Research On Automatic Parking System Based On Ultrasonic Radars

With the development of the times and economy,the number of cars as an important means of transportation is increasing year by year,while the parking space in the city is not growing with the rapid growth of car ownership.The problem of parking difficulty is becoming more and more serious,and the scrape accidents caused by parking occur from time to time,causing a certain degree of economic losses to individuals and society.But in recent years,with the rapid development of intelligent vehicles,intelligent assistant driving system has gradually entered people’s daily life.As a very important part of intelligent driving assistance system,automatic parking system can effectively help people solve the problems encountered in the process of parking.However,at present,many parking systems have limited application scenarios and the price is not low,which is not conducive to the popularization and application of automatic parking system.Therefore,this paper takes the common vehicle sensor ultrasonic radar as the main sensing means,and analyzes the parking space detection and path planning algorithm of automatic parking system,so as to provide a low-cost and adaptive automatic parking solution.The main contents of this paper are as follows:Firstly,this paper introduces the working principle,performance and configuration of a digital three wire ultrasonic radar.The sensing and positioning module of automatic parking system is built by ultrasonic radars and wheel speed sensor.The recognition detection and update algorithms of parallel,vertical and oblique parking spaces are proposed,and the detection algorithms of these three types of parking spaces are measured.Secondly,the geometric path planning method is used to analyze the parking path of parallel,vertical and oblique parking spaces.A multi-section path planning algorithm is proposed,and the calculation method of each parameter is given.Finally,this paper uses MATLAB to build a path planning simulation platform to test the planning algorithms of these three kinds of parking space,and builds an automatic parking system on a real car to test the parking space detection update algorithms and path planning algorithms,which proves the effectiveness and feasibility of the proposed solution.The main innovation of this paper is to propose the parking detection and path planning algorithms of three kinds of parking spaces including oblique parking spaces,and update the parking information in the parking process,which improves the parking performance and application scope of the automatic parking system with ultrasonic radar as sensing means.