The invention discloses an automatic parking system based on multi-sensor front fusion, which is characterized by comprising a sensing module, a parking space identification module, a path planning module, a vehicle control module and a communication module, the sensing module relates to a plurality of wide-angle cameras, a plurality of ultrasonic radars, an IMU (Inertial Measurement Unit), a wheel speed meter and other sensors which are arranged on a vehicle body and around the vehicle, and is used for acquiring surrounding environment information and vehicle state information in a vehicle advancing process; the parking space identification module uses an end-to-end multi-sensor front fusion identification method to obtain a target parking space; the path planning module plans a parking path according to the target parking space information acquired by the parking space identification module; the vehicle control module generates a control instruction according to the parking path planned by the path planning module until the vehicle is correctly parked in the parking space; and the communication module is responsible for data transmission and interaction in each module and among the modules. According to the method, the end-to-end thought is adopted in the parking space detection model, after various sensor information is input, the current optimal target parking area is directly output in one step, and manual rule and distribution inference are avoided, so that pre-fusion is more directly and effectively carried out by using continuous multi-frame sensor information, and a more accurate recognition effect is achieved.
本发明公开了一种基于多传感器前融合的自动泊车系统,其特征在于,其包含感知模块、停车位识别模块、路径规划模块、车辆控制模块和通信模块,所述感知模块涉及部署在车身及车辆四周的多个广角摄像头、多个超声波雷达、IMU、轮速计等多种传感器,用于获取车辆行进过程中的周围环境信息和车辆自身状态信息;所述停车位识别模块使用端对端的多传感器前融合的识别方法,获取目标停车位;所述路径规划模块根据所述停车位识别模块获取的目标停车位信息,规划泊车路径;所述车辆控制模块根据所述路径规划模块规划的泊车路径生成控制指令,直到车辆正确泊入停车位;所述通信模块负责各个模块内部及各个模块之间的数据传输和交互。本发明在停车位检测模型中采用端对端的思路,输入多种传感器信息后,一步直接输出当前的最佳目标停车区域,该方法避免了人工规则和分布推断,因此更直接有效,使用连续多帧的传感器信息进行前融合,达到更精准的识别效果。
Automatic parking system, method and device based on multi-sensor front fusion
一种基于多传感器前融合的自动泊车系统、方法及装置
2022-04-22
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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