基于信息融合的自动泊车系统车位智能识别

doi:10.3901/JME.2017.22.125

机械工程学报 ›› 2017, Vol. 53 ›› Issue (22): 125-133.doi: 10.3901/JME.2017.22.125

基于信息融合的自动泊车系统车位智能识别

江浩斌¹, 沈峥楠¹, 马世典², 陈龙²

1. 江苏大学汽车与交通工程学院镇江 212013;
2. 江苏大学汽车工程研究院镇江 212013

收稿日期:2017-05-07 修回日期:2017-10-09 出版日期:2017-11-20 发布日期:2017-11-20
通讯作者: 江浩斌(通信作者),男,1969年出生,博士,教授。主要从事车辆动力学性能分析与电控技术、道路车辆运行安全主动防控技术及理论和智能交通运输技术等研究。E-mail:jianghb@ujs.edu.cn
基金资助:
国家自然科学基金重点（U1564201）、江苏高校自然学科研究重大项目（16KJA580001）和江苏省产学研前瞻性联合创新（BY2012173）资助项目。

Intelligent Identification of Automatic Parking System Based on Information Fusion

JIANG Haobin¹, SHEN Zhengnan¹, MA Shidian², CHEN Long²

1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013;
2. Automotive Engineer Research Institute, Jiangsu University, Zhenjiang 212013

Received:2017-05-07 Revised:2017-10-09 Online:2017-11-20 Published:2017-11-20

摘要/Abstract

摘要： 针对自动泊车系统对不同类型停车位进行识别的要求，提出一种基于距离和视觉信息融合的停车位智能识别方法。建立了根据超声波传感器、视觉信息传感器、里程计信息来辨识停车位两侧车辆姿态和车位参数的模型，根据Mamdani模糊推理计算输出相应的泊车车位识别结果。利用Matlab/Simulink搭建车位自动辨识以及相应的泊车路径仿真模型，针对五个典型的停车位场景进行了仿真分析，仿真结果验证了车位智能识别和泊车路径规划方案的合理性和有效性。将自主开发的自动泊车系统搭载于某轿车进行试验，试验结果表明，该泊车系统对规则和不规则车位的自动识别正确率为88%~98%，平均值为92.8%，从而验证了车位智能识别方法的良好效果。

关键词: 不规则停车位, 多传感器信息融合, 模糊推理, 智能识别

Abstract: Aiming at the requirement of the automatic parking system intelligently identifying different types of parking spaces,this paper proposes an recognition method of parking spaces based on distance and visual information fusion. Establishing a model for identifying the vehicle attitude and parking parameters according to the ultrasonic sensors, visual information sensors, odometer information, the controller uses Mamdani fuzzy inference to automatically output the parking plan suitable. Establishing the automatic parking space identification model and parking path simulation model based on Matlab/Simulink, five typical parking spaces are simulated and analyzed, simulation results validated the rationality and effectiveness of intelligent parking identification and parking path planning. Experimenting on a car equipped with this automatic parking system, the results show that the accuracy of the recognition method is 88% -98% for regular and irregular parking spaces, statistical average is 92.8%, which proved the good effect of intelligent recognition of the parking technology. It shows that intelligent identification technology of automatic parking system based on Information Fusion designed has high performance.

Key words: fusion, fuzzy reasoning, intelligent recognition, irregular parking spaces, multi-sensor information

中图分类号:

TG156

江浩斌, 沈峥楠, 马世典, 陈龙. 基于信息融合的自动泊车系统车位智能识别[J]. 机械工程学报, 2017, 53(22): 125-133.

JIANG Haobin, SHEN Zhengnan, MA Shidian, CHEN Long. Intelligent Identification of Automatic Parking System Based on Information Fusion[J]. Journal of Mechanical Engineering, 2017, 53(22): 125-133.

参考文献

[1] 李臣旭. 基于车位场景智能识别技术的全自动垂直泊车系统研究[D]. 镇江:江苏大学, 2016. LI Chenxu. Study on automatic vertical parking system based on intelligent identification technology of parking scene scene[D]. Zhenjiang:Jiangsu University, 2016.
[2] 史晓磊. 基于激光雷达的自动泊车系统研究[D]. 上海:上海交通大学, 2010. SHI Xiaolei. Study on automatic parking system based on lidar[D]. Shanghai:Shanghai Jiaotong University, 2010.
[3] 侯晓阳. 基于路径规划的平行泊车系统研究[D]. 北京:清华大学, 2015. HOU Xiaoyang. Research on parallel parking system based on path planning[D]. Beijing:Tsinghua University, 2015.
[4] HSU T H, LIU J F, YU P N, et al. Development of an automatic parking system for vehicle[C]//Vehicle Power and Propulsion Conference, 2008. VPPC'08. IEEE. 2008:1-6.
[5] ZHAO Y, DING F, GUO L, et al. Navigational controller design using fuzzy logicD theory for vehicle parallel automatic parking[J]. 2016, 22(2):1289-1298.
[6] VOROBIEVA H, GLASER S, MINOIU-ENACHE N, et al. Automatic parallel parking in tiny spots:Path planning and control[J]. IEEE Transactions on Intelligent Transportation Systems, 2015, 16(1):396-410.
[7] PAROMTCHIK I E, LAUGIER C. Autonomous parallel parking of a nonholonomic vehicle[C]//Intelligent Vehicles Symposium, 1996. Proceedings of the. IEEE, 1996:13-18.
[8] PARK W J, KIM B S, SEO D E, et al. Parking space detection using ultrasonic sensor in parking assistance system[C]//Intelligent Vehicles Symposium. IEEE, 2008:1039-1044.
[9] 尚世亮. 自动平行泊车车位超声探测与转向控制算法研究[D]. 长春:吉林大学, 2009. SHANG Shiliang. Research on automatic parallel parking spaces for ultrasonic detection and steering control algorithm[D]. Changchun:Jilin University, 2009.
[10] DAXWANGER W A, SCHMIDT G K. Skill-based visual parking control using neural and fuzzy networks[C]//IEEE International Conference on Systems, Man and Cybernetics, 1995. Intelligent Systems for the, Century. IEEE Xplore, 1995:1659-1664.
[11] OZKUL T, MOQBEL M, AL-DHAFRI S B A. Development of a hierarchical driver aid for parallel parking using fuzzy biomimetic approach[J]. Journal of Computing & Information Technology, 2010(1):31-44.
[12] CHAO C H, HO C H, LIN S H, et al. Omni-directional vision-based parallel-parking control design for car-like mobile robot[C]//IEEE International Conference on Mechatronics. IEEE, 2005:562-567.
[13] 张聪. 基于鱼眼镜头的车载全景环视系统[D]. 杭州:浙江大学, 2015. ZHANG Cong. Fuying panoramic viewing system based on fisheye lens[D]. Hangzhou:Zhejiang University, 2015.
[14] HSU T H, LIU J F, YU P N. Development of an automatic parking system for vehicle[C]//Vehicle Power and Propulsion Conference, 2008. VPPC'08. IEEE. IEEE Xplore, 2008:1-6.
[15] 王文飞. 基于超声波与机器视觉的自动泊车系统设计[D]. 杭州:浙江大学, 2011. WANG Wenfei. Design of automatic parking system based on ultrasonic and machine vision[D]. Hangzhou:Zhejiang University, 2011.
[16] 赵玲. 基于视觉和超声传感器融合的移动机器人导航系统研究[D]. 武汉:武汉理工大学, 2007. ZHAO Ling. Study on mobile robot navigation system based on vision and ultrasonic sensor fusion[D]. Wuhan:Wuhan University of Technology, 2007.
[17] 唐少先. MAMDANI模糊系统优化理论研究[M]. 南京:中南大学, 2005. TANG Shaoxian. MASDANI fuzzy system optimization theory[M]. Nanjing:Central South University, 2005.
[18] 陈玲, 蔡琦, 蔡章生. 基于Mamdani模糊推理的核动力装置技术状态评估[J]. 海军工程大学学报, 2007, 19(5):65-67. CHEN Ling, CAI Qi, CAI Zhangsheng. Evaluation of echnical status of nuclear power plant based on Mamdani fuzzy inference[J]. Journal of Naval University of Engineering, 2007, 19(5):5-67.

基于信息融合的自动泊车系统车位智能识别

Intelligent Identification of Automatic Parking System Based on Information Fusion

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 5

编辑推荐

Metrics

本文评价

[1]	王时龙田波赵昱周杰程成. 基于摄动法的多股簧冲击载荷改进模型[J]. 机械工程学报, 2015, 51(7): 85-90.
[2]	赵曦晶;汪立新;何志昆;杨剑. 基于改进模糊推理的光纤陀螺温度漂移建模[J]. , 2014, 50(6): 15-21.
[3]	高健;刘长宏;陈新;郑德涛. 面向引线焊线工艺的参数预测模型与规律分析[J]. , 2010, 46(15): 185-190.
[4]	王玉海;宋健;李兴坤. 驾驶员意图与行驶环境的统一识别及实时算法[J]. , 2006, 42(4): 206-212.
[5]	武传松;胡庆贤;孙俊生;Polte T.;Rehfeldt D.. 基于12维统计矢量的GMAW焊接过程监测模糊神经网络系统[J]. , 2004, 40(1): 151-154.