Automatic vertical parking system and method based on multi-stage planning and machine learning

Abstract

The invention provides an automatic vertical parking system and a parking method based on multi-stage planning and machine learning. The image is collected by a ring-view camera, and an ultrasonic sensor detects obstacle information to judge the position, heading information and the validity information of the storage location relative to the storage location. The automatic parking process is initiated when a suitable size and no vehicle-occupied space is identified. The automatic parking system plans the parking route according to the current self-parking posture and the information of the garage. If necessary, the automatic parking system uses multiple R-S curve is adjusted from the parking position to the proper position, and then the secondary helix parking trajectory is generated according to the learning network. The steering wheel, throttle and brake pedal are controlled electronically for parking and garage entry. The invention utilizes the secondary helix training set and thelearning network to improve the efficiency of the parking process and the adaptability to the path deviation, and combines R-S curve for multi-stage planning, to achieve a very small range of parkingplanning high success rate, a wider range of application, more reliable parking process.

Description

technical field [0001] The invention relates to the field of automatic parking planning of smart cars, in particular to an automatic vertical parking system and method based on multi-stage planning and machine learning. Background technique [0002] In recent years, the unbalanced development of domestic car ownership and transportation infrastructure construction has made the parking space increasingly narrow and the parking technology requirements are getting higher and higher. The limitation of parking space requires that vehicles should be parked according to the parking space line norms, which can maximize the rational use of parking space resources and is also conducive to the overall planning of parking lots and city appearance. On the other hand, the limitation of parking space is also a great challenge to the driver's skills. The parking problem consumes a lot of time and energy for people, and in severe cases, accidents such as scratches and collisions occur. Ther...

AI Technical Summary

Problems solved by technology

However, there may be situations such as roadside parking space inclination, steering motor tracking delay, etc., simply controlling the trajectory of the vehicle tracking plan often results in very large tracking errors

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