Technology Research On Vertical Parking System Based On Ultrasonic Detection

The 21 st century is the era of knowledge explosion,all kinds of terminals have the intelligent trend,as one of the means of conveyance,vehicle’s intelligent will change people’s daily lives,it’s now the mainstream of research direction and focus of enterprise and university.Auto-parking system is an important embodiment of vehicle intelligent,can help the driver safely and quickly accurately complete parking warehousing operation,both to reduce the nervous in the process of parking,improve the comfort of driving,and can also to reduce the number of accidents in the process of parking in a certain extent.This paper is established by four aspects,including automatic parking kinematics model based on Ackermann steering geometry,the hardware design of the parking system,software design of the parking system,real vehicle test of the designed parking system and so on.Firstly,establish kinematics model of automatic parking according to the principle of Ackerman steering system,analyze the vehicle kinematics characteristics in the process of vertical parking,create the collision constraint model in the process of vertical parking.Divide starting position of vertical parking,mainly analyze three arcs of a two-way vertical parking path planning,optimize the path planning by the Genetic Algorithm,analyse the simulation results,make sure theoretical feasibility of the path planning.Secondly,analyse the performance requirements of vertical parking system,design the system as a whole,then respectively introduces the hardware design of automatic parking controller,the hardware design of ultrasonic radar module,the hardware design of voice module,the hardware design of wheel speed acquisition module,the hardware design of gear and throttle control module and the hardware design of communication interface.Thirdly,according to vertical parking process,establish a parking system software development plan as a whole,respectively design ultrasonic ranging program,track displacement measurement procedure,parking space detection procedure,real-time collision warning procedure and system communication procedure.Finally,respectively test the precision of the ultrasonic distance measurement module,the dynamic edge detection and the parking space length detection,real vehicle experiment test is mainly focused on the effect of the three arcs vertical parking in different parking width and different horizontal distance,exist some errors between the actual path and theoretical path,but within the margin of error.