The invention relates to an intelligent automatic parking control device and method based on multi-sensor information fusion, and belongs to the field of vehicle intelligent control. The control device comprises an information acquisition module, a microcontroller and a vehicle control unit; the method comprises the following steps: acquiring parking environment information through the point cloud information acquisition sensor, and acquiring parking space image information through the image information acquisition sensor; acquiring the current speed of the vehicle through a vehicle speed signal acquisition sensor; the deflection amplitude of a front wheel rotation angle is collected through a front wheel rotation angle signal collection sensor; the preprocessed image information and the point cloud information are fused through an unscented Kalman filter, the front wheel turning angle is calculated according to the position coordinates of the current driving state of the vehicle and the vehicle course angle, and the vehicle speed and the front wheel turning angle are controlled through a vehicle control unit so that the vehicle can be parked along a planned path. According to the invention, the coverage scene of the automatic parking method is expanded, and the accuracy of parking space detection and the comfort and stability in the parking process are improved.
本发明涉及一种多传感器信息融合的智能化自动泊车控制装置及方法,属于车辆智能控制领域。控制装置包括信息采集模块、微控制器和整车控制器;方法为通过点云信息采集传感器获得停车环境信息,通过图像信息采集传感器采集停车位图像信息;通过车速信号采集传感器采集车辆当前速度;通过前轮转角信号采集传感器采集前轮转角的偏转幅度;采用无迹卡尔曼滤波器将预处理好的图像信息和点云信息进行融合,根据车辆当前行驶状态的位置坐标和车辆航向角计算出前轮转角,通过整车控制器控制车辆速度与前轮转角使车辆沿规划的路径进行泊车。本发明既扩大了自动泊车方法的覆盖场景又提高了车位检测的准确率以及泊车过程中的舒适性和平稳性。
Multi-sensor information fusion intelligent automatic parking control device and method
一种多传感器信息融合的智能化自动泊车控制装置及方法
2025-03-04
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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