kind of method is to speed up building new parking stall, and another method is then to improve existing parking
Position resource utilization, therefore, if automobile can autonomous classification parking stall and carry out it is automatic accurate park, can effectively carry
The resource utilization on high existing parking stall, solves the parking congested problem that presently, there are.
The automated parking system that can see on the market is mostly semiautomatic parking system at present, by ultrasonic sensor or
Imaging sensor perceives environmental information, and system sends instruction control direction disk after handling environmental information and turns to, by driving
The person's of sailing regulation speed and gear, this can realize that auxiliary is parked to a certain extent, but can not come completely not against driver
Realization is automatically parked.
Utility model content
In view of this, the utility model provides a kind of automated parking system, which can automatically identify
Free parking space, and in the full-automatic parking stall for correctly reliably stopping vehicle safety to identify, without artificial
Control gear and brake are gone, use scope is wide, easy to operate.
Automated parking system provided by the utility model, including：For collection vehicle and peripheral obstacle range information
Environment information acquisition device, for the sensor interface control device of drive environment information collecting device, for according to vehicle with
The range information of peripheral obstacle carries out obstacle distance calculating, parking stall identification, parking path planning and parking according to planning
Path issues the automatic parking control unit for instruction of parking, and for performing the hair of automatic parking according to the instruction of parking issued
Motivation management system, electronic power assist steering system, transmission system and electronic parking system.
Further, the automated parking system further includes the finger of parking issued for receiving automatic parking control unit
Order, and stayed according to park instruction control engine management system, electronic power assist steering system, transmission system and the electronics issued
The central control unit of car system.
Further, the automatic parking that the automated parking system is further included for sending automatic parking activation instruction activates
Switch, and to the speed data collection of automatic parking control unit offer current vehicle speed information after automatic parking activation instruction is sent
Device, prestores the speed threshold value compared for current vehicle speed to activate automatic parking function in automatic parking control unit.
Further, automatic parking activation switch is the physical switches on automobile cab or mobile terminal or virtual
Switch.
Further, the automated parking system further include for show Obstacle Position, vehicle with a distance from barrier,
Effectively park bit width and at least one of display device of park mode selection interface detected.
Further, the automated parking system further includes display device, and the display device includes display screen, for even
Connect the display screen driving interface module of automatic parking control unit and display screen and for identifying that park mode selection interface is used
The input operation identification module of family input operation.
Further, the environment information acquisition device includes being installed on 8 road ultrasonic wave thunders at vehicle body front/rear collision bumper
Reach and the 4 road ultrasonic radars on four wheel hubs of vehicle.
Further, the sensor interface control device is the Radar interface plate for driving ultrasonic radar, described
Radar interface plate is including being used to connect the sensor connecting interface of Radar interface plate and environment information acquisition device, being used for realization ring
The power regulator module of border information collecting device power supply and whole Radar interface plate power supply, be used for realization LIN signals and MCU controls
The signal isolation module of signal isolation processed and it is used for realization the LIN Interface Controller moulds that MCU signals are changed to ultrasonic signal
Block.
Further, the automatic parking control unit includes being used for realization the MCU of input, the driving of output signal and detection
Controller module, be used for realization CAN bus transceiver module and be used for realization that MCU control signals change to CAN bus signal
The switch of two-way power supply signal and the power management module of conversion of automatic parking control unit.
The automated parking system of the utility model can automatically control vehicle automatic row forward after automatic parking function is activated
Sail and find suitable parking stall, and after searching out suitable parking stall, vehicle is moored in parking stall automatically, entirely finds car
Position and the process of parking are not required to artificially participate in, because without as current automated parking system on the market, it is necessary to artificially hang
Keep off and touch on the brake, realize the full-automation for the process of parking.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand the skill of the utility model
Art means, and being practiced according to the content of specification, and in order to allow the above and other purpose, feature of the utility model
It can be become apparent with advantage, below especially exemplified by preferred embodiment, and coordinate attached drawing, described in detail as follows.
Brief description of the drawings
Fig. 1 show the configuration diagram of the automated parking system of the utility model embodiment；
Fig. 2 show position view of the sensing device on vehicle.
Embodiment
Further to illustrate that the utility model is to reach the technological means and effect that predetermined purpose of utility model taken,
Below in conjunction with attached drawing and preferred embodiment, the utility model is described in detail as follows.
As shown in Figure 1, automated parking system provided by the utility model includes speed data collection device, automatic parking activation is opened
Pass, environment information acquisition device, sensor interface control device, automatic parking control unit, central control unit, display device
And engine management system, electronic power assist steering system, transmission system and electronic parking system.
Wherein, speed data collection device is the conventional vehicle speed sensor configured on vehicle, it passes through CAN bus and automatic parking
Control unit is connected.
Automatic parking activation switch can be physical switches or virtual switch on automobile cab or mobile terminal.When
When automatic parking activation switch is arranged in car steering room, its can be disposed on physical button on steering wheel or console or
Virtual key.When automatic parking activation switch is arranged in dynamic terminal, it can be the virtual key of APP on mobile terminal.
Automatic parking activation switch can pass through entity circuit (such as CAN bus) or wireless signal Transmit-Receive Unit and automatic pool
Car control unit signal connects, and for issuing automatic parking activation instruction to automatic parking control unit, automatic parking control is single
Member obtains current speed information in real time after automatic parking activation instruction is received from CAN bus, and compares current vehicle speed
With the size of the speed threshold value of systemic presupposition, if current vehicle speed is less than speed threshold value, automatic parking function is activated, otherwise then not
Automatic parking function can be activated.
As shown in Fig. 2, environment information acquisition device includes the 12 road ultrasonic radar Rd1-Rd12 installed in vehicle body surrounding,
8 road ultrasonic radar Rd5-Rd12 therein is installed on the forward and backward bumper of vehicle, the former, centre position of rear bumper
It is arranged symmetrically for symmetry axis, its installation direction is parallel to the ground, terrain clearance 500mm, remaining 4 road ultrasonic radar Rd1-Rd4
Parallel to the ground on the wheel arch of 4 wheel hubs of vehicle, terrain clearance is each about 700mm, so both can guarantee that ultrasonic wave thunder
Danone effectively ranging, and it is avoided that the reflection interference of the smaller barrier in ground and ground.Also, 12 road ultrasonic radar Rd1-
Rd12 around vehicle one week, can realize the parking stall under vertical, parallel, three kinds of different parking stalls forms of diagonal detect and barrier away from
From detection, detection blind area is avoided the occurrence of, it is final to obtain accurate perfect environmental information.It should be noted that in the utility model
The parking stall that ultrasonic radar can detect be by barrier or parked vehicle define Lai.
Sensor interface control device is the Radar interface plate for driving ultrasonic radar.Radar interface plate, which is equipped with, to be passed
(Local Interconnect Network, local are mutual by sensor connecting interface, power regulator module, signal isolation module and LIN
Networking network) interface control module.Sensor connecting interface is used to connect Radar interface plate and ultrasonic radar, power regulator module
It is used for realization the power supply of ultrasonic radar and the power supply of whole Radar interface plate, signal isolation module is used for realization LIN signals
With the isolation of MCU (Microcontroller Unit, also referred to as micro-control unit, microcontroller) control signal, LIN Interface Controller moulds
Block realizes conversion of the MCU signals to ultrasonic signal.
After automatic parking function activation, Radar interface plate receives the radar driving letter from automatic parking control unit
Number, which is input to LIN interface control modules after signal isolation module, is converted thereof into by LIN interface control modules super
The identifiable signal of sound radar, ultrasonic radar receive the signal and then send radar pulse detection front obstacle distance,
And the range pulse signal detected is returned into sensor connecting interface, LIN interface control modules convert the signal into certainly
The dynamic receivable signal of control unit of parking returns to automatic parking control unit, and automatic parking control unit can be believed according to sending
Number and receive signal time interval calculate barrier (including parked cars, curb, pedestrian etc.) range data, and
Whether can be within a certain period of time reflected back according to the ultrasonic signal of transmission, judge to whether there is obstacle in the direction of the launch
Thing.
Automatic parking control unit is the core of whole automated parking system, its be used for realization communicate with host computer, obstacle
Thing distance calculate, parking stall identification, parking path planning, issue park instruction etc. operation.
Automatic parking control unit mainly includes MCU controller modules, CAN bus transceiver module and power management module.
MCU controller modules are used for realization each input, the driving and detection of output signal.CAN bus transceiver module is used for realization MCU controls
Conversion of the signal processed to CAN bus signal.Power management module is used for realization the two-way power supply signal of automatic parking control unit
Switch and conversion, in one embodiment of the utility model, power management module can realize the shut-off of 12V signals and beat
Open and the conversion of 12V to 5V signals.
When automated parking system works, MCU controller modules are according to the range data being calculated to current vehicle week
The environment enclosed judges soundly, and issues driving instruction, and control vehicle advances, and idle parking stall is carried out during advance
Effectively identification, then passage path planning algorithm cooks up feasible parking path, and instruction of parking is issued according to parking path, then
The central control unit that vehicle is sent to by CAN bus is instructed parking, by central control unit according to instruction control of parking
Engine management system, electronic power assist steering system, transmission system, electronic parking system etc. perform automatic parking behavior.
It should be noted that central control unit is in control engine management system, electronic power assist steering system, speed changer
System, electronic parking system include speed, gear, steering wheel angle when performing the control instruction that is issued during automatic parking behavior
The information such as degree, brake, forward travel distance, for controlling vehicle to advance at the appropriate speed with angle, and control vehicle according to planning
The parking path gone out is parked.MCU controller modules are carrying out the effective of idle parking stall according to the range data being calculated
During identification mainly using vehicle by parking stall border when ranging information change to determine parking stall border, and by it is corresponding away from
From data to calculate the length of parking stall, width and/or tilt angle information, and contrasted with the length of vehicle body or width, to sentence
Whether the parking stall identified surely is effective parking stall.
Display device mainly includes display screen, display screen driving interface module, input operation identification module.Display screen drives
Interface module is used to connect automatic parking control unit and display screen, to drive display screen to show some correlations during parking
Information, such as：Park mode (vertical, parallel, diagonal) selection interface can be shown when being ready for parking, is selected for driver
Park mode；Park start after real-time display vehicle with a distance from barrier and Obstacle Position；After parking stall is detected
Show the bit width of effectively parking detected.Input operation identification module is used for the input operation for receiving user, such as is parking
Model selection interface identifies the key-press input of user, and corresponding park mode is selected according to the key-press input of user.In this practicality
In new, the key-press input of user can be the pressing input for entity key or the touch-control input for virtual key.
It is that display device is further included around display screen in the embodiment of the pressing input of entity key in user key-press input
Park mode selection key.
By narration above it is recognised that the vehicle for being configured with the automated parking system of the utility model reaches target
Behind parking areas, driver can press automatic parking activation switch, select park mode, start automatic parking function, automatically
Control unit of parking obtains current speed information in real time after automatic parking activation instruction is received from CAN bus, and compares
Compared with current vehicle speed and the size of the speed threshold value of systemic presupposition, if current vehicle speed is less than speed threshold value, automatic parking work(is activated
Can, even if otherwise driver presses automatic parking activation switch, automatic parking function will not be activated.When automatic parking activates
Afterwards, vehicle starts automatic running forward and finds suitable parking stall, after suitable parking stall is searched out, automatically moors vehicle
Enter in parking stall, whole searching parking stall and the process of parking are not required to artificially participate in.
In conclusion the utility model has two big innovative points, first, the automated parking system of the utility model is activating
Can be achieved after automatic parking function it is full-automatic park without as automated parking system at present on the market, it is necessary to artificially
Put into gear and touch on the brake；Second, the utility model only needs to install environment information acquisition device (12 road ultrasonic wave thunders additional on vehicle
Up to), sensor interface control device, automatic parking control unit and automatic parking activation switch, using CAN bus connect it is above-mentioned
The existing control unit of device and vehicle of installation, it is not necessary to other changes are done to vehicle automatic parking function, letter can be achieved
It is single convenient.
The above descriptions are merely preferred embodiments of the present invention, and not the utility model is made in any form
Limitation, although the utility model has been disclosed with preferred embodiment as above, but be not limited to the utility model, it is any ripe
Professional and technical personnel is known, is not being departed from the range of technical solutions of the utility model, when in the technology using the disclosure above
Hold the equivalent embodiment made a little change or be modified to equivalent variations, as long as being without departing from technical solutions of the utility model
Hold, any simple modification, equivalent change and modification made according to the technical essence of the utility model to above example, still
Belong in the range of technical solutions of the utility model.
Claims (9)
1. a kind of automated parking system, it is characterised in that it includes being used for collection vehicle and the ring of peripheral obstacle range information
Border information collecting device, for the sensor interface control device of drive environment information collecting device, for according to vehicle and week
The range information for enclosing barrier carries out obstacle distance calculating, parking stall identifies, parking path is planned and according to the road of parking of planning
Footpath issues the automatic parking control unit for instruction of parking, and for performing starting for automatic parking according to the instruction of parking issued
Machine management system, electronic power assist steering system, transmission system and electronic parking system.
2. automated parking system according to claim 1, it is characterised in that：The automated parking system is further included for connecing
The instruction of parking that automatic parking control unit issues is received, and according to park instruction control engine management system, the electronics issued
The central control unit of servo steering system, transmission system and electronic parking system.
3. automated parking system according to claim 1, it is characterised in that：The automated parking system is further included for sending out
Go out the automatic parking activation switch of automatic parking activation instruction, and to automatic parking control after automatic parking activation instruction is sent
Unit processed provides the speed data collection device of current vehicle speed information, prestores in automatic parking control unit and compares for current vehicle speed
To activate the speed threshold value of automatic parking function.
4. automated parking system according to claim 3, it is characterised in that：Automatic parking activation switch is to be driven arranged on automobile
Sail the physical switches or virtual switch on room or mobile terminal.
5. automated parking system according to claim 1, it is characterised in that：The automated parking system is further included for showing
Show Obstacle Position, vehicle with a distance from barrier, detect effectively park bit width and park mode selection interface extremely
Few display device of one of them.
6. automated parking system according to claim 1, it is characterised in that：The automated parking system further includes display dress
Put, the display device includes display screen, the display screen driving interface mould for connecting automatic parking control unit and display screen
Block and the input operated for identifying park mode selection interface user to input operate identification module.
7. automated parking system according to claim 1, it is characterised in that：The environment information acquisition device includes installation
The 8 road ultrasonic radars at vehicle body front/rear collision bumper and the 4 road ultrasonic radars on four wheel hubs of vehicle.
8. the automated parking system according to claim 1 or 7, it is characterised in that：The sensor interface control device is
For driving the Radar interface plate of ultrasonic radar, the Radar interface plate includes being used to connect Radar interface plate and environmental information
The sensor connecting interface of harvester, be used for realization the power supply of environment information acquisition device and whole Radar interface plate power supply
Power regulator module, be used for realization LIN signals and MCU control signals isolation signal isolation module and be used for realization MCU letter
Number to ultrasonic signal conversion LIN interface control modules.
9. automated parking system according to claim 1, it is characterised in that：The automatic parking control unit includes being used for
Realization input, the driving of output signal and the MCU controller modules detected, be used for realization MCU control signals to CAN bus signal turn
The CAN bus transceiver module that changes and be used for realization automatic parking control unit two-way power supply signal switch and conversion
Power management module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721211161.0U CN207345798U (en) | 2017-09-19 | 2017-09-19 | Automated parking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721211161.0U CN207345798U (en) | 2017-09-19 | 2017-09-19 | Automated parking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207345798U true CN207345798U (en) | 2018-05-11 |
Family
ID=62411220
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721211161.0U Active CN207345798U (en) | 2017-09-19 | 2017-09-19 | Automated parking system |
Country Status (1)
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108773374A (en) * | 2018-06-13 | 2018-11-09 | 禾多科技（北京）有限公司 | It parks method and device |
| CN109466547A (en) * | 2019-01-02 | 2019-03-15 | 华域汽车系统股份有限公司 | A kind of intelligent driving system and method based entirely on radar function containing automatic parking |
| CN110497903A (en) * | 2019-09-02 | 2019-11-26 | 江铃汽车股份有限公司 | A kind of method and system of automatically parking |
| CN110509917A (en) * | 2019-08-21 | 2019-11-29 | 中国第一汽车股份有限公司 | A kind of automatic parking method and system |
| CN111435160A (en) * | 2019-01-15 | 2020-07-21 | 广州汽车集团股份有限公司 | In-loop testing method and system for vehicle radar device |
| CN112896149A (en) * | 2021-01-23 | 2021-06-04 | 行云智能(深圳)技术有限公司 | Automatic parking system based on computer vision |
| CN113581143A (en) * | 2020-04-30 | 2021-11-02 | 比亚迪股份有限公司 | Automatic parking control method and device, storage medium and vehicle |
| CN113581164A (en) * | 2020-04-30 | 2021-11-02 | 广州汽车集团股份有限公司 | Parking control method, device and system and storage medium |
-
2017
- 2017-09-19 CN CN201721211161.0U patent/CN207345798U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108773374A (en) * | 2018-06-13 | 2018-11-09 | 禾多科技（北京）有限公司 | It parks method and device |
| CN109466547A (en) * | 2019-01-02 | 2019-03-15 | 华域汽车系统股份有限公司 | A kind of intelligent driving system and method based entirely on radar function containing automatic parking |
| CN111435160A (en) * | 2019-01-15 | 2020-07-21 | 广州汽车集团股份有限公司 | In-loop testing method and system for vehicle radar device |
| CN110509917A (en) * | 2019-08-21 | 2019-11-29 | 中国第一汽车股份有限公司 | A kind of automatic parking method and system |
| CN110497903A (en) * | 2019-09-02 | 2019-11-26 | 江铃汽车股份有限公司 | A kind of method and system of automatically parking |
| CN113581143A (en) * | 2020-04-30 | 2021-11-02 | 比亚迪股份有限公司 | Automatic parking control method and device, storage medium and vehicle |
| CN113581164A (en) * | 2020-04-30 | 2021-11-02 | 广州汽车集团股份有限公司 | Parking control method, device and system and storage medium |
| CN113581143B (en) * | 2020-04-30 | 2022-07-15 | 比亚迪股份有限公司 | Automatic parking control method and device, storage medium and vehicle |
| CN112896149A (en) * | 2021-01-23 | 2021-06-04 | 行云智能(深圳)技术有限公司 | Automatic parking system based on computer vision |
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