Automatic parking system

Abstract

The invention provides an automatic parking system and belongs to the technical field of automobile control. The automatic parking system comprises an ultrasonic radar detector, a camera probe, a parking controller and a driving control module, wherein the parking controller is used for receiving barrier distance data detected by the ultrasonic radar detector and image information collected by the camera probe, obtaining the parking space and planning and correcting the parking path in real time by combination with information of an automobile, and sending a control instruction to control the driving control module to perform steering, speed changing, braking and parking control over the automobile according to the parking path, so that the automobile is driven according to the parking path to be parked. The parking controller calculates the distance data and the image information, and the sensing capacity of the automatic parking system on the real environment is enhanced since the parking controller and the driving control module have complementary advantages; and meanwhile, the parking controller controls the driving control module to achieve an automatic parking function, a multi-sensor identification mode is adopted, robustness of the system is enhanced, and convenience and comfort are ensured when a driver uses the automatic parking system.

Description

technical field [0001] The invention relates to the field of vehicle control, in particular to an automatic parking system. Background technique [0002] In recent years, with the improvement of living standards, cars have entered thousands of households. When parking cars, there are some obstacles or when the space is narrow, some collisions will inevitably occur and bring unnecessary troubles to users. At present, the common automatic parking systems developed on the market generally have two environmental recognition modes: one is the image recognition mode, which uses multiple cameras to detect parking spaces and obstacles; the other is the radar recognition mode, which uses the installed The ultrasonic radar probes on the front and rear bumpers detect parking spaces and obstacles; both schemes transmit the recognized data to the parking controller (APA ECU), and then the parking controller calculates a reasonable parking path, And issue an execution instruction, and th...

AI Technical Summary

Problems solved by technology

[0003] 1. When the roadside is covered by road debris (leaves, waste, ice and snow), it is difficult for the ultrasonic radar system to identify the roadside;

[0004] 2. There are obstacles such as small warning pillars on the vacant space, which may not be detected by the radar sensor, and the vacant parking space is regarded as an effective parking space;

[0005] 3. During the process of reversing and entering the warehouse, there may be small moving obstacles (such as small pets) escaping from the rear, which may not be detected by the radar probe and cannot be braked in time;

[0006] 4. The radar probe cannot detect the parking spaces with no vehicles on both sides

[0007] Therefore, the automatic driving scheme of the above-mentioned single sensor recognition mode cannot essentially avoid the risks of the above-mentioned working conditions, which in turn affects the convenience and comfort of the driver.

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