Parking control system and method

Abstract

The invention discloses a parking control system and method. The system comprises a parking controller, a parking sensor module, a panoramic imaging module, a vehicle body electronic stabilization system ESP and an electric power steering system EPS. The parking sensor module is used for measuring the distance between a vehicle and a parking space marker in the parking process. The panoramic imaging module comprises an imaging controller and a panoramic camera; the panoramic camera is used for collecting images of multiple view fields around a vehicle body, and the imaging controller is used for determining effective calibration parameters of the panoramic camera according to the current height or the preset height of an air suspension in the parking process and splicing the images of themultiple view fields according to the effective calibration parameters to obtain a panoramic image; and the parking controller controls the ESP and the EPS according to the distance and the panoramicimage, so that the vehicle is parked in the parking space. The calibration parameters of the panoramic camera are adjusted according to the height of the air suspension to obtain an accurate panoramicimage, so that the parking space is accurately recognized, and the accuracy of automatic parking is improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of vehicle control, and in particular to a parking control system and method. Background technique [0002] With the development of intelligent connected vehicles (Intelligent Connected Vehicle, ICV), more and more vehicles are equipped with automatic parking systems, which can automatically identify parking spaces through sensors and controllers, and automatically drive vehicles to make them park in parking spaces. At the same time, some vehicles are equipped with air suspension. Under different road conditions, the automatic compression or extension of the spring of the air suspension can be controlled to automatically adjust the height of the vehicle body, thereby increasing the stability of the high-speed vehicle body or the passability of complex road conditions. [0003] For vehicles equipped with automatic parking system and air suspension at the same time, the sensor parameters ...

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Problems solved by technology

[0003] For vehicles equipped with automatic parking system and air suspension at the same time, the sensor parameters in the automatic parking system have been calibrated at the factory, and the parameters are fixed. In actual applications, the vehicle height will vary with the adjustment of the air suspension. Changes caused the detection area of ​​the sensor to shift and vibrate relative to the factory state during parking, and the recognition and perception performance of markers, obstacles, parking spaces, etc. were also affected. For example, changes in vehicle height caused the camera to generate Distortion and distortion affect the recognition of parking spaces, etc., and ultimately affect the parking accuracy

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