CN108556840B - Full-automatic parking system and method - Google Patents
Full-automatic parking system and method Download PDFInfo
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- CN108556840B CN108556840B CN201810391624.9A CN201810391624A CN108556840B CN 108556840 B CN108556840 B CN 108556840B CN 201810391624 A CN201810391624 A CN 201810391624A CN 108556840 B CN108556840 B CN 108556840B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 56
- 230000004044 response Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims description 5
- 238000013500 data storage Methods 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 2
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- 238000010586 diagram Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a full-automatic parking system and a full-automatic parking method, wherein the parking system comprises a response acquisition module, a determination module, a data receiving unit and a parking module which are installed in a vehicle, and further comprises a vehicle monitoring module which is installed on the road surface of a parking lot, the vehicle monitoring module is used for monitoring the position and posture information of the vehicle in the parking lot in real time, the response acquisition module is used for monitoring the operation of starting an automatic parking function of a user, the data receiving unit is used for receiving data detected by the vehicle monitoring module, the first determination unit is used for determining an auxiliary parking space and a parking track according to the detected data, and the parking module is used for controlling the vehicle to park in the auxiliary parking space according to the parking track based on a self-control feedback mode.
Description
Technical Field
The invention belongs to the technical field of automatic parking of vehicles, and particularly relates to a full-automatic parking system and a full-automatic parking method.
Background
With the development of economy, the reserved quantity of vehicles is continuously increased every year, the phenomenon that the vehicles are difficult to park generally exists, a driver needs to observe and judge the environment around a parking point at one side in the parking process, the driver needs to accurately operate the vehicles to park at the other side, and safety accidents can be caused by a small misjudgment in the parking process; therefore, parking the vehicle requires the driver to have skilled driving skills and a sharp observation.
In the process of daily use of automobiles, the garage finding and parking are difficult, sometimes a garage needs to be found for a long time around a parking lot, a large amount of time is wasted, the parking lot cannot be easily parked into the parking lot even if the parking lot is found, especially a novice driver often causes safety accidents in parking, and in order to enable the parking lot finding and parking to be safe and convenient, an automatic parking system is urgently needed to solve the problems.
Most of the existing automatic parking systems adopt a radar mounted on a vehicle and a camera to sense the surrounding environment of the vehicle for parking, but the radar obstacle detection has a certain blind area, so that the radar cannot be monitored in some places, and the camera is easy to be blurred due to weather and other reasons, so that quick and effective automatic parking is difficult to realize.
Disclosure of Invention
The invention aims to provide a full-automatic parking system and a full-automatic parking method aiming at the problems in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
the full-automatic parking system comprises a response acquisition module, a determination module, a data receiving unit, a parking module and a vehicle monitoring module, wherein the response acquisition module, the determination module, the data receiving unit and the parking module are arranged in a vehicle; the data receiving unit is connected with the data sending unit through wireless communication;
the system comprises a vehicle monitoring module, a response acquisition module, a determination module and a parking track determining module, wherein the vehicle monitoring module is used for monitoring the position information and the posture information of a vehicle in a parking lot in real time, the response acquisition module is used for monitoring the operation of starting an automatic parking function by a user, and the determination module is used for determining an auxiliary parking space and a parking track according to data monitored by the vehicle monitoring module; the parking module is used for controlling a vehicle to park in the auxiliary parking space according to the parking track in a self-control feedback mode, and the self-control feedback is used for adjusting the parking track by monitoring the position relation between the vehicle and an obstacle in real time.
Specifically, the photosensitive switch control unit is electrically connected with the plurality of photosensitive sensors and the plurality of ultrasonic sensors and is used for controlling the ultrasonic sensors to work under the condition of no light instead of the photosensitive sensors, and the distance between every two adjacent photosensitive sensors/ultrasonic sensors is fixed; the photosensor/ultrasonic sensor is used for monitoring the position of an available parking space in a parking lot and the position and attitude information of a vehicle.
Through photosensitive switch control unit realizes photosensitive sensor and ultrasonic sensor's alternative work can also realize the control to the vehicle in night/light not good, can also reduce the burden of sensor simultaneously, avoids long-time work and damages.
Specifically, the radio frequency identification unit comprises a radio frequency card installed in a vehicle and a reader-writer arranged on a pavement of a parking lot, wherein the radio frequency card stores identity information of a vehicle owner and information of the vehicle; when a vehicle runs across a road surface provided with a reader-writer, the reader-writer can identify the identity information of a vehicle owner and the information of the vehicle by reading a radio frequency card in the vehicle, wherein the vehicle information comprises the model, the length, the width, the height and the like of the vehicle.
Specifically, the data storage unit stores position information of all the photosensitive sensors/ultrasonic sensors.
Specifically, the determining module comprises a first determining unit, a judging unit and a second determining unit;
the first determination unit is used for determining available parking spaces according to the data monitored by the vehicle monitoring module;
the judging unit is used for judging whether the available parking space conforms to the appearance characteristics of the vehicle, wherein the appearance characteristics of the vehicle are met, namely the size of the area of the available parking space is larger than the area of the maximum cross section of the vehicle and is larger than a preset numerical value;
the second determining unit is used for dividing auxiliary parking spaces in the available parking spaces according with the vehicle appearance characteristics and determining parking tracks according to the position relation between the vehicle and the auxiliary parking spaces.
Specifically, the parking module comprises a control unit and an adjusting unit;
the control unit is used for controlling the vehicle to start parking according to a parking track;
the adjusting unit is used for judging whether the data monitored by the vehicle monitoring module meets a preset condition, stopping parking if the data monitored by the vehicle monitoring module meets the preset condition, and determining a new parking track according to the data monitored by the vehicle monitoring module in real time;
the preset condition is that the distance between the vehicle and the obstacle is smaller than a preset value.
Specifically, the full-automatic parking system further comprises an ending module used for ending the program when the vehicle is completely parked in the auxiliary parking space and stopping parking.
The full-automatic parking method comprises the following steps:
s1, the operation that the user starts the automatic parking function is obtained through the response obtaining module, and the vehicle position and posture information monitored by the vehicle monitoring module is received through the data receiving unit;
s2, determining an auxiliary parking space and a parking track through a determining module according to the data information monitored by the vehicle monitoring module;
s3, controlling a vehicle to park in the auxiliary parking space according to the parking track through a parking module based on a self-control feedback mode;
and S4, determining that the vehicle is completely parked in the auxiliary parking space, and stopping parking.
Specifically, in step S2, the determining the parking assist space and the parking trajectory includes: and determining available parking spaces by using the data monitored by the vehicle monitoring module, and judging whether the available parking spaces conform to the appearance characteristics of the vehicle.
Specifically, the self-control feedback manner in step S3 is as follows: and monitoring the position relation between the vehicle and the barrier in real time through the vehicle monitoring module, and adjusting the parking track according to the position relation.
Compared with the prior art, the invention has the beneficial effects that: the vehicle monitoring module paved on the pavement of the parking lot is used for monitoring the position and the posture information of the vehicle in the parking lot in real time, so that the environment around the vehicle can be comprehensively monitored, meanwhile, the position of the available parking space can be rapidly determined, and the time for a user to search the parking space is saved; the determining module determines an auxiliary parking space and a parking track according to the data information monitored by the vehicle monitoring module, the parking module controls the vehicle to park in the auxiliary parking space according to the parking track, and the parking track is adjusted according to the data information monitored by the vehicle monitoring module in real time in the parking process, so that safe, quick and effective automatic parking is realized.
Drawings
FIG. 1 is a block diagram showing the construction of a fully automatic parking system according to the present invention;
FIG. 2 is a block diagram showing a flow structure of the full-automatic parking method of the present invention;
in the figure: 1. a response acquisition module; 2. a determination module; 201. a first determination unit; 202. a judgment unit; 203. a second determination unit; 3. a parking module; 301. a control unit; 302. an adjustment unit; 4. a data receiving unit; 5. an end module; 6. a vehicle monitoring module; 601. a photosensitive sensor; 602. an ultrasonic sensor; 603. a photosensitive switch control unit; 604. a radio frequency identification unit; 605. a data storage unit; 606. and a data transmitting unit.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in the figure, the embodiment provides a full-automatic parking system, which includes a response obtaining module 1, a determining module 2, a data receiving unit 4, a parking module 3 installed in a vehicle, and a vehicle monitoring module 6 disposed on a road surface of a parking lot, where the vehicle monitoring module 6 includes a plurality of photosensitive sensors 601, a plurality of ultrasonic sensors 602, a photosensitive switch control unit 603, a radio frequency identification unit 604, a data storage unit 605, and a data sending unit 606; the data receiving unit 4 is connected with the data sending unit 606 through wireless communication;
the vehicle monitoring module 6 is used for monitoring position information and posture information of a vehicle in a parking lot in real time, the response acquisition module 1 is used for monitoring operation of starting an automatic parking function by a user, and the determination module 2 is used for determining an auxiliary parking space and a parking track according to data monitored by the vehicle monitoring module 6; the parking module 3 is configured to control the vehicle to park in the auxiliary parking space according to the parking trajectory in a self-control feedback manner, where the self-control feedback is to adjust the parking trajectory by monitoring a positional relationship between the vehicle and an obstacle in real time.
Specifically, the automatic parking function module inside the vehicle may include a button of an entity button, and after the button is pressed, the response obtaining module 1 obtains a signal for enabling the automatic parking function and enables the automatic parking system; a virtual button can also be arranged on an interface of a display device inside the vehicle, and when a user presses the virtual button, the automatic parking system can also be started;
further, when the user presses the physical button/virtual button, the response obtaining module 1 will start the automatic parking system, and starts to receive the data information monitored by the vehicle monitoring module 6 through the data receiving unit 4, the first determining unit 201 determines the position information of the available parking space according to the data information, the determining unit 202 determines whether the available parking space conforms to the external shape feature of the vehicle by combining the length and width of the vehicle and the area size information of the available parking space, and if not, returning to the first determination unit 201 to re-determine the location information of other available parking spaces, and if so, an auxiliary parking space is drawn out of the available parking space through the determining module 2, a parking track is determined by using the current position information of the vehicle and the auxiliary parking space, and the parking module 3 controls the vehicle to start parking in the auxiliary parking space according to the parking track; in the parking process, the adjusting unit 302 adjusts the parking trajectory according to the data information monitored by the vehicle monitoring module 6 in real time, and when the vehicle is completely parked in the auxiliary parking space, the ending module 5 automatically stops the operation of the parking system; in this embodiment, the parking module 3 performs automatic parking control on the vehicle based on a self-control feedback manner, so that the vehicle and the obstacle can be effectively prevented from colliding, and the parking trajectory can be adjusted in real time, so that automatic parking is performed more smoothly.
Specifically, the present embodiment monitors the area size and the position of the available parking space in the parking lot through the sensor array laid on the road surface of the parking lot, and determines whether the area size conforms to the external shape characteristics of the vehicle through the determination unit 202, where the external shape characteristics mainly include the length, the width, the height, and the like of the vehicle; when the appearance characteristics of the vehicle are determined to be met, the determining module 2 is used for determining an auxiliary parking space and a parking track, and the parking module 3 is used for controlling the vehicle to park in the auxiliary parking space according to the parking track;
further, in the process that the vehicle is parked in the auxiliary parking space, the parking module 3 is controlled in a self-control feedback mode, the self-control feedback means that the parking track is adjusted according to data information monitored in real time by the vehicle monitoring module 6 while the vehicle is controlled to be driven into the auxiliary parking space, so that automatic parking is safer, quicker and more effective, and the data information specifically comprises the position relation between the vehicle and an obstacle.
Specifically, the distance between two adjacent photosensitive sensors 601/ultrasonic sensors 602 is set to Xm, and when the vehicle monitoring module 6 detects that an obstacle around the vehicle is included in the range of a straight line closest to the vehicle body, the straight line includes N photosensitive sensors 601/ultrasonic sensors 602, it can be determined that the shortest distance between the vehicle and the nearest obstacle is N × Xm;
further, the vehicle monitoring module 6 may determine the posture information of the vehicle according to the area covered by the vehicle and in combination with the coverage area of the surrounding reference object, where the posture information mainly includes the deviation angle of the vehicle; when a vehicle is ready to park in a parking lot, the coverage area of the vehicle is monitored by a plurality of photosensitive sensors 601/ultrasonic sensors 602 arranged on the road surface, and the deviation angle of the automatically parked vehicle relative to other vehicles is judged by combining the coverage areas of other surrounding vehicles, so that the attitude information of the vehicle is determined.
Specifically, the photosensitive switch control unit 603 is electrically connected to the plurality of photosensitive sensors 601 and the plurality of ultrasonic sensors 602, and is configured to control the ultrasonic sensors 602 to operate in place of the photosensitive sensors 601 in the absence of light;
in the case of good light conditions (open parking lot), the light-sensitive switch control unit 603 controls the light-sensitive sensor 601 to operate and disconnects the power supply of the ultrasonic sensor 602; under the condition of poor light conditions (indoor parking lot), the photosensitive switch control unit 603 controls the ultrasonic sensor 602 to work and cuts off the power supply of the photosensitive sensor 601; the photosensitive switch control unit 603 realizes the alternate work of the photosensitive sensor 601 and the ultrasonic sensor 602, so that the vehicle in the parking lot can be monitored under various conditions, the load of the sensor can be reduced, and the damage caused by long-time work can be avoided.
Further, the radio frequency identification unit 604 includes a radio frequency card installed in the vehicle and a reader/writer disposed on the photovoltaic road surface, where the radio frequency card stores the identity information of the vehicle owner and the information of the vehicle;
the reader-writer and the radio frequency card are in communication connection through a microwave 5.8GHz frequency band, the communication distance can reach 8-30 m, and when a vehicle runs across a road surface provided with the reader-writer, the reader-writer can identify the identity information of a vehicle owner and the information of the vehicle by reading the radio frequency card in the vehicle.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The full-automatic parking system comprises a response acquisition module (1), a determination module (2), a data receiving unit (4) and a parking module (3) which are installed in a vehicle, and is characterized by further comprising a vehicle monitoring module (6) arranged on the road surface of a parking lot, wherein the vehicle monitoring module (6) comprises a plurality of photosensitive sensors (601) and/or a plurality of ultrasonic sensors (602), a photosensitive switch control unit (603), a radio frequency identification unit (604), a data storage unit (605) and a data sending unit (606); the data receiving unit (4) is connected with the data sending unit (606) through wireless communication; the distance between two adjacent photosensitive sensors (601)/ultrasonic sensors (602) is fixed;
the data storage unit (605) stores the position information of all the photosensitive sensors (601)/ultrasonic sensors (602);
the determination module (2) comprises a first determination unit (201), a judgment unit (202) and a second determination unit (203);
the first determination unit (201) is used for determining available parking spaces according to the data monitored by the vehicle monitoring module (6);
the judging unit (202) is configured to judge whether the available parking space conforms to an appearance feature of the vehicle, where the appearance feature of the vehicle is that the size of the area of the available parking space is larger than the area of the maximum cross section of the vehicle and larger than a predetermined value;
the second determining unit (203) is used for dividing auxiliary parking spaces in the available parking spaces according with the vehicle appearance characteristics and determining parking tracks according to the position relation between the vehicle and the auxiliary parking spaces;
the vehicle monitoring module (6) is used for monitoring position information, surrounding obstacle information and attitude information of a vehicle in a parking lot in real time, and the vehicle monitoring module (6) judges the shortest distance between the vehicle and an obstacle in the nearest direction by detecting the number of photosensitive sensors (601)/ultrasonic sensors (602) in a straight line range where the obstacle around the vehicle is nearest to a vehicle body; the vehicle monitoring module (6) judges the deviation angle of the automatic parking vehicle relative to other vehicles according to the area covered by the vehicle and in combination with the coverage areas of other surrounding vehicles; the response acquisition module (1) is used for monitoring the operation of starting the automatic parking function by a user; the parking module (3) is used for controlling a vehicle to park in the auxiliary parking space according to the parking track in a self-control feedback mode, and the self-control feedback is used for adjusting the parking track by monitoring the position relation between the vehicle and an obstacle in real time.
2. The system for full automatic parking according to claim 1, wherein the light-sensitive switch control unit (603) is electrically connected to the plurality of light-sensitive sensors (601) and the plurality of ultrasonic sensors (602) and is used for controlling the ultrasonic sensors (602) to work under the condition of no light instead of the light-sensitive sensors (601).
3. The full-automatic parking system according to claim 1, wherein the radio frequency identification unit (604) comprises a radio frequency card installed in the vehicle and a reader-writer arranged on the pavement of the parking lot, and the radio frequency card stores the identity information of the vehicle owner and the information of the vehicle.
4. A fully automatic parking system according to claim 1, wherein the parking module (3) comprises a control unit (301) and an adjustment unit (302);
the control unit (301) is used for controlling the vehicle to start parking according to a parking track;
the adjusting unit (302) is used for judging whether the data monitored by the vehicle monitoring module (6) meet preset conditions or not, stopping parking if the data meet the preset conditions, and determining a new parking track according to the data monitored by the vehicle monitoring module (6) in real time;
the preset condition is that the distance between the vehicle and the obstacle is smaller than a preset value.
5. The fully automatic parking system according to claim 1, further comprising an ending module (5) for ending the procedure when the vehicle is fully parked in the auxiliary parking space, stopping parking.
6. A full-automatic parking method based on the parking system of any one of claims 1 to 5, characterized by comprising the steps of:
s1, the operation that the user starts the automatic parking function is obtained through the response obtaining module (1), and the vehicle position and posture information monitored by the vehicle monitoring module (6) is received through the data receiving unit (4); the vehicle monitoring module (6) judges the attitude information of the vehicle according to the area covered by the vehicle and in combination with the coverage area of the surrounding reference object, wherein the attitude information mainly comprises the deviation angle of the vehicle;
s2, determining auxiliary parking spaces and parking tracks through a determining module (2) according to data information monitored by the vehicle monitoring module (6); determining available parking spaces by using data monitored by the vehicle monitoring module (6), and judging whether the available parking spaces conform to the appearance characteristics of the vehicle;
s3, controlling the vehicle to park in the auxiliary parking space according to the parking track through the parking module (3) based on a self-control feedback mode; the vehicle monitoring module (6) is used for monitoring the position relation between the vehicle and the barrier in real time and adjusting a parking track according to the position relation;
and S4, determining that the vehicle is completely parked in the auxiliary parking space, and stopping parking.
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| CN201810391624.9A CN108556840B (en) | 2018-04-27 | 2018-04-27 | Full-automatic parking system and method |
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| CN201810391624.9A CN108556840B (en) | 2018-04-27 | 2018-04-27 | Full-automatic parking system and method |
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| CN109774716B (en) * | 2019-01-16 | 2021-11-09 | 阿波罗智能技术(北京)有限公司 | Vehicle control method and device |
| CN112967524B (en) * | 2021-02-07 | 2023-01-03 | 深圳市方格尔科技有限公司 | On-road parking management method and system |
| CN115246386A (en) * | 2021-09-09 | 2022-10-28 | 上海诚胜实业有限公司 | Ultrasonic Assisted Parking System for Automatic Positioning and Recognition |
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| CN203165240U (en) * | 2013-03-07 | 2013-08-28 | 张挺 | Cloud service platform-based parking stall and vehicle matching and locating system |
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