Intelligent parking system

A technology of intelligent parking and image acquisition system, applied in the field of automatic parking control, can solve the problems of poor robustness, low precision, robustness of modeling complexity, etc. Affordable, highly portable effect

Inactive Publication Date: 2011-05-25
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The disadvantage of this method lies in the complexity of modeling and the poor robustness of classical control algorithms
As we all know, the car is a complex nonlinear system, and it is almost impossible to establish its precise dynamic model, and the simplified model often leads to the lack of control performance
The parking process needs to be controlled more precisely, otherwise it is likely to collide with adjacent vehicles or other ob

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Embodiment Construction

[0020] The present invention will be further described below in conjunction with the accompanying drawings.

[0021] Such as figure 1 As shown, the structure of the present invention is composed of an environment perception unit, a central decision-making unit, a control unit and an electronic control execution unit connected in sequence, and the electronic control execution unit acts on the vehicle.

[0022] In a nutshell, as figure 2 As shown, the system of the present invention is divided into four modules: an environmental information collection module, a central decision-making and control module (CPU), a man-machine interface module, and an electronically controlled execution module that comes with the vehicle. Each module communicates with each other through the CAN BUS bus inside the car.

[0023] Each module is described further below.

[0024] The environmental information acquisition module, also known as the environmental perception layer, includes two types of...

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Abstract

The invention discloses an intelligent parking system, which belongs to the field of control of automatic parking. The parking system consists of an environment perception unit, a central decision unit, a control unit and an electrical control execution unit which are sequentially connected, wherein the electrical control execution unit acts on vehicles. The environment perception unit is used for acquiring position information of a vehicle body and distance information of obstacles in the environment; the central decision unit is used for matching according to environmental information to select an appropriate parking controller; the control unit is formed by connecting a group of fuzzy parking controllers and a proportional-integral-differential (PID) controller, each fuzzy parking controller is obtained by learning the parking experience of excellent drivers and is implemented by adopting a singlechip NLX230; and the electrical control execution unit is used for executing an output result of the control unit and controlling a steering wheel. The intelligent parking system improves the safety and accuracy of the parking, and has strong control adaptive capability.

Description

technical field [0001] The invention relates to a vehicle control system, in particular to a vehicle intelligent parking system, which belongs to the field of automatic parking control. Background technique [0002] In recent years, with the increasing popularity of vehicles, parking has become a problem that drivers have to face. However, due to the limited experience of novice drivers, especially female drivers with a poor sense of direction, parking has become one of the biggest difficulties they encounter in driving. [0003] Automatic parking has been studied since the 1990s. At present, the method of automatic parking is mainly the trajectory tracking method based on the vehicle dynamics model. The core idea is to plan a suitable path through the environmental information of the sensor, and then control the steering and Speed ​​tracking trajectory to achieve the purpose of parking. The disadvantage of this method is the complexity of modeling and the poor robustness ...

Claims

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Application Information

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IPC IPC(8): B60W30/06
Inventor 凌锐毛建国沈峘张延召张慧玉
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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