Parking space identifying method for automatic parking system
A parking space recognition and automatic parking technology, which is applied in the field of automatic parking system parking space recognition, can solve the problems of inability to guarantee safety robustness and parking system failure, and achieve the effect of improving safety robustness and easy implementation
Active Publication Date: 2013-08-14
CHONGQING UNIV OF POSTS & TELECOMM +1
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[0006] The deficiencies of the above-mentioned methods can be summed up as follows: First, none of the claims involved in the use of ultrasonic sensors for parking space recognition are discussed, and the mentioned parking space recognition method is limited by its assumed preconditions; secondly, based on a single ultrasonic sensor The safety and robustness of parking space recognition by sensors cannot be guaranteed. Once one of the sensors fails or misjudgments, the entire parking system will fail at least, and parking will be performed due to misjudgment of the recognition results when the parking space fails. will have irreversible consequences
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[0021] The overall technical scheme of the present invention is as follows: use a plurality of ultrasonic sensors installed around the vehicle body to capture the environmental information around the vehicle body in real time; use the wheel speed sensor installed at the wheel shaft to obtain the current vehicle speed; Collect data for processing, analysis and judgment; judge the effective edge position of the target parking space based on the edge recognition algorithm, and at the same time obtain the distance information measured by the ultrasonic sensor in real time, and combine the current target vehicle speed to calculate the effective distance of the car passing the target parking space, that is, the target parking space Length, the width of the target parking space is calculated by the recorded distance jump data of the upper and lower edges of the target parking space. Finally, according to the multi-sensor information fusion algorithm, the data fusion of the parking spa...
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The invention discloses a parking space identifying method for an automatic parking system, and belongs to the technical field of electronic control for automobiles. The parking space identifying method includes steps of firstly, starting a parking space searching system and performing ultrasonic distance measurement; secondly, judging edges of target parking space; thirdly, computing the length and the width of the target parking space; fourthly, fusing information of the parking space; and fifthly, making parking space information decision according to fused information of the parking space. The parking space identifying method has the advantages that common problems of erroneous judgment, omission of judgment and the like of parking space identification are solved by a process for fusing the information on the basis of multiple ultrasonic sensors, and the safety and the robustness of parking space identification are effectively improved; and the method is easy to implement as compared with existing other methods, and can be effectively applied to engineering practice.
Description
technical field [0001] The invention belongs to the technical field of automobile electronic control, and relates to a parking space recognition method of an automatic parking system. Background technique [0002] At present, in the research and application of automotive electronic control technology, the automatic parking system is more and more applied to various types of cars. The automatic parking system is a system that automatically parks in place without manual intervention. This system can It is very convenient to complete car parking and reduce the complexity of the driver's operation. [0003] With the continuous improvement of people's demand for automobile intelligent technology, automatic parking technology has become one of the hot spots in the research of intelligent vehicle technology. A complete parking system should include three major blocks: parking space recognition, trajectory generation and turn control. As one of the key core technologies, parking s...
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Inventor 朴昌浩温球良禄盛谢青山
Owner CHONGQING UNIV OF POSTS & TELECOMM