摘要
针对目前自动泊车系统对传感器数量和算力要求较高的问题,提出了一种基于全景图像与人机交互的自动泊车系统方案,针对改进的空闲停车位网络(VPS-Net)进行量化感知训练,实现实时车位检测和车位占据分类,同时借助驾驶员对周围环境的判断,仅利用车身四周的4个环视鱼眼摄像头完成空车位检测与泊车环境实时监测,并利用多段式路径规划与路径跟踪控制器实现车辆平稳、准确地停入车位。验证结果表明,该系统可以在各种典型车位和光照条件下实现自动泊车。
For the situation that the current automatic parking system requires a high number of sensors and computing power,this paper proposed an automatic parking system based on panoramic images and human-machine interaction.Quantitative perception training was performed on the improved Vacant Parking Slot Network(VPS-Net)to realize real-time parking slot detection and parking slot occupancy classification.At the same time,with the help of the driver’s judgment on the surrounding environment,only 4 surround-view fisheye cameras around the car body were used to complete unoccupied parking slot detection and real-time monitoring of the parking environment,and multi-stage path planning and path-following controller were utilized to realize smooth and accurate parking of the vehicle into the parking slot.The verification results show that the system can realize automatic parking under various typical parking slots and lighting conditions.
作者
曹立波
岳鹏宇
张正阳
刘建国
黄梅珊
Cao Libo;Yue Pengyu;Zhang Zhengyang;Liu Jianguo;Huang Meishan(State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Hunan University,Changsha 410082;Guangzhou Automobile Group Co.,Ltd.,Guangzhou 511400)
出处
《汽车技术》
CSCD
北大核心
2023年第6期24-29,共6页
Automobile Technology
关键词
自动泊车
车位检测
路径规划
路径跟踪
Automatic parking
Parking slot detection
Path planning
Path tracking
