CN2700163Y - Automatic parking system - Google Patents
Automatic parking system Download PDFInfo
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- CN2700163Y CN2700163Y CN 200320119189 CN200320119189U CN2700163Y CN 2700163 Y CN2700163 Y CN 2700163Y CN 200320119189 CN200320119189 CN 200320119189 CN 200320119189 U CN200320119189 U CN 200320119189U CN 2700163 Y CN2700163 Y CN 2700163Y
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- automated parking
- parking
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- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
An automatic parking system can make automobiles park in the correct parking position automatically, comprising an environmental data acquisition system, a central processing unit and an automobile policy control system. The environmental data acquisition system comprises an image acquisition system and a distance detecting system for acquiring the image data and the distance data from ambient objects to automobile body, and communicates the data to central processing unit by data line. The central processing unit can process and analyze the acquired data to obtain the current position, target position and ambient parameters, make an automatic parking policy according to the parameter, and convert the parameter to electrical signal. After receiving the electrical signal, the automobile policy control system can control the angle, direction and power support of automobile according to instructions.
Description
[technical field]
The utility model relates to a kind of automated parking system, and a kind of being installed on the automobile of more specifically saying so can make automobile accurately be parked in automated parking system on the correct position automatically.
[background technology]
In recent years, process along with automobile industryization, the volume of holding of domestic automobile continues to rise, by contrast, the domestic city construction is then slow relatively, the parking position that can provide can not satisfy growing demand far away, and, at present only parking position, often again because driver individual's park custom or all human elements, cause when parking, automobile and fail to rest in suitable position or stop extremely lack of standardization, make automobile or stop on the parking position leading or super after, or do not stop and keep an oblique line attitude in comparatively parallel mode, these all can make automobile add to the difficulties in the stop process, can cause unnecessary trouble because of collision friction what is more.
Thereby, how can suitably solve the supplydemand relationship of this automobile and parking position? people have proposed two kinds of schemes, and the one, quicken the urbanization construction, so that being provided, more parking position satisfies the demands, but the planning that this needs urban construction is a kind of comparatively long-term settling mode; And another kind is to make full use of existing parking position, avoids the unnecessary wasting of resources by parking of standard, and this also is the effective means that can deal with problems rapidly at present.
So, if automobile can oneself identify the environment of parking, and can be adjusted, artificial park operation and avoid above-mentioned problem to replace fully, then will produce more efficiently utilization to existing parking position.
[summary of the invention]
A purpose of the present utility model provides a kind of automated parking system, and it can be parked automobile under unmanned situation of interfering automatically with correct stop position.
Another purpose of the present utility model provides a kind of system from the dynamic correction parking position, fails during as automobile parking to stop (as oblique line etc.) with regulating position, and this system can proofread and correct automatically, to reach the purpose that makes full use of existing parking position.
The purpose of this utility model is achieved through the following technical solutions:
A kind of automated parking system, automobile is automatically parked with correct stop position, described automated parking system comprises an environmental data acquisition system, a central process unit and a vehicle policy controlling system, described environmental data acquisition system comprises an image capturing system and a vehicle-mounted range sensing system, but acquisition of image data and around object apart from the range data of vehicle body, and be transferred to central process unit by data line; After described central process unit can be handled the data analysis that collects, draw current location, target location and the environmental parameters on every side of automobile, make the automatic parking strategy according to above-mentioned parameter, and convert thereof into electric signal; After described vehicle policy controlling system is accepted electric signal, make the controlling of travelling of automobile according to instruction as angle, direction and power support aspect.
Technique scheme can further be improved to:
Described image capturing system is to gather video image by employing charge coupled device ccd camera or CMOS camera, and it generally is installed on around the auto body.
Described vehicle-mounted range sensing system is that it generally is installed on around the auto body by the range data of object around the vehicle-mounted distance measurement equipment collection apart from vehicle body.
Described vehicle-mounted distance measurement equipment can be at least a in trailer-mounted radar, the vehicle-mounted infrared distance measurement equipment.
Described vehicle policy controlling system comprises automatically controlled steering swivel system and automatically controlled AMT control system, and wherein, automatically controlled steering swivel system is the driving angle of Control of Automobile, and direction of traffic that automatically controlled AMT control system then is a Control of Automobile and power are supported.
Described automated parking system comprises an in-vehicle display system, in-vehicle display system provides a close friend man-machine interface, overall process with instant reflection automatic parking, the driver and conductor can monitor omnidistance under the situation that does not add interference, when manual manipulation in addition in case of necessity, to increase the coefficient that safety is parked
Advantage of the present utility model is: by by central process unit, automobile can draw the appropriate location when parking automatically, and then automobile stopped automatically in the mode of standard, be that the fully correct of parking position of causing because of personal habits and human element when parking utilizes thereby avoided the people.
[description of drawings]
Fig. 1 is the structure diagram of block of the utility model automated parking system
Fig. 2 is the diagram of circuit of the utility model automated parking system
Fig. 3 is the structure diagram of block of the utility model embodiment
[specific embodiment]
Below the utility model is made further instruction.
See also Fig. 1, for this automated parking system the structure diagram of block, this automated parking system mainly comprises three parts, i.e. environmental data acquisition system, central process unit and vehicle policy controlling system.The formula structure is advanced by above-mentioned each system logically cambium layer, can be divided into acquisition layer, interlayer and key-course, and this tri-level logic structure all is subjected to central process unit, claim data analysis and policy control unit again, unified control and management, simultaneously, the internal bus by automobile again between each system, as CAN BUS or LIN BUS etc., carry out interconnected.
Environmental data acquisition system is positioned on the acquisition layer, mainly comprise the collection of two class data, be image and distance parameter, at these two classes data, this environmental data acquisition system is integrated with image capturing system and vehicle-mounted range sensing system, wherein, image capturing system is to come images acquired by employing charge coupled device ccd or CMOS camera, and it generally is installed on around the auto body; And vehicle-mounted range sensing system is by the range data of object around the vehicle-mounted distance measurement equipment collection apart from vehicle body, and it generally is installed on around the auto body.Vehicle-mounted distance measurement equipment can be selected at least a in trailer-mounted radar or the vehicle-mounted infrared distance measurement equipment.
The vehicle policy controlling system is positioned on the key-course, it mainly is the signal control automobile that provides according to central process unit, it comprises automatically controlled steering swivel system and automatically controlled AMT control system, wherein, automatically controlled steering swivel system is the driving angle of Control of Automobile, and direction of traffic that automatically controlled AMT control system then is a Control of Automobile and power are supported.
And what connect these two logical layers is central process unit, it can be to being analyzed by the data of acquisition layer collection, and then draw the policy control that needs, be passed to key-course and control operation by bus or signal wire (SW) by key-course, carrying out the ride control of automobile, just looks like that a skillful driving person is operating equally.This process will be carried out again and again, that is to say, data acquisition system will constantly be carried out image acquisition to the parking environment, and analyze the current location of automobile, send various control commands by treater then, the travel direction of Control of Automobile, steering angle, moving velocitys etc. are up to finishing automatic parking work.
As shown in Figure 3, this automated parking system also comprises an in-vehicle display system, this system can be and central process unit bonded assembly telltale, one close friend's man-machine interface is provided, overall process with instant reflection automatic parking, it is omnidistance that the driver and conductor can monitor under the situation that does not add interference, when manual manipulation in addition in case of necessity, to increase the coefficient that safety is parked.
Any one deck et out of order in this automated parking system, the capital is transmitted central process unit by data line with corresponding information, and central process unit can be made corresponding strategy, such as the strategy that car is stopped, perhaps give the alarm, perhaps this information is sent to in-vehicle display system.
This automated parking system is before using, at different vehicles, set out different processing standard and treating process, with the baby car is example, because of its volume less, parking position for present standard, vehicle body is far away apart from the graticule of parking position, at this moment, the criterion distance that just can set automatic parking should be being as the criterion more at a distance, thereby make the center of automobile stop at parking position, in like manner, when the automobile volume was big, the criterion distance that then should set automatic parking should be as the criterion with middle distance or low coverage.
As shown in Figure 2, it is the diagram of circuit of the utility model automated parking system, when the automobilist will park operation, can open this automated parking system, at this moment, vehicle is taken over by this system and is controlled, image capturing system on the acquisition layer and vehicle-mounted range sensing system start working, utilize the graticule data of charge coupled device ccd or CMOS camera collection parking position, or utilize vehicle-mounted distance measurement equipment to gather the range data between the obstacle and automobile around the automobile, above-mentioned two kinds of data are transferred to central process unit by data line, after the analyzing and processing through data analysis and policy controlling system, draw the current location of automobile, target location and environmental parameters on every side, make the automatic parking strategy according to above-mentioned parameter, and convert thereof into electric signal, and deliver to automatically controlled steering swivel system and automatically controlled AMT control system on the key-course by automobile bus or signal wire (SW), carry out the ride control of automobile.This process will continue to carry out, have only when automobile is correct stop after, when promptly the central process unit current location that goes out automobile from the data analysis that collects met the target location, central process unit then sent instruction, makes this automated parking system stop operation.
[embodiment]
After automobile entered the automatic parking state, system start-up image acquistion system, vehicle-mounted range sensing system carried out image and the data acquisition of object distance on every side.Vehicle-mounted range finding detection system adopts trailer-mounted radar, is installed on around the vehicle body, the distance around being responsible for measuring between object and the automobile; Image acquistion system adopts cmos camera and relevant device to be installed on the position that body forward structure hits exactly, and is responsible for gathering the pictorial information of parking environment, for example the separation line on parking stall.At first, the pictorial data that collects will be admitted to central process unit.If automobile parking is when the centre on parking stall, stop line should be symmetrical in image, if automobile parking in other position or be parked at a certain angle in the parking stall, stop line will present various feature in image.By the shape and the position of parking stall separation line in the analysis chart image data, can obtain the data of the current location of automobile.Central process unit will produce various control signals according to these data, be sent to automatically controlled steering swivel system, automatically controlled AMT control system by bus or signal wire (SW), carry out travel direction, the steering angle of automobile Control of Automobile, the control of moving velocity.This process will be carried out again and again, up to finishing automatic parking work.
In order to guarantee automobile and personal security, central process unit is by analyzing the data that vehicle-mounted range finding detection system is collected, and allows automobile keep the distance of safety all the time with object on every side when automatic steering.That is to say, in the process of automatic steering, if system detects object hypotelorism on every side, central process unit will send control signal to be stopped earlier travelling by automobile, formulates new driving strategy then, comprises travel direction, steering angle, moving velocity, and send new control command Control of Automobile and continue to travel automatically, dock to correct position up to automotive safety.
In the whole process, the driver and conductor can manually connect control in case of necessity by the in-vehicle display system immediately monitoring process of parking, and simultaneously, fault localization system is in running order always, with carrying out smoothly of the operation that guarantees to park.
Claims (6)
1, a kind of automated parking system can make automobile automatically park with correct stop position, it is characterized in that:
Described automated parking system comprises an environmental data acquisition system, a central process unit and a vehicle policy controlling system;
Described environmental data acquisition system comprises an image capturing system and a vehicle-mounted range sensing system, but acquisition of image data and around object apart from the range data of vehicle body, and be transferred to central process unit by data line;
After described central process unit can be handled the data analysis that collects, draw current location, target location and the environmental parameters on every side of automobile, make the automatic parking strategy according to above-mentioned parameter, and convert thereof into electric signal;
After described vehicle policy controlling system is accepted electric signal, make the controlling of travelling of automobile according to instruction as angle, direction and power support aspect.
2, automated parking system according to claim 1 is characterized in that: described image capturing system is by adopting charge coupled device ccd camera or CMOS camera to gather video image, and it generally is installed on around the auto body.
3, as automated parking system as described in the claim 2, it is characterized in that: described vehicle-mounted range sensing system is that it generally is installed on around the auto body by the range data of object around the vehicle-mounted distance measurement equipment collection apart from vehicle body.
4, as automated parking system as described in the claim 3, it is characterized in that: described vehicle-mounted distance measurement equipment can be at least a in trailer-mounted radar, the vehicle-mounted infrared distance measurement equipment.
5, automated parking system according to claim 1, it is characterized in that: described vehicle policy controlling system comprises automatically controlled steering swivel system and automatically controlled AMT control system, wherein, automatically controlled steering swivel system is the driving angle of Control of Automobile, and direction of traffic that automatically controlled AMT control system then is a Control of Automobile and power are supported.
6, automated parking system according to claim 1, it is characterized in that: described automated parking system comprises an in-vehicle display system, in-vehicle display system provides a close friend man-machine interface, overall process with instant reflection automatic parking, the driver and conductor can monitor omnidistance under the situation that does not add interference, when manual manipulation in addition in case of necessity, to increase the coefficient that safety is parked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200320119189 CN2700163Y (en) | 2003-12-09 | 2003-12-09 | Automatic parking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200320119189 CN2700163Y (en) | 2003-12-09 | 2003-12-09 | Automatic parking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2700163Y true CN2700163Y (en) | 2005-05-18 |
Family
ID=34762420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200320119189 Expired - Lifetime CN2700163Y (en) | 2003-12-09 | 2003-12-09 | Automatic parking system |
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| CN (1) | CN2700163Y (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211522A (en) * | 2011-04-29 | 2011-10-12 | 四川长虹电器股份有限公司 | Unsafe state early-warning device and method for drivers |
| CN102582620A (en) * | 2012-03-27 | 2012-07-18 | 上海大学 | All-terrain automatic parking system |
| CN102883937A (en) * | 2010-04-28 | 2013-01-16 | 罗伯特·博世有限公司 | Pull-in parking system having longitudinal and transverse guiding |
| CN102963355A (en) * | 2012-11-01 | 2013-03-13 | 同济大学 | Intelligent auxiliary parking method and implementation system thereof |
| CN103219030A (en) * | 2013-04-18 | 2013-07-24 | 重庆长安汽车股份有限公司 | Method for synchronous acquisition and playback of vehicle-mounted video and bus data |
| CN103476648A (en) * | 2011-04-20 | 2013-12-25 | 罗伯特·博世有限公司 | Method for increasing safety when operating a vehicle, device for carrying out such a method, and vehicle comprising such a device |
| CN103879403A (en) * | 2011-03-16 | 2014-06-25 | 丰田自动车株式会社 | Remote vehicle operating device |
| CN104916162A (en) * | 2015-05-28 | 2015-09-16 | 惠州华阳通用电子有限公司 | Parking stall detection method and system |
| CN106218632A (en) * | 2016-07-19 | 2016-12-14 | 百度在线网络技术（北京）有限公司 | For the method and apparatus controlling automatic driving vehicle |
| CN107272671A (en) * | 2016-03-31 | 2017-10-20 | 福特全球技术公司 | Remote control for motor vehicles remote control |
| CN108313051A (en) * | 2018-01-15 | 2018-07-24 | 北京汽车集团有限公司 | It parks method, apparatus, system and storage medium |
| CN109572687A (en) * | 2018-12-29 | 2019-04-05 | 百度在线网络技术（北京）有限公司 | It parks control method, device, electronic equipment and storage medium |
-
2003
- 2003-12-09 CN CN 200320119189 patent/CN2700163Y/en not_active Expired - Lifetime
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102883937A (en) * | 2010-04-28 | 2013-01-16 | 罗伯特·博世有限公司 | Pull-in parking system having longitudinal and transverse guiding |
| CN102883937B (en) * | 2010-04-28 | 2016-11-09 | 罗伯特·博世有限公司 | There is the parking system of longitudinal guide and transverse guidance |
| CN103879403A (en) * | 2011-03-16 | 2014-06-25 | 丰田自动车株式会社 | Remote vehicle operating device |
| CN103476648A (en) * | 2011-04-20 | 2013-12-25 | 罗伯特·博世有限公司 | Method for increasing safety when operating a vehicle, device for carrying out such a method, and vehicle comprising such a device |
| CN103476648B (en) * | 2011-04-20 | 2016-02-24 | 罗伯特·博世有限公司 | The method of safety during for improving vehicle operating, for implementing the device of this method and there is the vehicle of this device |
| CN102211522A (en) * | 2011-04-29 | 2011-10-12 | 四川长虹电器股份有限公司 | Unsafe state early-warning device and method for drivers |
| CN102582620A (en) * | 2012-03-27 | 2012-07-18 | 上海大学 | All-terrain automatic parking system |
| CN102963355B (en) * | 2012-11-01 | 2016-05-25 | 同济大学 | A kind of intelligence is assisted the method for parking and is realized system |
| CN102963355A (en) * | 2012-11-01 | 2013-03-13 | 同济大学 | Intelligent auxiliary parking method and implementation system thereof |
| CN103219030A (en) * | 2013-04-18 | 2013-07-24 | 重庆长安汽车股份有限公司 | Method for synchronous acquisition and playback of vehicle-mounted video and bus data |
| CN103219030B (en) * | 2013-04-18 | 2017-02-08 | 重庆长安汽车股份有限公司 | Method for synchronous acquisition and playback of vehicle-mounted video and bus data |
| CN104916162A (en) * | 2015-05-28 | 2015-09-16 | 惠州华阳通用电子有限公司 | Parking stall detection method and system |
| CN104916162B (en) * | 2015-05-28 | 2017-05-03 | 惠州华阳通用电子有限公司 | Parking stall detection method and system |
| CN107272671A (en) * | 2016-03-31 | 2017-10-20 | 福特全球技术公司 | Remote control for motor vehicles remote control |
| CN107272671B (en) * | 2016-03-31 | 2022-03-22 | 福特全球技术公司 | Remote control device for remote control of motor vehicles |
| CN106218632A (en) * | 2016-07-19 | 2016-12-14 | 百度在线网络技术（北京）有限公司 | For the method and apparatus controlling automatic driving vehicle |
| CN106218632B (en) * | 2016-07-19 | 2019-01-01 | 百度在线网络技术（北京）有限公司 | Method and apparatus for controlling automatic driving vehicle |
| CN108313051A (en) * | 2018-01-15 | 2018-07-24 | 北京汽车集团有限公司 | It parks method, apparatus, system and storage medium |
| CN109572687A (en) * | 2018-12-29 | 2019-04-05 | 百度在线网络技术（北京）有限公司 | It parks control method, device, electronic equipment and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20131209 Granted publication date: 20050518 |