CN207311425U - A kind of control system for improving automatic parking success rate - Google Patents
A kind of control system for improving automatic parking success rate Download PDFInfo
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- CN207311425U CN207311425U CN201721266425.2U CN201721266425U CN207311425U CN 207311425 U CN207311425 U CN 207311425U CN 201721266425 U CN201721266425 U CN 201721266425U CN 207311425 U CN207311425 U CN 207311425U
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Abstract
The utility model discloses a kind of control system for improving automatic parking success rate, control system includes controller of parking, people's car mutual module, park controller initialization module, turkey of parking memory module, park execution module, context detection module and vehicle-state acquisition module, controller initialization module of parking carries out Initialize installation by people's car mutual module to controller of parking, controller of parking receives context detection module signal, progress can be sought and be calculated with parking stall, and combine the parameter stored from car state parameter and turkey memory module of parking of vehicle-state acquisition module collection, success rate of being parked twice judges, car owner is guided to search suitable parking stall；During parking, controller of parking constantly analyze the collection of vehicle-state acquisition module from car parameter, by parking, execution module corrects steering wheel angle in real time, parking path tracking, raising automatic parking success rate is better achieved.
Description
Technical field
The utility model belongs to automobile intelligent and drives field, especially a kind of control system for improving automatic parking success rate
System.
Background technology
With increasing sharply for car ownership, urban road is increasingly crowded, and parking stall also can not meet all the more car owner and go out
Row demand.In order to increase the quantity on parking stall, parking bit length is compressed continuously, and difficulty is added to car owner's parking.Therefore, more
Automated parking system is equipped with come more passenger cars, to meet that the non-standard parking stall in city Plays parking stall or suburb is fast
The demand of speed parking.
But the success rate of existing automated parking system storage is easily disturbed be subject to some factors, such as parking stall
The gradient, this car distribution condition before and after the length, tire pressure, the load of load-carrying vehicle that roadside parks cars.In order to contract
The short sawn timber R＆D cycle, improves efficiency of research and development, and for these parameters in product design and calibration, it is thorough to tend not to consider one by one,
Therefore success rate of parking is have impact on, reduces out line efficiency.
Chinese patent (CN104527642A) disclose it is a kind of based on scene diversity identification automated parking system and its
Method, it judges current weather conditions using vehicle-mounted the Internet module, and formulates specific plan of parking according to different synoptic models
Slightly, by correct the right side make retreat mileage, straight trip retreats mileage, a left side and makes and retreats mileage and improve parking system success rate, but
Do not consider that pressure of tire, parking Potential Slope, vehicle fore-aft loads distribute the influence to automated parking system success rate；It is Chinese special
Sharp (CN104608715A) discloses the parking position detection device and method of a kind of automated parking system, it uses sound pressure sensor
Instead of ultrasonic sensor so as to improve the accuracy of parking stall detection, but fail to propose to improve automatic pool from path following method
The method of car system success rate；Chinese patent (CN104260727A) discloses a kind of four motorized wheels wheel hub motor automobile and hangs down
Straight automated parking system and method, have the spy of similar caterpillar differential steering using full-time four-wheel drive wheel-hub motor driven vehicle
Property, the convenience and success rate of electric automobile automated parking system are improved, but be not suitable for common fuel-engined vehicle；It is Chinese special
Sharp (CN104260722A) discloses a kind of automated parking system, it is using environment collector collection ambient data and creates
Park environmental map, realize vehicle location calibrate, improve the security of institute's path planning and the accuracy of path trace, but
The influences of the factor to path tracking procedure such as tire pressure, parking Potential Slope are not considered, and its system-computed amount is big, real-time
Difference；Chinese patent (CN103419779A) discloses automatic parking auxiliary system and its meter that a kind of parking path error minimizes
Calculation method, it solves the radius of each tire using the vehicle height sensor and ground distance sensor of vehicle, and according to each wheel
Tire radius solves parking path, improves the precision of institute's path planning, but does not compensate tire radius in path tracking procedure and change band
The error come.
Utility model content
The utility model proposes a kind of control system for improving automatic parking success rate, storehouse is searched in automated parking system
During position, first determine whether that vehicle moors the success rate into current parking stall by automated parking system.If system judges that success rate is low,
Prompting car owner seeks parking stall again, to improve success rate of parking；If car owner still selects low success rate parking stall, dynamic adjusts car
With preferably realize parking path track；If system judging result is not that success rate is low, parking system uses current parking stall
And in real time adjustment direction disk corner to reduce influence of the extraneous factor to parking system.
The utility model is to realize above-mentioned technical purpose by following technological means.
A kind of control system for improving automatic parking success rate, it is characterised in that including controller of parking, people's car mutual mould
Block, controller initialization module of parking, turkey of parking memory module, execution module of parking, context detection module and vehicle
State acquisition module, the controller of parking carry out signal biography by people's car mutual module and controller initialization module of parking
It is defeated, it is used for realization the Rapid matching of park controller and different automobile types；It is the length of context detection module detection parking stall, adjacent
Vehicle or barrier are with from the distance between car, and being transferred to controller of parking；The vehicle-state acquisition module is used to gather
From the steering wheel angle of car, wheel speed, gear, the gradient, tire pressure and suspension displacement, and it is transferred to controller of parking；The pool
Vehicle controller controls execution module of parking by the signal that context detection module, vehicle-state acquisition module gather, and realizes to certainly
The control of car；Park controller and the turkey memory module progress signal transmission of parking, record in turkey of parking
From the state parameter and parking stall design parameter of car, and compare in success rate deterministic process of parking from car state parameter, parking stall
Design parameter and the state parameter and parking stall design parameter in turkey from car.
In such scheme, the context detection module is deposited including long and short apart from ultrasonic radar, the turkey of parking
Storage module includes a SD card and SD card circuit module.
In such scheme, the vehicle-state acquisition module includes steering wheel angle sensor, gear position sensor, wheel speed and passes
Sensor, Slope Transducer, tyre pressure sensor and displacement sensor.
In such scheme, the execution module of parking is connected by Flexray agreements with controller of parking, and described park is held
Row module includes gear controller, steering motor controller, electronic brake controller and electronic accelerator controller.
In such scheme, the people's car mutual module is buzzer and display screen.
The beneficial effects of the utility model：
1st, the utility model utilizes vehicle oneself state parameter, Parking Stall information and pool during automatic parking
Parameter in car turkey memory module, success rate of being parked twice judge that guiding car owner searches suitable parking stall, at the same time
Optimize automatic parking paths planning method, so as to increase automatic parking success rate, improve out line efficiency.
2nd, the utility model adds controller initialization module of parking, can vehicle controller on the berth for the first time in use, into
The capable quick initializing set of controller of parking, improves compatibility of the controller in different automobile types of parking.
3rd, the utility model collection tire pressure signal, road grade signal and Suspension Deformation signal, and utilize above-mentioned
Steering wheel angle is corrected in real time when signal is to parking, and raising is parked controller path trace ability, increase automatic parking into
Power.
Brief description of the drawings
Fig. 1 is radar schematic view of the mounting position；
Fig. 2 is the control system block diagram for improving automatic parking success rate；
Fig. 3 is vehicle outline border schematic diagram；
Fig. 4 is parking stall length, from car and roadside-vehicle or barrier apart from schematic diagram；
Fig. 5 is flow chart of steps of parking.
Embodiment
The utility model is further described below in conjunction with attached drawing, but the scope of protection of the utility model and unlimited
In this.
As shown in Fig. 2, a kind of control system for improving automatic parking success rate, including controller of parking, people's car mutual mould
Block, controller initialization module of parking, turkey of parking memory module, execution module of parking, context detection module and vehicle
State acquisition module, the controller of parking carry out signal biography by people's car mutual module and controller initialization module of parking
It is defeated, it is used for realization the Rapid matching of park controller and different automobile types；It is the length of context detection module detection parking stall, adjacent
Vehicle or barrier are with from the distance between car, and being transferred to controller of parking；The vehicle-state acquisition module is used to gather
From the steering wheel angle of car, wheel speed, gear, the gradient, tire pressure and suspension displacement, and it is transferred to controller of parking；The pool
Vehicle controller controls execution module of parking by the signal that context detection module, vehicle-state acquisition module gather, and realizes to certainly
The control of car；Park controller and the turkey memory module progress signal transmission of parking, record in turkey of parking
From the state parameter and parking stall design parameter of car, and compare in success rate deterministic process of parking from car state parameter, parking stall
Design parameter and the state parameter and parking stall design parameter in turkey from car.
As shown in Figure 1, context detection module includes 12 ultrasonic radars, the forward and backward bumper of vehicle is respectively provided with 4 short
Apart from ultrasonic radar, left side, right side are respectively provided with 2 long range ultrasonic radars, and 12 ultrasonic radars are by control of parking
Device controls its working status, and ultrasonic radar constantly sends ultrasonic wave and receives echo-signal, echo when control system starts
Signal wire is connected directly to controller of parking, park controller according to ultrasonic radar echo-signal calculate with barrier away from
From to the anti-collision warning during seeking effective parking stall and parking；Fig. 1 circles represent short distance radar, and square frame represents length
Apart from radar.
Vehicle-state acquisition module includes steering wheel angle sensor, gear position sensor, wheel speed sensors, gradient sensing
Device, tyre pressure sensor and displacement sensor, steering wheel angle sensor is installed in steering column, for measurement direction disk corner；
Wheel speed sensors are installed on vehicle hub, for measuring wheel speed signal；Tyre pressure sensor is installed at tyre inflating mouth, is used for
Monitor tire pressure；Slope Transducer is installed on below pilot set, for measuring the vehicle travel gradient；Displacement sensing
Device is in parallel with vehicle suspension damper, for measuring vehicle suspension deflection.Steering wheel angle sensor, wheel speed sensors, tire
Pressure sensor, Slope Transducer, displacement sensor are respectively by the signal transmission of collection to controller of parking.
Execution module of parking is connected by Flexray agreements with controller of parking, and execution module of parking is controlled including gear
Device, steering motor controller, electronic brake controller and electronic accelerator controller, gear controller are used for during controlling and parking
The gear switch of vehicle automatic speed variator, steering motor controller are used for controlling the Vehicular turn during parking, deceleration of electrons
Controller is used for the parking after the completion of controlling deceleration during parking and parking, and electronic accelerator controller is used for controlling parking
During engine air throttle aperture, parking vehicles' speed is controlled together with electronic brake controller.
Turkey of parking memory module, including a SD card and SD card circuit module, turkey of parking storage mould
Block is connected directly with controller of parking, park for storing failure when car status information and parking space's design parameter；When
Park failure when, turkey memory module records automatically this time park during the shape of parking space's relevant information and vehicle
State information；During automatic parking seeks storehouse, by the parking space information sought and car status information and failure thing of parking
Saved turkey parking space information and car status information are made comparisons in part memory, and comparing result is sent to
People's car mutual module；Park after failure, park controller also to the different turkeies in turkey memory module of parking into
Row data are sorted out, to improve judgement speed of the controller to success rate of parking.
Controller initialization module of parking is used for carrying out initializing set to control system, is manually entered wheel of vehicle positioning
The information such as parameter, vehicle commander；Park controller initialization module, it is wide to be extracted wheel alignment parameter, length of wagon in program of parking
The important parameter of these influence path plannings of degree, wheel base, wheelspan, and can be in initialization procedure according to different vehicles
Quickly changed, improve controller versatility of parking；Wherein wheel alignment parameter mainly includes castor, Kingpin inclination
Angle.
People's car mutual module is buzzer and display screen, for reminding driver to select desired park mode, and is shown
Success rate of parking judging result, prompt driver vehicle park during anomaly parameter, and it is corresponding to guide driver to carry out
Operation.People's car mutual module can show that vehicle stops into the success rate sought to parking stall, when system judges that success rate of parking is low
When, display screen shows that success rate is low, and the abnormal vehicle status parameters for the failure that by text prompt driver may cause to park
And shown on instrument board；When system judge this success rate result of parking be not park success rate it is low when, display screen is not made
Power shows that only display will carry out automatic parking interface；Display screen is also controller initialization module input of parking at the same time
Window.
Controller of parking is 32 microcontrollers, and using grace intelligence Pu SPC5604C chips, controller of parking receives and comes from vehicle
Data that state acquisition module, people's car mutual module, context detection module are sent simultaneously are analyzed, and carry out path planning,
And execution module of parking is controlled to carry out realizing route tracking；Controller of parking constantly receives the letter of vehicle-state acquisition module passback
Number, according to the gradient of vehicle running surface, pressure of tire, suspension displacement parameter, when being tracked to parking path steering wheel angle into
Row is automatic to be corrected, with preferably to the path planned into line trace.
As shown in figure 5, a kind of course of work for the control system for improving automatic parking success rate is：
(1) when first time using control system, include from the input of people's car mutual module interfaces from car length of wagon m, width
Spend n, wheelbase γ and wheelspan l (Fig. 3).
(2) when using control system, starting switch is pressed, parking system starts；It is left from car when speed is less than 10km/h
Two long range ultrasonic radars on side or the right start, and park and seek storehouse operation, ultrasonic echo signal is conveyed directly to
Park controller, so as to calculate the length L of parking stall, the length D (Fig. 4) from spacing Adjacent vehicles or barrier, and temporarily deposit
Store up in turkey memory module of parking, during parking stall is sought, vehicle-state acquisition module collection four-wheel tire pressure P and four-wheel hang
Frame deflection S, controller of parking is every time t record Real-time Road gradients βt, four-wheel tire pressure P, Suspension Deformation amount S and road
Gradient average value β is temporarily stored in turkey memory module of parking；Four-wheel tire pressure P includes automobile the near front wheel tire pressure P1、
Off-front wheel tire pressure P2, left rear tire P3, off hind wheel tire pressure P4, four-wheel Suspension Deformation amount S includes the left front bearing spring deflection of automobile
S1, right front suspension spring deflection S2, left rear suspension spring deflection S3, right rear suspension spring deflection S4。
(3) when controller of parking judges to have detected available parking stall, controller of parking utilizes the parking stall length gathered
L, judge to park from the length D of spacing Adjacent vehicles or barrier, road grade average value β, pressure of tire P, Suspension Deformation amount S
Success rate；
As parking stall length L>During s, if D/L>A, or D/L<B and L<C, then controller of parking judge that success rate of parking is low,
And prompting is improper from the length of spacing Adjacent vehicles or barrier in human-computer interaction module；As road grade average value β>d
When, controller of parking judges that success rate of parking is low, and prompts in human-computer interaction module the parking garage Potential Slope sought excessive；
Work as P1<E or P2<E or P3<F or P4<During f, controller of parking judges that success rate of parking is low, and in human-computer interaction module
Prompting detects that pressure of tire is too low；Work as S3<G or S4<G and P3<H or P4<During h, controller of parking judges success rate of parking
It is low, and prompt vehicle rear load-carrying excessive in human-computer interaction module；Wherein s is minimum parking stall threshold value, and a and b are reasonable for parking stall
Property judgment threshold, c is parking stall length threshold, and d compares threshold value for road mean inclination, and e and f are respectively two different wheel nauseas
Threshold value is pressed, g is Suspension Deformation threshold value, and h is tire pressure threshold value.
(4), when controller of parking judges that this success rate result of parking is low for success rate of parking for the first time, people's car mutual
Whether module interfaces prompting driver seeks storehouse again；If storehouse is sought in driver's selection again, step (2) is gone to；If driver is unselected
Select and seek storehouse again, go to step (5)；When parking, controller judges that this success rate result of parking is not success rate of parking for the first time
When low, step (5) is gone to.
(5) controller is parked by the parking stall length L, the length D from spacing Adjacent vehicles or barrier, road grade of collection
Average value β, four-wheel maximum tire pressure PMAX, four-wheel minimum tire pressure PMIN, four-wheel Suspension Deformation mean difference SXTurkey is deposited with parking
Store up parking stall length L ', length D ', road from spacing Adjacent vehicles or barrier in the same failure procedure of parking of module storage
Gradient average value β ', four-wheel maximum tire pressure PMAX', four-wheel minimum tire pressure PMIN', four-wheel Suspension Deformation amount mean difference SX' make comparisons,
Success rate of parking is judged for the second time；
If parking stall length L, length D, road grade average value β, four-wheel maximum tire from spacing Adjacent vehicles or barrier
Press PMAX, four-wheel minimum tire pressure PMIN, Suspension Deformation SXRespectively all in (1 ± k1)L′、(1±k2)D′、(1±k3)β′、(1±k4)
PMAX′、(1±k5)PMIN′、(1±k6)SX' in the range of, then prompt vehicle to stop into the parking stall sought in human-computer interaction module
In success rate it is relatively low；Otherwise do not prompt；Wherein k1、k2、k3、k4、k5、k6For the fault-tolerant factor.
(6) when controller of parking judges that this success rate result of parking is low for success rate of parking for the second time, people's car mutual
Whether module interfaces prompting driver seeks storehouse again, if storehouse is sought in driver's selection again, goes to step (2)；If driver selects
Continue parking manoeuvres, go to step (8), success rate result is not success of parking if controller of parking judges to park twice
When rate is low, then step (7) is gone to.
(7) controller of parking is planned according to the parking stall length L sought and from the length D of spacing Adjacent vehicles or barrier
Parking path, and generate from car target vehicle speed, target direction disk corner, controller of parking controls execution module of parking, controlling party
To disk rotational angle Wt, E-Gas and electronic brake, realize the execution of target rotation angle and speed；Vehicle-state gathers mould
Block constantly gathers wheel speed signal and angular signal and is transmitted to controller of parking, and controller of parking is by actual vehicle speed and steering wheel
For corner compared with target vehicle speed and steering wheel angle, control execution module of parking realizes target vehicle speed and steering wheel angle
Tracking；
The road grade β that Slope Transducer, tyre pressure sensor, displacement sensor will constantly collectt, it is four-wheel tire pressure P, outstanding
Frame deformation S is transmitted to controller of parking, and controller of parking monitors tire pressure P in real time1、P2、P3、P4And four-wheel Suspension Deformation S1、
S2、S3、S4；It is β when detecting vehicle traveling in the gradienttRamp on, steering wheel rotational angle is modified to h (βt)·Wt, h (βt)
For gradient correction function, and h (0)=1；During vehicle parking, if pressure of tire P1、P2、P3、P4Middle one or more is low
In (1-h1)·P0, wherein h1For the fault-tolerant factor and h1<1, P0For program calibration process Plays tire pressure of parking, then steering wheel
Rotational angle is modified to f (P1,P2,P3,P4)·Wt, wherein f is correction function, and f (P0)=1；As one in Suspension Deformation S
Or multiple exceed (1+h2)S1″、(1+h2)S2″、(1+h2)S3″、(1+h2)S4" when, controller of parking is to steering wheel target steering angle
Speed is modified, and steering wheel angle is modified to g (S1,S2,S3,S4)·Wt, wherein g is correction function, S1″、S2″、S3″、S4″
Suspension Deformation amount when respectively parking system is demarcated, and g (S1", S2", S3", S4")=1.
(8) when controller of parking judge to park success rate it is low when, people's car mutual module prompts driver success rate of parking is low,
And need whether driver's manual confirmation still carries out automatic parking operation；If driver certifying still carries out automatic parking behaviour
Make, then program of parking continues to run with, and carries out parking path tracking completion and parks；If driver certifying no longer carries out automatic parking behaviour
Make, then system is sought storehouse operation for the second time, jumps to step (2)；
Controller of parking carries out path planning according to the situation that warehouse compartment length is z, without according to the parking stall actually sought
Length L, wherein z are available minimum warehouse compartment length, and z<L；During parking, Slope Transducer, tyre pressure sensor, displacement pass
The road grade β that sensor will constantly collectt, four-wheel tire pressure P, Suspension Deformation S be transmitted to controller of parking, controller reality of parking
When monitor tire pressure P1、P2、P3、P4And four-wheel Suspension Deformation S1、S2、S3、S4；It is β when detecting vehicle traveling in the gradientt
Ramp on, steering wheel rotational angle is changed into H (βt)·Wt, H (βt) it is gradient correction function, and H (0)=1；In vehicle parking
During, if pressure of tire P1、P2、P3、P4Middle one or more exceedes (1-h1)·P0, wherein h1For the fault-tolerant factor and h1<1, P0
For program calibration process Plays tire pressure of parking, then steering wheel rotational angle becomes F (P1,P2,P3,P4)·Wt, wherein F is to repair
Positive function, and F (P0)=1；When one or more of Suspension Deformation S exceedes (1+h2)S1″、(1+h2)S2″、(1+h2)S3″、(1
+h2)S4" when, controller of parking is modified steering wheel target diversion angle, and steering wheel angle is changed into G (S1,S2,S3,S4)·
Wt, wherein G is correction function, S1″、S2″、S3″、S4" Suspension Deformation amount when being respectively parking system calibration, and G (S1", S2",
S3", S4")=1.
(9) if parking success, vehicle by people's car mutual module prompts driver whether automatic parking and close start
Machine, at the same park controller auto-erasing this park during record parking stall length L, from spacing Adjacent vehicles or barrier
Length D, road grade average value β, pressure of tire P and Suspension Deformation amount S；If parking unsuccessfully, people's car mutual module prompts pool
Car fails, and prompts that whether vehicle is rolled away from safely to seeking again for driving position of going forward side by side, while the control that will park according to original path
Parking stall length L, the length D, road grade average value β, pressure of tire P from spacing Adjacent vehicles or barrier kept in device processed
And Suspension Deformation amount S is stored to turkey memory module of parking.
The embodiment is the preferred embodiment of the utility model, but the utility model is not limited to above-mentioned embodiment party
Formula, in the case of the substantive content without departing substantially from the utility model, those skilled in the art can make any apparent
Improvement, replacement or modification belong to the scope of protection of the utility model.
Claims (6)
1. a kind of control system for improving automatic parking success rate, it is characterised in that including controller of parking, people's car mutual mould
Block, controller initialization module of parking, turkey of parking memory module, execution module of parking, context detection module and vehicle
State acquisition module, the controller of parking carry out signal biography by people's car mutual module and controller initialization module of parking
It is defeated, it is used for realization the Rapid matching of park controller and different automobile types；It is the length of context detection module detection parking stall, adjacent
Vehicle or barrier are with from the distance between car, and being transferred to controller of parking；The vehicle-state acquisition module is used to gather
From the steering wheel angle of car, wheel speed, gear, the gradient, tire pressure and suspension displacement, and it is transferred to controller of parking；The pool
Vehicle controller controls execution module of parking by the signal that context detection module, vehicle-state acquisition module gather, and realizes to certainly
The control of car；Park controller and the turkey memory module progress signal transmission of parking, record in turkey of parking
From the state parameter and parking stall design parameter of car, and compare in success rate deterministic process of parking from car state parameter, parking stall
Design parameter and the state parameter and parking stall design parameter in turkey from car.
A kind of 2. control system for improving automatic parking success rate according to claim 1, it is characterised in that the environment
Detection module includes long and short apart from ultrasonic radar.
A kind of 3. control system for improving automatic parking success rate according to claim 1, it is characterised in that the vehicle
State acquisition module includes steering wheel angle sensor, gear position sensor, wheel speed sensors, Slope Transducer, tyre pressure sensor
And displacement sensor.
4. a kind of control system for improving automatic parking success rate according to claim 1, it is characterised in that described to park
Execution module is connected by Flexray agreements with controller of parking, and the execution module of parking includes gear controller, turns to electricity
Machine controller, electronic brake controller and electronic accelerator controller.
A kind of 5. control system for improving automatic parking success rate according to claim 1, it is characterised in that people's car
Interactive module is buzzer and display screen.
6. a kind of control system for improving automatic parking success rate according to claim 1, it is characterised in that described to park
Turkey memory module includes a SD card and SD card circuit module.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109387841A (en) * | 2018-10-29 | 2019-02-26 | 浙江大学 | A kind of system using cartborne ultrasound wave radar look-ahead hill gradient and length of grade |
| CN109515432A (en) * | 2018-11-21 | 2019-03-26 | 北京新能源汽车股份有限公司 | Vehicle and control method of parking, device |
| CN109740521A (en) * | 2018-12-29 | 2019-05-10 | 百度在线网络技术（北京）有限公司 | The parking stall location determining method and device of automatic parking, electronic equipment and computer-readable medium |
| CN109795480A (en) * | 2019-01-28 | 2019-05-24 | 汉腾汽车有限公司 | A kind of parking on ramp automatic parking system and its control method |
| CN111319633A (en) * | 2020-03-27 | 2020-06-23 | 同致电子科技（昆山）有限公司 | Tire precision calibration system and method based on ultrasonic radar |
| CN111610033A (en) * | 2019-02-22 | 2020-09-01 | 广州汽车集团股份有限公司 | Test method and device for automatic parking system |
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2017
- 2017-09-28 CN CN201721266425.2U patent/CN207311425U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109387841A (en) * | 2018-10-29 | 2019-02-26 | 浙江大学 | A kind of system using cartborne ultrasound wave radar look-ahead hill gradient and length of grade |
| CN109387841B (en) * | 2018-10-29 | 2020-09-08 | 浙江大学 | System for predicting slope gradient and slope length of ramp in advance by utilizing vehicle-mounted ultrasonic radar |
| CN109515432A (en) * | 2018-11-21 | 2019-03-26 | 北京新能源汽车股份有限公司 | Vehicle and control method of parking, device |
| CN109740521A (en) * | 2018-12-29 | 2019-05-10 | 百度在线网络技术（北京）有限公司 | The parking stall location determining method and device of automatic parking, electronic equipment and computer-readable medium |
| CN109795480A (en) * | 2019-01-28 | 2019-05-24 | 汉腾汽车有限公司 | A kind of parking on ramp automatic parking system and its control method |
| CN111610033A (en) * | 2019-02-22 | 2020-09-01 | 广州汽车集团股份有限公司 | Test method and device for automatic parking system |
| CN111319633A (en) * | 2020-03-27 | 2020-06-23 | 同致电子科技（昆山）有限公司 | Tire precision calibration system and method based on ultrasonic radar |
| CN111319633B (en) * | 2020-03-27 | 2021-09-07 | 同致电子科技（昆山）有限公司 | Tire precision calibration system and method based on ultrasonic radar |
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