CN105835876A - Intelligent parking system based on computer control - Google Patents
Intelligent parking system based on computer control Download PDFInfo
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- CN105835876A CN105835876A CN201610177725.7A CN201610177725A CN105835876A CN 105835876 A CN105835876 A CN 105835876A CN 201610177725 A CN201610177725 A CN 201610177725A CN 105835876 A CN105835876 A CN 105835876A
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- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 13
- 238000009434 installation Methods 0.000 claims description 9
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 210000002421 cell wall Anatomy 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 3
- 230000004323 axial length Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 208000012287 Prolapse Diseases 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
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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
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides an intelligent parking system based on computer control. The intelligent parking system based on computer control comprises an automobile electronic control unit (ECU), a steering wheel, a steering shaft, a transmission mechanism, a transmission shaft, a steering device, a steering motor, a plurality of image collectors and a parking control unit. The parking control unit comprises a master control module, a parking control drive key, an image processing module, an image operation module, an operation comparison module, a conversion module and a display screen. In the driving process of a driver, automobile current location images and pre-parking location images are generated continuously, target parking location images are determined, the theoretical steering angle of the steering wheel and the theoretical rotation speed of the steering motor are worked out, the real-time rotation speed of the steering motor is modified to the theoretical rotation speed of the steering motor, the operations are conducted until an automobile is parked to the target parking location, and accordingly the intelligent parking system assists the driver, especially a driver beginner in parking the automobile to the parking lot accurately and quickly, parking time is shortened, and parking accuracy and parking efficiency are improved.
Description
Technical field
The present invention relates to computer control field, particularly relate to a kind of based on computer-controlled intelligent parking system.
Background technology
Along with the progress of science and technology, the development of society, automobile is the most extensively used, and the vehicle flowrate in the most densely populated city is
Tend to full, this also means that parking space is extremely limited in densely populated city, for many drivers, will
Automobile stops having become as a required skill into narrow space.But, for new hand driver, above-mentioned parking technical ability is also
Can not grasp well, be easily caused vehicle and collide with, be hit curved, vehicle hub such as bumper and car paint heavy wear, car light hit
Broken etc., thus bring certain economic loss to user.
Summary of the invention
The defect of prior art and various weak point in view of the above, the technical problem to be solved in the present invention is to provide one
Based on computer-controlled intelligent parking system, its can assist driver, particularly new hand driver vehicle is stopped exactly into
In parking stall.
For achieving the above object, the present invention provides a kind of based on computer-controlled intelligent parking system, including the electronics control of vehicle
Unit ECU processed, steering wheel, steering spindle, drive mechanism, power transmission shaft and steering gear, it is defeated that described drive mechanism has first
Entering outfan, the second input/output terminal and the 3rd input/output terminal, one end of described steering spindle is fixing with steering wheel to be connected,
The other end is connected with the first input/output terminal of drive mechanism, the second input/output terminal of drive mechanism and one end phase of power transmission shaft
Connecting, the other end of power transmission shaft is connected with the input of steering gear, also includes:
Steer motor, is connected with the 3rd input/output terminal of drive mechanism, the electric machine controller of this steer motor and Electronic Control
Unit ECU is connected；
Multiple image acquisition devices, for the picture of collection vehicle surrounding；
Parking toll unit, including total control module, parking toll drive button, image processing module, image operation module,
Computing comparing module, modular converter and display screen, wherein, described total control module and electronic control unit ECU and
Multiple image acquisition devices are connected, and inside prestores vehicle commander's information and the overall width information of vehicle；Described parking toll drives button peace
It is contained in the inside of vehicle and is positioned at the right-hand side of driver, being connected with total control module；Described image processing module and master control
Molding block is connected, and the picture of the vehicle's surroundings for collecting according to image acquisition device generates from vehicle up direction looks down angle
Current vehicle position picture and the pre-parking spot picture being positioned at current vehicle position picture surrounding；Described image operation module is with total
Control module is connected, for determining according to the overall width information of current vehicle position picture, vehicle commander's information of vehicle and vehicle
One pre-parking spot picture is target parking position picture；Described computing comparing module is connected with total control module, for root
Go to calculate according to the target parking position corresponding to target parking position picture, current vehicle position that current vehicle position picture is corresponding
Vehicle is the theoretical steering angle of steering wheel needed for current vehicle position stops target parking position；Described modular converter and master control
Module is connected, for by the theoretical steering angle of steering wheel and the theoretical rotational speed of steer motor and turning in real time of steering wheel
The real-time rotating speed of angle and steer motor is mutually changed；Described display screen is arranged on the inside of vehicle and is positioned at driver's
Forward right side, is connected with total control module, for theoretical steering angle and the real-time steering angle of display direction dish；
The theoretical rotational speed of steer motor is passed to electronic control unit ECU, electronics by the total control module of described parking toll unit
The real-time rotating speed of steer motor is modified to the theoretical rotational speed of steer motor by control unit ECU.
Preferably, described parking toll driving button is positioned at the left side of the gear shift lever of vehicle, and parking toll drives the upper end of button
Face is recessed dome shape.
Further, described image acquisition device is photographic head.
Preferably, multiple photographic head are separately mounted on car door and two car plate installation portions of vehicle.
Further, the upper surface of the lower section of the handle of described car door, two car plate installation portions is equipped with extends vertically downward
Groove, the lower end of this groove is provided with the lock slots that a circle is radially projecting, and described photographic head is fixed on a upper end fixing axle, and this is solid
The lower end of dead axle is provided with a radially projecting sticking department, and described fixing axle stretches in groove and sticking department fastens with lock slots.
Preferably, the cell wall of described groove offering one guide and limit groove, the outer peripheral face of described fixing axle is provided with prominent
Guide and limit portion, described guide and limit portion is positioned in guide and limit groove.
Preferably, the outer peripheral face of described sticking department is made up of the face of cylinder and taper seat, described taper seat be positioned at the face of cylinder lower end,
And diameter is from top to bottom gradually reduced.
The present invention relates to has the advantages that based on computer-controlled intelligent parking system
The present invention constantly generates current vehicle position picture and pre-parking spot picture in driver's docking process, determines target
Parking spot picture, the theoretical steering angle of calculated direction dish and the theoretical rotational speed of steer motor and real-time by steer motor
Rotating speed is modified to the theoretical rotational speed of steer motor, until vehicle stops in target parking position, thus assists driver, particularly
Vehicle accurately and is quickly stopped in parking stall by new hand driver, to save down time, improves shut-down operation accuracy and parking
Efficiency.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, and can depend on
The content of book is practiced as directed, below with presently preferred embodiments of the present invention and coordinate accompanying drawing to be described in detail this patent.
Accompanying drawing explanation
Fig. 1 is the structural representation of intelligent parking system in the application.
Fig. 2 is the theory diagram of intelligent parking system in the application.
The image discriminating schematic diagram of image processing module when Fig. 3 is to stop.
Fig. 4 is an embodiment of drive mechanism in the application.
Fig. 5 is the mounting structure figure of photographic head in the application.
Fig. 6 is that the A-A of Fig. 5 is to sectional view.
Element numbers explanation
1 electronic control unit ECU
2 steering wheels
3 steering spindles
4 drive mechanisms
41 sun gears
42 planetary gears
43 planet carriers
44 ring gears
45 travelling gears
5 power transmission shafts
6 steering gears
7 steer motor
11 image acquisition devices
9 parking toll unit
91 total control modules
92 parking toll drive button
93 image processing modules
94 image operation modules
95 computing comparing module
96 modular converters
97 display screens
10 vehicle frames
101 grooves
102 lock slots
103 guide and limit grooves
8 fix axle
81 shaft core
82 axle sleeves
821 first faces of cylinder
822 first taper seats
823 deformation grooves
824 sticking departments
825 faces of cylinder
826 taper seats
827 guide and limit portions
12 steering arms
13 wheels
Detailed description of the invention
Below in conjunction with the accompanying drawings the preferred embodiments of the present invention are described in detail.
As depicted in figs. 1 and 2, the application provides a kind of based on computer-controlled intelligent parking system, including the electronics of vehicle
Control unit ECU1, steering wheel 2, steering spindle 3, drive mechanism 4, power transmission shaft 5 and steering gear 6, described drive mechanism
4 have the first input/output terminal, the second input/output terminal and the 3rd input/output terminal, one end of described steering spindle 3 and side
To the fixing connection of dish 2, the other end is connected with the first input/output terminal of drive mechanism 4, and the second input of drive mechanism 4 is defeated
Going out end to be connected with one end of power transmission shaft 5, the other end of power transmission shaft 5 is connected with the input of steering gear 6, also includes: turn
To motor 7, it is connected with the 3rd input/output terminal of drive mechanism 4, the electric machine controller of this steer motor 7 and Electronic Control
Unit ECU1 is connected；Multiple image acquisition devices 11, for the picture of collection vehicle surrounding；Parking toll unit 9, including
Total control module 91, be arranged on vehicle interior parking toll drive button 92, image processing module 93, image operation module
94, computing comparing module 95, modular converter 96 and be arranged on the inside of vehicle and be positioned at the forward right side display screen of driver
97, described parking toll drives button 92, image processing module 93, image operation module 94, computing comparing module 95, turns
Die change block 96 and display screen 97 are all connected with total control module 91, described total control module 91 and electronic control unit
ECU1 and multiple image acquisition device 11 are connected, and inside prestores vehicle commander's information and the overall width information of vehicle.Preferably,
Described parking toll driving button 92 is positioned at the left side of the gear shift lever of vehicle, and the upper surface of parking toll driving button 92 is recessed
The dome shape entered, with improve driver press parking toll drive button 92 comfort level.
Driver turn steering wheel 2, inputs to steering gear 6 after the most diverted axle of power 3, drive mechanism 4, power transmission shaft 5,
The outfan of steering gear 6 controls wheel 13 by steering arm 12 again and rotates accordingly.Driver needs to stop into car car
During position, then driver drives button 92 by the parking toll getting off interior, starts semi-automatic car-parking model.Multiple image acquisition devices 11
The picture of automatic collection vehicle surrounding, and by the picture transfer that collects to total control module 91；Total control module 91 is by image
The picture that harvester 11 collects sends image processing module 93 to, and image processing module 93 is generated by the picture of vehicle's surroundings
Current vehicle position picture W from vehicle up direction looks down angle and the pre-parking stall being positioned at current vehicle position picture W surrounding
Put picture X, as shown in Figure 3；Image processing module 93 is again by the current vehicle position picture W generated and multiple pre-parking stall
Put picture X and be transferred to total control module 91.Total control module 91 is by described current vehicle position picture W and multiple pre-parking stall
Putting picture X and be transferred to image operation module 94, image operation module 94 is according to current vehicle position picture W, the vehicle commander of vehicle
A pre-parking spot picture X in multiple pre-parking spot picture X is determined as target by the overall width information of information and vehicle
Parking spot picture Y, and this target parking position picture Y is transferred to total control module 91.Total control module 91 is again by mesh
Mark parking spot picture Y and current vehicle position picture W is sent to computing comparing module 95, and computing comparing module 95 is according to mesh
Mark the target parking position corresponding to parking spot picture Y, current vehicle position corresponding for current vehicle position picture W removes meter
Calculate vehicle theoretical steering angle of steering wheel 2 needed for current vehicle position stops target parking position, and direction calculating arrived
The theoretical steering angle of dish 2 is transferred to total control module 91.The theoretical steering angle of steering wheel 2 is transmitted by total control module 91
To modular converter 96, the theory of the steer motor 7 corresponding to theoretical steering angle that modular converter 96 calculates direction dish 2 turns
Speed, and the theoretical rotational speed of this steer motor 7 is transferred to total control module 91.Total control module 91 is by the reason of steer motor 7
Opinion rotating speed is transferred to electronic control unit ECU1, electronic control unit ECU1 and is modified to the real-time rotating speed of steer motor 7 turn
To the theoretical rotational speed of motor 7, thus reach the purpose of control direction dish 2 steering angle so that the real-time steering angle of steering wheel 2
Degree is always vehicle theoretical steering angle of steering wheel 2 needed for current vehicle position stops target parking position.
Meanwhile, in order to preferably vehicle is stopped in parking stall by auxiliary driver, the application also provides for effect of visualization intuitively,
Electronic control unit ECU1 obtains the real-time rotating speed of steer motor 7 and is transmitted to total control module 91, total control module
The real-time rotating speed of steer motor 7 is transferred to modular converter 96 by 91 again, and modular converter 96 calculates turning in real time of this steer motor 7
The real-time steering angle of the steering wheel 2 corresponding to speed also passes to total control module 91, and total control module 91 is by steering wheel 2
Real-time steering angle and the theoretical steering angle of steering wheel 2 be shown on display screen 97, consequently facilitating driver can be clear
Rotation direction and the angle of steering wheel 2 is known on ground.In the present embodiment, the real-time steering angle of steering wheel 2 uses red font to show
Showing on display screen 97, the theoretical steering angle of steering wheel 2 uses green font to show on display screen 97, it addition, direction
It is positive number that dish 2 rotates clockwise angle, and it is negative that steering wheel 2 rotates counterclockwise angle.
As shown in the above: the present invention can constantly collecting vehicle according to being continually changing of vehicle location in driver's docking process
The picture of surrounding, and then constantly generate current vehicle position picture W and pre-parking spot picture X, constantly determine target
The theoretical steering angle of parking spot picture Y, constantly calculated direction dish 2 and the theoretical rotational speed of steer motor 7 and constantly
The real-time rotating speed of steer motor 7 is modified to the theoretical rotational speed of steer motor 7 by ground, until vehicle stops in target parking position,
Thus assist driver, particularly new hand driver accurately and quickly to stop in parking stall by vehicle, to save down time, carry
High shut-down operation accuracy and parking efficiency.
It addition, for the hardware configuration optimizing drive mechanism 4 and intelligent parking system, the drive mechanism 4 in the application selects
By planetary gear 42 architecture, as shown in Figure 4, drive mechanism 4 includes sun gear 41, multiple row being meshed with sun gear 41
Star-wheel 42, the planet carrier 43 taking turns 42 for supporting planetary and the ring gear 44 being meshed with planetary gear 42, described internal tooth
The outer peripheral face of circle 44 is additionally provided with the outer flank of tooth, and this outer flank of tooth and a travelling gear 45 are meshed, and described sun gear 41 is fixed on and turns to
On axle 3, planet carrier 43 fixes with power transmission shaft 5, and travelling gear 45 is fixed on the output shaft of steer motor 7, turns to electricity
Machine 7 is connected with an accumulator；Therefore sun gear 41 constitutes the first input/output terminal of drive mechanism 4, planet carrier 43 constitutes biography
Second input/output terminal of motivation structure 4, the 3rd input/output terminal of travelling gear 45 drive mechanism 4.Therefore, travel normal
During when turning to, steering wheel 2 delivers torque to steering spindle 3, and steering spindle 3 drives sun gear 41 to rotate, sun gear 41
Driving planetary gear 42 and planet carrier 43 to rotate, and then drive power transmission shaft 5 to rotate, rotary shaft imparts power to steering gear 6 again,
The outfan of steering gear 6 controls wheel 13 by steering arm 12 and rotates accordingly.Meanwhile, in planetary gear 42 also drives
Gear ring 44 rotates, and the outer flank of tooth of ring gear 44 is meshed with travelling gear 45, and then drives travelling gear 45 to rotate so that
Steer motor 7 rotates passively, and now, power can be stored in accumulator by steer motor 7 with the form of electric energy, with fully
Utilize the energy.After driving button 92 by the parking toll getting off interior, starting semi-automatic car-parking model, electronic control unit ECU1
When real-time rotating speed by steer motor 7 is modified to the theoretical rotational speed of steer motor 7, accumulator provides electric energy for steer motor 7,
Steer motor 7 rotates on one's own initiative, thus band nutating gear 45 rotates, and the outer flank of tooth of travelling gear 45 and ring gear 44 is nibbled mutually
Closing, and then drive ring gear 44 to rotate, ring gear 44 drives planetary gear 42 and planet carrier 43 to rotate again, and planetary gear 42 drives
Sun gear 41 rotates, so that steering spindle 3 and steering wheel 2 rotate passively, is passed to by power transmission shaft 5 by power the most again
Steering gear 6.
Further, described image acquisition device 11 is photographic head.
Preferably, multiple photographic head are separately mounted on car door and two car plate installation portions of vehicle, two vehicle installation portions
It is positioned at front side and the rear side of carriage frame 10, respectively forwardly highlights and highlight backward.
Further, for the ease of the installation of photographic head and also ensure the appearance looks elegant degree that vehicle is overall, as it is shown in figure 5, car
Vehicle frame 10 on the upper surface of the lower section of door handle and two car plate installation portions, all offer extend vertically downward recessed
Groove 101, the lower end of this groove 101 is provided with the radially projecting lock slots of a circle 102, and described photographic head is fixed on one and fixes axle 8
Upper end, the lower end of this fixing axle 8 is provided with a radially projecting sticking department 824, described fixing axle 8 stretch in groove 101 and
Sticking department 824 fastens with lock slots 102.The lower end of fixing axle 8 is stretched in groove 101 and exert a force and be pressed downward against, until will
The fixing sticking department 824 of axle 8 lower end fastens, owing to the diameter of sticking department 824 is big with the lock slots 102 of groove 101 lower end
In groove 101 diameter, therefore fixing axle 8 can not prolapse upwards, it is achieved the installation of photographic head.
Preferably, as shown in Figure 5 and Figure 6, the cell wall of described groove 101 offers one guide and limit groove 103, described
The outer peripheral face of fixing axle 8 is provided with prominent guide and limit portion 827, and described guide and limit portion 827 is positioned at guide and limit groove 103
In；When being stretched in groove 101 lower end of fixing axle 8, guide and limit portion 827 is made to be slid downwardly into along guide and limit groove 103,
Thus play guide effect；Meanwhile, after fixing axle 8 installs, guide and limit portion 827 and guide and limit groove 103 mutual
Cooperation can also limit the rotation of fixing axle 8, plays the effect of fixing camera position.Meanwhile, for the ease of by sticking department 824
Snap in lock slots 102, as it is shown in figure 5, the outer peripheral face of described sticking department 824 is made up of the face of cylinder 825 and taper seat 826,
Described taper seat 826 is positioned at the lower end on the face of cylinder 825 and diameter is from top to bottom gradually reduced；Sticking department 824 embeds lock slots
Time in 102, the press-in of fixing axle 8 can be easy to by taper seat 826；After sticking department 824 embeds in lock slots 102, cylinder
Face 825 is that face contacts with the cell wall of lock slots 102, and both contact surfaces are big, can improve the card of sticking department 824 and lock slots 102
Make a concerted effort to spend.
Further, in order to improve the bonding strength between fixing axle 8 and vehicle frame 10, as it is shown in figure 5, described fixing axle 8 by
Threaded shaft core 81 and axle sleeve 82 are constituted, and photographic head is fixed on the upper end of shaft core 81, and sticking department 824 is located at axle sleeve 82
Lower end, guide and limit portion 827 is located on the outer peripheral face of axle sleeve 82；The inner peripheral surface of described axle sleeve 82 includes first face of cylinder 821
Be located at the first taper seat 822 of the first lower end, the face of cylinder 821, the diameter of the first taper seat 822 is from top to bottom sequentially reduced；
Described axle sleeve 82 is provided with 3-4 road along axle sleeve 82 axially extended deformation groove 823, deformation groove 823 from the lower end of axle sleeve 82 to
Upper extension, and the axial length of deformation groove 823 is more than the axial length of the first taper seat 822.Therefore, by the lock of fixing axle 8
Determine after portion 824 embeds in lock slots 102, rotating shaft core 81, make shaft core 81 move down, the outer peripheral face of shaft core 81 and first
Taper seat 822 contacts, and shaft core 81 continues to move down, then radially outward ejecting the lower end edge axle sleeve 82 of axle sleeve 82, thus
The sticking department 824 making axle sleeve 82 lower end is embedded in the lock slots 102 of vehicle frame 10 firmly, is also convenient for adjusting shaft core 81 simultaneously
The angle of upper end photographic head.Preferably, described axle sleeve 82 is made up of steel alloy, and axle sleeve 82 thermally treated processing rear surface is covered
It is stamped carburized layer so that the sticking department 824 of axle sleeve 82, particularly axle sleeve 82 has higher hardness, improves fixing axle 8
Structural strength, to improve the bonding strength of fixing axle 8 and vehicle frame 10.
In sum, the present invention effectively overcomes various shortcoming of the prior art and has high industrial utilization.
The one provided the embodiment of the present invention above is described in detail based on computer-controlled intelligent parking system, right
In one of ordinary skill in the art, according to the thought of the embodiment of the present invention, the most all have
In place of change, in sum, this specification content should not be construed as limitation of the present invention, all is done according to design philosophy of the present invention
Any change all within protection scope of the present invention.
Claims (7)
1. based on a computer-controlled intelligent parking system, including the electronic control unit ECU of vehicle, steering wheel, steering spindle,
Drive mechanism, power transmission shaft and steering gear, described drive mechanism have the first input/output terminal, the second input/output terminal,
And the 3rd input/output terminal, one end of described steering spindle is fixing with steering wheel to be connected, and the other end is defeated with the first of drive mechanism
Entering outfan to be connected, the second input/output terminal of drive mechanism is connected with one end of power transmission shaft, the other end of power transmission shaft with
The input of steering gear is connected, it is characterised in that also include:
Steer motor, is connected with the 3rd input/output terminal of drive mechanism, the electric machine controller of this steer motor and Electronic Control list
Unit ECU is connected；
Multiple image acquisition devices, for the picture of collection vehicle surrounding；
Parking toll unit, drives button, image processing module, image operation module, fortune including total control module, parking toll
Calculate comparing module, modular converter and display screen, wherein, described total control module and electronic control unit ECU, with
And multiple image acquisition device is connected, inside prestores vehicle commander's information and the overall width information of vehicle；Described parking toll drives and presses
Key is arranged on the inside of vehicle and is positioned at the right-hand side of driver, is connected with total control module；Described image processing module
Being connected with total control module, the picture of the vehicle's surroundings for collecting according to image acquisition device generates to be looked down from vehicle up direction
Current vehicle position picture under angle and the pre-parking spot picture being positioned at current vehicle position picture surrounding；Described image is transported
Calculate module to be connected with total control module, be used for according to current vehicle position picture, vehicle commander's information of vehicle and vehicle
Overall width information determines that a pre-parking spot picture is target parking position picture；Described computing comparing module and total control module
It is connected, for according to the target parking position corresponding to target parking position picture, car that current vehicle position picture is corresponding
Current location is gone to calculate vehicle theoretical steering angle of steering wheel needed for current vehicle position stops target parking position；Institute
State modular converter to be connected with total control module, for by the theoretical rotational speed of the theoretical steering angle of steering wheel and steer motor,
And the real-time rotating speed of the real-time steering angle of steering wheel and steer motor mutually changes；Described display screen is arranged on vehicle
Inside and be positioned at the forward right side of driver, be connected with total control module, for the theoretical steering angle of display direction dish
With real-time steering angle；
The theoretical rotational speed of steer motor is passed to electronic control unit ECU, electronics by the total control module of described parking toll unit
The real-time rotating speed of steer motor is modified to the theoretical rotational speed of steer motor by control unit ECU.
It is the most according to claim 1 based on computer-controlled intelligent parking system, it is characterised in that: described parking toll drives
Button is positioned at the left side of the gear shift lever of vehicle, and the upper surface of parking toll driving button is recessed dome shape.
It is the most according to claim 1 based on computer-controlled intelligent parking system, it is characterised in that: described image acquisition device is
Photographic head.
It is the most according to claim 3 based on computer-controlled intelligent parking system, it is characterised in that: multiple photographic head are pacified respectively
It is contained on car door and two car plate installation portions of vehicle.
It is the most according to claim 4 based on computer-controlled intelligent parking system, it is characterised in that: the handle of described car door
Lower section, two car plate installation portions upper surface on be equipped with the groove extended vertically downward, the lower end of this groove is provided with a circle footpath
To prominent lock slots, described photographic head is fixed on a upper end fixing axle, and it is radially projecting that the lower end of this fixing axle is provided with one
Sticking department, described fixing axle stretches in groove and sticking department fastens with lock slots.
It is the most according to claim 5 based on computer-controlled intelligent parking system, it is characterised in that: on the cell wall of described groove
Offering one guide and limit groove, the outer peripheral face of described fixing axle is provided with prominent guide and limit portion, described guide and limit portion
It is positioned in guide and limit groove.
It is the most according to claim 5 based on computer-controlled intelligent parking system, it is characterised in that: the periphery of described sticking department
Face is made up of the face of cylinder and taper seat, and described taper seat is positioned at the lower end on the face of cylinder and diameter is from top to bottom gradually reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610177725.7A CN105835876B (en) | 2016-03-27 | 2016-03-27 | Intelligent parking system based on computer control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610177725.7A CN105835876B (en) | 2016-03-27 | 2016-03-27 | Intelligent parking system based on computer control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105835876A true CN105835876A (en) | 2016-08-10 |
| CN105835876B CN105835876B (en) | 2018-01-26 |
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| CN201610177725.7A Active CN105835876B (en) | 2016-03-27 | 2016-03-27 | Intelligent parking system based on computer control |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108622082A (en) * | 2017-03-17 | 2018-10-09 | 厦门歌乐电子企业有限公司 | A kind of parking auxiliary control method and device |
| CN111776055A (en) * | 2020-07-06 | 2020-10-16 | 苏州奥通汽车科技有限公司 | Angle indicating steering wheel with self-locking performance |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108313053A (en) * | 2018-01-30 | 2018-07-24 | 吉利汽车研究院（宁波）有限公司 | A kind of method and system of parking based on Intelligent key |
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| EP1453719A1 (en) * | 2001-12-11 | 2004-09-08 | ThyssenKrupp Presta SteerTec GmbH | Steering mechanism with planetary gear system and drive for impressing specific hand torque on the steering wheel |
| CN102405154A (en) * | 2009-02-25 | 2012-04-04 | 爱信精机株式会社 | Parking assistance device |
| CN102883938A (en) * | 2010-05-07 | 2013-01-16 | 罗伯特·博世有限公司 | Method for parking a motor vehicle and parking system |
| CN103754219A (en) * | 2014-02-21 | 2014-04-30 | 重庆邮电大学 | Automatic parking system of information fusion of multiple sensors |
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| EP1453719A1 (en) * | 2001-12-11 | 2004-09-08 | ThyssenKrupp Presta SteerTec GmbH | Steering mechanism with planetary gear system and drive for impressing specific hand torque on the steering wheel |
| CN102405154A (en) * | 2009-02-25 | 2012-04-04 | 爱信精机株式会社 | Parking assistance device |
| CN102883938A (en) * | 2010-05-07 | 2013-01-16 | 罗伯特·博世有限公司 | Method for parking a motor vehicle and parking system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108622082A (en) * | 2017-03-17 | 2018-10-09 | 厦门歌乐电子企业有限公司 | A kind of parking auxiliary control method and device |
| CN111776055A (en) * | 2020-07-06 | 2020-10-16 | 苏州奥通汽车科技有限公司 | Angle indicating steering wheel with self-locking performance |
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| CN105835876B (en) | 2018-01-26 |
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