Electric bus automatic parking method based on multi-sensor fusion

Abstract

The invention provides an electric bus automatic parking method based on multi-sensor fusion. The electric bus automatic parking method comprises the following steps that firstly, when a bus arrives at a station, a license plate recognition camera identifies a license plate of the bus entering the station at an entrance gate; then a photoelectric sensor installed at a side body of the bus starts to work and correspondingly detects that retroreflectors of a start point and a stopping point for bus automatic parking are opened, when the photoelectric sensor installed at the side body of the busdetects the position of the retroreflector of the stopping point, the bus is stopped; then a reverse gear is automatically engaged, a steering wheel is completely turned for bus backing, a millimeterwave radar and an ultrasonic wave radar installed on the rear portion of the bus are used for detecting obstacles on a bus backing path, when the bus body rotates by 90 degrees to be parallel to a parking space, a parking space recognition camera recognizes parking space lines, if the complete parking space can be recognized and no obstacles exist, the bus is backed into the parking space, and automatic parking is completed. The electric bus automatic parking method realizes automatic parking after the bus enters the station, and the labor intensity of a driver is greatly reduced.

Description

technical field

[0001] The invention relates to a parking method, in particular to an electric bus automatic parking method based on multi-sensor fusion. Background technique

[0002] The current automatic parking is generally aimed at small passenger cars. The combination of camera and ultrasonic radar is used to find and determine the parking space. When the parking space is found successfully, the vehicle is controlled to reverse and automatically park. There is almost no automatic parking. Due to the long body of large buses, many of which are more than ten meters long, the parking spaces are also relatively long. The short-range ultrasonic radar applied to passenger cars cannot meet the needs of long bus parking spaces. Ranging requirements. At the same time, the operation of the bus belongs to point-to-point operation, and it will only stop at the terminal station or the starting station, and the stop location is relatively fixed. According to these characteristics, t...

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