CN114750745A - Automobile image fusion parking system - Google Patents
Automobile image fusion parking system Download PDFInfo
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- CN114750745A CN114750745A CN202110987735.8A CN202110987735A CN114750745A CN 114750745 A CN114750745 A CN 114750745A CN 202110987735 A CN202110987735 A CN 202110987735A CN 114750745 A CN114750745 A CN 114750745A
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- 230000004927 fusion Effects 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 9
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- Automation & Control Theory (AREA)
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- Human Computer Interaction (AREA)
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Abstract
The invention discloses an automobile image fusion parking system which comprises a camera, an image receiving hardware module, an image processing hardware module, a PDC radar, a distance sensing hardware module, a vehicle control hardware module and a power management hardware module, wherein the camera is connected with the image receiving hardware module; the image receiving hardware module receives an image signal acquired by the camera, performs coding processing on the image signal and then sends the encoded image signal to the image processing hardware module; the image processing hardware module processes the image information into obstacle information and parking space information and then sends the obstacle information and the parking space information to the vehicle control hardware module; the distance sensing hardware module receives obstacle distance information and space parking space information detected by the PDC radar and then sends the obstacle distance information and the space parking space information to the vehicle control hardware module; the vehicle control hardware module receives vehicle state information from the whole vehicle network, fuses obstacle distance information and parking space information sent by the image processing hardware module and the distance sensing hardware module, generates a real-time control instruction, and sends the control instruction to the whole vehicle network in real time for vehicle action control.
Description
Technical Field
The invention belongs to the technical field of passenger cars with automatic driving/intelligent driving functions, and particularly relates to an automobile image fusion parking system, in particular to a hardware architecture thereof.
Technical Field
In recent years, intelligent driving automobiles are popular, and various automatic driving/auxiliary driving automobile models are released regardless of joint-supply automobiles or independent brands. Brings convenience to drivers and passengers, and simultaneously greatly improves the driving safety. The traditional automobile parking is realized by the operation of a driver, the condition of the side rear part of the automobile can be only observed through a rearview mirror, a large visual blind area exists, the parking space of a large city is limited, the parking space is small, the automobile is easy to scratch in the parking process, and for many drivers, the in-line parking is a painful experience.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an automobile image fusion parking system, which adopts a parking system hardware architecture design integrating an automobile image and radar detection data, comprises an image receiving hardware module, an image processing hardware module, a distance sensing hardware module and a vehicle control hardware module, constructs a hardware architecture for automatically controlling the automobile to park under the condition that a user does not contact the automobile, realizes the liberation of both hands, completes the parking action, and solves the driving pain point which is difficult to park and easy to scratch.
The purpose of the invention is realized by the following technical scheme:
an automobile image fusion parking system comprises a camera, an image receiving hardware module, an image processing hardware module, a PDC radar, a distance sensing hardware module, a vehicle control hardware module and a power management hardware module;
the image receiving hardware module receives an image signal acquired by the camera, performs coding processing on the image signal and then sends the encoded image signal to the image processing hardware module;
the image processing hardware module processes the image information into obstacle information and parking space information and then sends the obstacle information and the parking space information to the vehicle control hardware module;
the distance sensing hardware module receives obstacle distance information and space parking space information detected by the PDC radar and then sends the obstacle distance information and the space parking space information to the vehicle control hardware module;
the vehicle control hardware module receives vehicle state information from the whole vehicle network, fuses the obstacle information and parking space information sent by the image processing hardware module and the obstacle distance information and space parking space information sent by the distance sensing hardware module, generates a real-time control instruction, and sends the control instruction to the whole vehicle network in real time for controlling vehicle actions;
and the power supply management hardware module is used for controlling the vehicle-mounted power supply to supply power to the vehicle control hardware module.
Furthermore, the camera is provided with a plurality of, and the image acquisition scope of camera should cover vehicle periphery 360.
Furthermore, the camera collects images of the marking parking space, images of obstacles around the vehicle and images of obstacles inside and around the marking parking space.
Further, the PDC radar is equipped with a plurality of, including long distance detection radar and closely survey the radar, the detection range of a plurality of PDC radars should cover vehicle periphery 360.
Furthermore, the PDC radar is used for detecting position information of obstacles around the vehicle, position information of parking spaces in the spaces without marking lines and position information of obstacles inside and around the parking spaces in the spaces without marking lines.
Further, the image receiving hardware module and the image processing hardware module pass through I2C, communication connection; the image processing hardware module is connected with the vehicle control hardware module through an SPI communication bus and an Ethernet; the distance sensing hardware module is connected with the vehicle control hardware module through a CAN bus; the power management hardware module and the vehicle control hardware module pass through I2C, communication connection is carried out; the image processing hardware module is connected with the whole vehicle network through an Ethernet and a CAN bus; and the vehicle control hardware module is connected with the whole vehicle network through a CAN bus.
Furthermore, the image processing hardware module is connected with the whole vehicle network through a BCM89811 network interface and a TCAN1051 transceiver respectively.
Furthermore, the image processing hardware module is respectively provided with a DDR memory, an embedded memory and a multimedia memory.
The invention has the beneficial effects that:
the invention comprises an image receiving hardware module, an image processing hardware module, a distance sensing hardware module and a vehicle control hardware module, constructs a parking system hardware architecture fusing automobile images and radar detection data, realizes the completion of parking action under the condition of being separated from the operation of a driver, solves the problem of difficult parking and easy scratching driving pain points, and leads the parking to be more convenient and safer.
Drawings
Fig. 1 is a hardware architecture diagram of an automobile image fusion parking system according to the present invention.
Detailed Description
The technical scheme of the invention is further described in the following with the accompanying drawings:
as shown in fig. 1, an automobile image fusion parking system includes a camera, an image receiving hardware module (deserializer), an image processing hardware module (SOC), a PDC (parking distance control system) radar, a distance sensing hardware module, a vehicle control hardware Module (MCU), and a power management hardware module.
The image receiving hardware module receives an image signal acquired by the camera, performs coding processing on the image signal and then sends the image signal to the image processing hardware module;
the image processing hardware module processes the image information into obstacle information and parking space information and then sends the obstacle information and the parking space information to the vehicle control hardware module;
the distance sensing hardware module receives obstacle distance information and space parking space information detected by the PDC radar and then sends the obstacle distance information and the space parking space information to the vehicle control hardware module;
the vehicle control hardware module receives vehicle state information from a whole vehicle network, fuses the obstacle information and parking space information sent by the image processing hardware module and the obstacle distance information and space parking space information sent by the distance sensing hardware module, generates a real-time control instruction and sends the control instruction to the whole vehicle network in real time for vehicle action control;
and the power supply management hardware module is used for controlling the vehicle-mounted power supply to supply power to the vehicle control hardware module.
Further, the number of the cameras is 4, the cameras are distributed and installed in the front, the rear, the left side and the right side of the periphery of the vehicle, and the image acquisition ranges of the 4 cameras cover 360 degrees of the periphery of the vehicle.
Furthermore, the camera collects images of the marking parking space, images of obstacles around the vehicle and images of obstacles inside and around the marking parking space.
Further, the number of the PDC radars is 12, the PDC radars comprise long-distance detection radars and short-distance detection radars, the long-distance detection radars and the short-distance detection radars are distributed and installed on the front side, the rear side, the left side and the right side of the periphery of the vehicle, and the detection ranges of the 12 PDC radars cover 360 degrees of the periphery of the vehicle.
Furthermore, the PDC radar is used for detecting position information of obstacles around the vehicle, position information of parking spaces in the spaces without marking lines and position information of obstacles inside and around the parking spaces in the spaces without marking lines.
Further, the image receiving hardware module and the image processing hardware module pass through I2C, communication connection; the image processing hardware module is connected with the vehicle control hardware module through an SPI communication bus and an Ethernet; the distance sensing hardware module is connected with the vehicle control hardware module through a CAN bus; the power management hardware module and the vehicle control hardware module pass through I2C, communication connection; the image processing hardware module is connected with the whole vehicle network through an Ethernet and a CAN bus; and the vehicle control hardware module is connected with the whole vehicle network through a CAN bus.
Furthermore, the image processing hardware module is connected with the whole vehicle network through a BCM89811 network interface and a TCAN1051 transceiver respectively.
Furthermore, the image processing hardware module is respectively provided with a DDR-4G memory, an EMMC-16G embedded memory and a Micruo-SD-64M multimedia memory.
Claims (8)
1. An automobile image fusion parking system is characterized by comprising a camera, an image receiving hardware module, an image processing hardware module, a PDC radar, a distance sensing hardware module, a vehicle control hardware module and a power management hardware module;
the image receiving hardware module receives an image signal acquired by the camera, performs coding processing on the image signal and then sends the encoded image signal to the image processing hardware module;
the image processing hardware module processes the image information into obstacle information and parking space information and then sends the obstacle information and the parking space information to the vehicle control hardware module;
the distance sensing hardware module receives obstacle distance information and space parking space information detected by the PDC radar and then sends the obstacle distance information and the space parking space information to the vehicle control hardware module;
the vehicle control hardware module receives vehicle state information from the whole vehicle network, fuses the obstacle information and parking space information sent by the image processing hardware module and the obstacle distance information and space parking space information sent by the distance sensing hardware module, generates a real-time control instruction, and sends the control instruction to the whole vehicle network in real time for controlling vehicle actions;
and the power supply management hardware module is used for controlling the vehicle-mounted power supply to supply power to the vehicle control hardware module.
2. The automobile image fusion parking system as claimed in claim 1, wherein the number of the cameras is several, and the image acquisition range of the cameras covers 360 degrees of the periphery of the automobile.
3. The automotive image fusion parking system according to claim 1, wherein the camera captures images of the scribed parking space, images of obstacles around the vehicle and images of obstacles inside and around the scribed parking space.
4. The automobile image fusion parking system as claimed in claim 1, wherein the PDC radars are provided in a plurality of numbers including a long-distance detection radar and a short-distance detection radar, and the detection ranges of the plurality of PDC radars are set to cover 360 ° of the periphery of the automobile.
5. The automobile image fusion parking system as claimed in claim 1, wherein the PDC radar is configured to detect position information of obstacles around the automobile, position information of parking spaces in the unpainted space, and position information of obstacles inside and around the unpainted space.
6. The automobile image fusion parking system as claimed in claim 1, wherein the image receiving hardware module and the image processing hardware module pass through I2C, communication connection; the image processing hardware module is connected with the vehicle control hardware module through an SPI communication bus and an Ethernet; the distance sensing hardware module is connected with the vehicle control hardware module through a CAN bus; the power management hardware module and the vehicle control hardware module pass through I2C, communication connection; the image processing hardware module is connected with the whole vehicle network through an Ethernet and a CAN bus; and the vehicle control hardware module is connected with the whole vehicle network through a CAN bus.
7. The automobile image fusion parking system of claim 6, wherein the image processing hardware module is connected to the entire automobile network through the BCM89811 network interface and the TCAN1051 transceiver, respectively.
8. The automobile image fusion parking system according to claim 1, wherein the image processing hardware module is respectively provided with a DDR memory, an embedded memory and a multimedia memory.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110987735.8A CN114750745A (en) | 2021-08-26 | 2021-08-26 | Automobile image fusion parking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110987735.8A CN114750745A (en) | 2021-08-26 | 2021-08-26 | Automobile image fusion parking system |
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| Publication Number | Publication Date |
|---|---|
| CN114750745A true CN114750745A (en) | 2022-07-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110987735.8A Pending CN114750745A (en) | 2021-08-26 | 2021-08-26 | Automobile image fusion parking system |
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| CN (1) | CN114750745A (en) |
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2021
- 2021-08-26 CN CN202110987735.8A patent/CN114750745A/en active Pending
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