CN109515324A - Automobile automated parking system - Google Patents
Automobile automated parking system Download PDFInfo
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- CN109515324A CN109515324A CN201811462577.9A CN201811462577A CN109515324A CN 109515324 A CN109515324 A CN 109515324A CN 201811462577 A CN201811462577 A CN 201811462577A CN 109515324 A CN109515324 A CN 109515324A
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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
- 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
-
- 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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- 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)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of automobile automated parking systems, are related to automobile technical field.The system comprises multiple ultrasonic sensors, multiple cameras and master controllers；The ultrasonic sensor obtains transmitting by timing and receives the time difference of ultrasonic wave for emitting and receiving ultrasonic wave, and the time difference is sent to master controller；The camera is for acquiring vehicle circumferential images and being sent to master controller；Master controller includes the first chip and the second chip；First chip is used to receive the time difference that each ultrasonic sensor is sent, and calculates the distance between vehicle and barrier according to time difference and ultrasonic velocity；Second chip is used to receive the picture signal that each camera is sent, and carries out image mosaic and obtain full-view image.The controller of the full vehicle ultrasonic sensor of vehicle and full-view image is integrated on a controller by the present invention, to save cost, reduces controller redundancy.
Description
Technical field
The present invention relates to automobile technical fields, more particularly, to a kind of automobile automated parking system.
Background technique
Existing parking assisting system, function is more single, and each function need a controller, cause controller compared with
The problem of more, complete vehicle weight increases, vehicle investment increases.For example, reversing radar needs a controller, reverse image to need one
A controller and display, full-view image are also required to a controller and display；When needed on a vehicle reversing radar and fall
When two functions of vehicle image, vehicle needs two controllers；When a vehicle needs two functions of reversing radar and full-view image,
The problem of vehicle is also required to two controllers, undoubtedly causes controller redundancy, higher cost to vehicle in this way.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of automobile automated parking system, by the full vehicle ultrasonic wave of vehicle
The controller of sensor and full-view image is integrated on a controller, and multi-controller permeates controller, to save
Cost reduces controller redundancy, alleviates complete vehicle quality.
In a first aspect, the embodiment of the invention provides a kind of automated parking systems, comprising: multiple ultrasonic sensors, more
A camera and master controller；
The ultrasonic sensor obtains transmitting by timing and receives ultrasonic wave for emitting and receiving ultrasonic wave
The time difference is sent to master controller by the time difference；
The camera is for acquiring vehicle circumferential images and being sent to the master controller；
The master controller includes the first chip and the second chip；
First chip is used to receive the time difference that each ultrasonic sensor is sent, and according to the time difference
The distance between vehicle and barrier are calculated with ultrasonic velocity；
Second chip is used to receive the picture signal that each camera is sent, and carries out image mosaic and obtain panorama shadow
Picture.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein institute
Stating master controller further includes CAN signal transceiving chip；
The CAN signal transceiving chip is for making automated parking system and external equipment carry out CAN communication.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, wherein institute
Stating automated parking system further includes total image display.
The possible embodiment of second with reference to first aspect, the embodiment of the invention provides the third of first aspect
Possible embodiment, wherein second chip is also used to the full-view image being sent to total image display.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 4th kind of first aspect
Possible embodiment, wherein the total image display is used to receiving and showing the full-view image that second chip is sent.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides the 5th kind of first aspect
Possible embodiment, wherein first chip realizes signal transmitting by CAN communication and each ultrasonic sensor；
Second chip is communicated to connect by CAN communication and each camera.
With reference to first aspect, the embodiment of the invention provides the 6th kind of possible embodiments of first aspect, wherein institute
The first chip is stated to be also used to the distance between the vehicle and barrier being sent to the second chip.
The 6th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 7th kind of first aspect
Possible embodiment, wherein second chip is also used to receive the distance between the vehicle and barrier；
Second chip is also used to identify the parking stall in the full-view image, and stops according in the full-view image
The relative position of parking stall calculating vehicle and parking stall.
The 7th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 8th kind of first aspect
Possible embodiment, wherein second chip be also used to relative position according to the vehicle and parking stall and vehicle with
The distance between barrier carries out path planning, and controls vehicle and enter parking stall according to the path planned.
Second aspect, the embodiment of the invention also provides a kind of automobiles, including automatic parking system as described in relation to the first aspect
System.
The embodiment of the present invention brings following the utility model has the advantages that the present invention provides a kind of automobile automated parking systems.This is
System includes: multiple ultrasonic sensors, multiple cameras and master controller；The ultrasonic sensor is for emitting and receiving super
Sound wave, and transmitting is obtained by timing and receives the time difference of ultrasonic wave, the time difference is sent to master controller；It is described to take the photograph
As head is for acquiring vehicle circumferential images and being sent to the master controller；The master controller includes the first chip and the second core
Piece；First chip is used to receive the time difference that each ultrasonic sensor is sent, and according to the time difference and surpasses
Acoustic speed calculates the distance between vehicle and barrier；Second chip is used to receive the image letter that each camera is sent
Number, and carry out image mosaic and obtain full-view image.The automated parking system is by the full vehicle ultrasonic sensor and panorama shadow of vehicle
As being integrated on a controller, the multi-controller controller that permeates reduces controller redundancy, subtracts to save cost
Light complete vehicle quality, and fused controller can handle the signal of ultrasonic sensor transmission and handle and image hair
The signal sent avoids data and transmits between multiple controllers, and little data is transmitted in turn between multi-controller
Improve communication speed and full-vehicle control efficiency.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of automated parking system structural schematic diagram provided in an embodiment of the present invention；
Fig. 2 is a kind of automated parking system structural schematic diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of structure chart for the automobile for being equipped with automated parking system provided in an embodiment of the present invention；
Fig. 4 is a kind of automatic parking flow chart for being equipped with automated parking system automobile provided in an embodiment of the present invention.
Icon: 11~1N- ultrasonic sensor；21~2N- camera；3- master controller；The first chip of 31-；32 second
Chip；33-CAN signal transmitting and receiving chip；34- power supply；4- total image display.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Currently, parking assisting system, function is more single, and each function needs a controller, causes controller
The problem of more, complete vehicle weight increases, vehicle investment increases, and carry out data transmission between controller and handle and will cause
Be delayed the problem higher, control efficiency is lower.Based on this, a kind of automobile automated parking system provided in an embodiment of the present invention can
To be applied to the automatic parking of automobile.
For convenient for understanding the present embodiment, first to a kind of automated parking system disclosed in the embodiment of the present invention into
Row is discussed in detail,
Embodiment one:
The embodiment of the invention provides a kind of automated parking systems, as shown in Figure 1, include multiple ultrasonic sensors 11~
1N, multiple 21~2N of camera and master controller 3.
11~1N of ultrasonic sensor obtains transmitting by timing and receives ultrasonic wave for emitting and receiving ultrasonic wave
Time difference, master controller 3 will be sent to the time difference.11~1N of ultrasonic sensor is mounted on the surrounding of vehicle body, vehicle launch
When automated parking system, the ultrasonic sensor of vehicle's surroundings emits ultrasonic wave, and ultrasonic wave, which encounters barrier, to be reflected, and leads to
It crosses and emits and receive ultrasonic wave whether there are obstacles to judge vehicle's surroundings, while transmitting is obtained by timing and is received super
Time difference of sound wave, and the time difference of acquisition is sent to the first chip 31 of master controller 3, so as to calculate barrier away from
From.
21~2N of camera is for acquiring vehicle circumferential images and being sent to master controller 3.21~2N of camera is mounted on
The surrounding of vehicle, to acquire the image of vehicle all directions, the quantity of camera is at least 4, is distributed in the front and back of vehicle
The vehicle body of left and right four direction.For vehicle in automatic parking, the image of acquisition is sent to the of master controller 3 by each camera
Two chips 32, to handle image.
Master controller 3 includes the first chip 31 and the second chip 32.First chip 31 is for receiving each supersonic sensing
The time difference that device is sent, and the distance between vehicle and barrier are calculated according to time difference and ultrasonic velocity.First chip 31
The transmitting and receive sonication times difference t that ultrasonic sensor is sent are received, and according to the speed v of ultrasonic wave under Current Temperatures,
It is L=v × t/2 that vehicle, which is calculated, at a distance from barrier.
Second chip 32 is used to receive the picture signal that each camera is sent, and carries out image mosaic and obtain panorama shadow
Picture.Second chip 32 receives the picture signal that each camera is sent and is handled, and multiple image is carried out image mosaic, shape
At full-view image.
As shown in Figure 1, master controller 3 further includes CAN (Controller Area Network, controller LAN) letter
Number transceiving chip 33.CAN signal transceiving chip 33 is for making automated parking system provided in this embodiment and external equipment (can also
For the communication between automated parking system internal unit) carry out CAN communication.Wherein, the first chip 31 can be logical by CAN
News realize signal transmitting with each ultrasonic sensor.Second chip 32 can pass through CAN communication and each camera communication link
It connects.
Master controller 3 further includes power supply 34, and power supply is the first chip 31, the second chip 32 and CAN signal transceiving chip 33
Power supply.
CAN bus is connected (in figure by two output ends CANH and CANL of CAN signal transceiving chip 33 with physical bus
It is not shown), to make between the internal unit of automated parking system, or realize that CAN bus communicates (automatic parking with external equipment
It between internal system equipment, or is connect with physical bus between external equipment).The shape at the end CANH of CAN signal transceiving chip
State can only be high level or suspended state, and the end CANL can only be low level or suspended state, this, which is ensured that, to appear in RS-
Phenomenon in 485 networks causes bus to present short that is, when system is wrong, multinode occurs while sending data to bus
Road, thus the phenomenon that damaging certain nodes.The perfect communication protocol that CAN has can realize by CAN signal transceiving chip, from
And system development difficulty is substantially reduced, shorten the development cycle.
As shown in Fig. 2, the system can also include total image display 4.Second chip 32 is also used to have spliced complete
Scape image is sent to total image display 4.Total image display 4 is used to receiving and showing the panorama shadow that the second chip 32 is sent
Picture.Signal transmitting between second chip 32 and total image display 4, even using signal wire (for example, it may be LVDS is communicated)
It connects and realizes picture signal transmitting.The full-view image of picture around vehicle body is showed user by total image display 4, so as to user
Solve vehicle periphery situation.
The distance between vehicle and barrier that first chip 31 is also used to be calculated L is sent to the second chip 32.
Second chip 32 receives the distance between the vehicle that the first chip 31 is sent and barrier L.Then using image recognition algorithm come
Identify the parking stall (parking stall can be obtained according to the parking stall graticule identified) in full-view image, and according in full-view image
Parking stall calculate vehicle and parking stall relative position.Can position according to parking stall in full-view image and shooting angle,
The angle and distance of vehicle Yu parking stall graticule is calculated, so that the relative position for obtaining vehicle and parking stall (can also be with
The relative position on vehicle and parking stall is showed user by the form of image).
Second chip 32 be also used to relative position according to vehicle and parking stall and the distance between vehicle and barrier into
Row path planning, and control vehicle and enter parking stall according to the path planned.According to the relative position on vehicle and parking stall and
The distance between vehicle and barrier are that vehicle plans that enters the collisionless path on parking stall, and controls vehicle according to planning
Good path enters parking stall, to realize automatic parking.
The embodiment of the invention provides a kind of automated parking systems, by full vehicle ultrasonic sensor, the full-view image of vehicle
It is integrated on a controller with the controller of the multiple functions of automatic parking, to save cost, reduces controller redundancy, it is less
Data carry out transmitting between multi-controller and then improve communication speed and full-vehicle control efficiency, and by computer vision,
The Data Fusion of Sensor of ultrasonic radar, realizes that full-automatic VEHICLES MUST PARK WITHIN THE MARKED BAY in conjunction with technologies such as vehicle controls.
Embodiment two:
The embodiment of the invention provides a kind of automobile, the automated parking system provided including above-described embodiment one.
As a preferred embodiment, as shown in figure 3, may include 9 the present embodiment provides the automated parking system of automobile
11~19,4 cameras 21~24 of ultrasonic sensor, 4 (not shown) of master controller 3 and total image display.Wherein,
Camera 21, ultrasonic sensor 11 and ultrasonic sensor 12 are installed on headstock front end, camera 22, ultrasonic sensor 13
It is installed on the right side of vehicle body with ultrasonic sensor 14, camera 23, ultrasonic sensor 15-17 are installed on tailstock center, camera shooting
First 24, ultrasonic sensor 18 and ultrasonic sensor 19 are installed on the left of vehicle body.Master controller 3 includes the first chip 31, the
34 (not shown) of two chips 32, CAN signal transceiving chip 33 and power supply.Master controller by CAN physical bus with it is each
Ultrasonic sensor and camera realize signal communication.
Automobile provided in an embodiment of the present invention, the system flow chart parked using automated parking system, such as Fig. 4 institute
Show.
S201: the automatic parking request of user is received, automated parking system is started.
After user presses automatic parking button, automated parking system is activated, initialize master controller the first chip,
Second chip and CAN signal transceiving chip open total image display.Ultrasonic sensor and camera self-test, judge to control
Whether device receives the signal of each ultrasonic sensor and thecamera head.
S202: the first chip of master controller receives the time difference that each ultrasonic sensor is sent, and according to the time difference
The distance between vehicle and barrier are calculated with ultrasonic velocity.
First chip of master controller receives the transmitting that ultrasonic sensor is sent and receives sonication times difference t, and root
According to the speed v of ultrasonic wave under Current Temperatures, it is L=v × t/2 that vehicle, which is calculated, at a distance from barrier.
S203: the second chip of master controller receives the picture signal that each camera is sent, and carries out image mosaic acquisition
Full-view image, and according to the relative position of parking stall calculating vehicle and parking stall in full-view image.
Second chip of master controller receives the picture signal that each camera is sent and is handled, by multiple image into
Row image mosaic forms full-view image.Then identify that the parking stall in full-view image (can basis using image recognition algorithm
The parking stall graticule identified obtains parking stall), and the opposite of vehicle and parking stall is calculated according to the parking stall in full-view image
Position.
S204: full-view image is sent to total image display by the second chip of master controller.
The full-view image spliced is sent to total image display by the second chip of master controller.
S205: total image display receives and shows the full-view image that the second chip is sent.
Total image display receives and shows the full-view image that the second chip is sent.Total image display will scheme around vehicle body
The full-view image of piece shows user, so that user understands vehicle periphery situation.
S206: the distance between vehicle and barrier are sent to the second chip by the first chip of master controller.
The distance between the vehicle being calculated and barrier L are sent to the second chip by the first chip of master controller
S207: the second chip of master controller receives the distance between the vehicle that the first chip is sent and barrier, according to
The relative position and the distance between vehicle and barrier on vehicle and parking stall carry out path planning, and control vehicle according to planning
Good path enters parking stall.
Second chip of master controller receives the distance between vehicle that the first chip is sent and barrier, according to vehicle and
The distance between barrier and step S203 calculate the relative position of the vehicle and parking stall that obtain, plan an entrance for vehicle
The collisionless path on parking stall, and control vehicle and enter parking stall according to the path planned, to realize automatic parking.
A kind of automobile provided in an embodiment of the present invention, the automated parking system provided with above-described embodiment one are having the same
Technical characteristic reaches identical technical effect so also can solve identical technical problem.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of automated parking system characterized by comprising multiple ultrasonic sensors, multiple cameras and master controller；
The ultrasonic sensor obtains transmitting by timing and receives the time of ultrasonic wave for emitting and receiving ultrasonic wave
The time difference is sent to master controller by difference；
The camera is for acquiring vehicle circumferential images and being sent to the master controller；
The master controller includes the first chip and the second chip；
First chip is used to receive the time difference that each ultrasonic sensor is sent, and according to the time difference and surpasses
Acoustic speed calculates the distance between vehicle and barrier；
Second chip is used to receive the picture signal that each camera is sent, and carries out image mosaic and obtain full-view image.
2. automated parking system according to claim 1, which is characterized in that the master controller further includes that CAN signal is received
Send out chip；
The CAN signal transceiving chip is for making automated parking system and external equipment carry out CAN communication.
3. automated parking system according to claim 1, which is characterized in that the automated parking system further includes total image
Display.
4. automated parking system according to claim 3, which is characterized in that second chip is also used to the panorama
Image is sent to total image display.
5. automated parking system according to claim 4, which is characterized in that the total image display is for receiving and showing
Show the full-view image that second chip is sent.
6. automated parking system according to claim 2, which is characterized in that first chip is by CAN communication and respectively
A ultrasonic sensor realizes signal transmitting；
Second chip is communicated to connect by CAN communication and each camera.
7. automated parking system according to claim 1, which is characterized in that first chip is also used to the vehicle
The distance between barrier is sent to the second chip.
8. automated parking system according to claim 7, which is characterized in that second chip is also used to receive the vehicle
The distance between with barrier；
Second chip is also used to identify the parking stall in the full-view image, and according to the parking stall in the full-view image
Calculate the relative position of vehicle and parking stall.
9. automated parking system according to claim 8, which is characterized in that second chip is also used to according to the vehicle
Path planning is carried out with the relative position on parking stall and the distance between vehicle and barrier, and controls vehicle according to planning
Path enter parking stall.
10. a kind of automobile, which is characterized in that including such as described in any item automated parking systems of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811462577.9A CN109515324A (en) | 2018-11-30 | 2018-11-30 | Automobile automated parking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811462577.9A CN109515324A (en) | 2018-11-30 | 2018-11-30 | Automobile automated parking system |
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| Publication Number | Publication Date |
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| CN109515324A true CN109515324A (en) | 2019-03-26 |
Family
ID=65794971
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811462577.9A Pending CN109515324A (en) | 2018-11-30 | 2018-11-30 | Automobile automated parking system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110544386A (en) * | 2019-09-18 | 2019-12-06 | 奇瑞汽车股份有限公司 | parking space identification method and device and storage medium |
| CN110816520A (en) * | 2019-11-27 | 2020-02-21 | 安徽江淮汽车集团股份有限公司 | Automatic parking method, automatic parking equipment, storage medium and automatic parking device |
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| CN110544386A (en) * | 2019-09-18 | 2019-12-06 | 奇瑞汽车股份有限公司 | parking space identification method and device and storage medium |
| CN110816520A (en) * | 2019-11-27 | 2020-02-21 | 安徽江淮汽车集团股份有限公司 | Automatic parking method, automatic parking equipment, storage medium and automatic parking device |
| CN110816520B (en) * | 2019-11-27 | 2021-10-29 | 安徽江淮汽车集团股份有限公司 | Automatic parking method, automatic parking equipment, storage medium and automatic parking device |
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Application publication date: 20190326 |