Research On Key Technologies Of Automatic Parking System Based On Multi-sensor Information Interaction

Automatic parking technology is a key component of car unmanned technology,and parking space recognition is the focus and difficulty of automatic parking system.Firstly,for the lack of reclining parking space recognition in space parking space recognition,under the effective area constraint condition that ultrasonic sensor can detect during oblique parking space recognition,by merging distance and visual information,a kind of six kinds of obliques common to life are proposed.The method of parking space recognition,combined with parallel and vertical parking space recognition,based on the Sugeno-type fuzzy reasoning principle to calculate the parking space type,and finally realize the multi-case space parking space recognition.Secondly,in view of the parking line parking in life,the use of vision sensors to collect parking angular point in overlooking the image coordinates,the coordinates of the planar ranging based on inverse perspective transformation model for automobile body side corner of the lateral distance and parking lots,and fusion of ultrasonic wave radar and the vehicle mileage value,design information fusion algorithm to establish the slot coordinate system,achieved the identification of the parking line parking.Then,based on Ackerman's steering geometry principle,vehicle kinematics modeling under parking conditions is carried out,parallel and vertical parking path planning are carried out respectively,and one step backward and backward-forward inclined parking space path planning are proposed,and the slope is analyzed.Collision that may occur in parking,path planning for parallel and vertical parking spaces in parking spaces,verifying the effectiveness of decision-making strategies through simulation.Finally,a passenger car as a test platform,the relevant parameters of the camera are calibrated;Automatic parking visual information collection,parking slot identification strategy and path planning strategy were converted into the C language of the main control chip to complete the software program design of the automatic parking system.A large number of automatic parking tests have been carried out,and the results show that the parking success rate is high,the system reliability is high,and the effectiveness and accuracy of parking slot identification,decision planning strategy are verified.