What is an automatic parking system? Analysis of automatic parking path planning and tracking technology

1. Introduction

With the continuous improvement of urbanization and the rapid growth of the economy, people's demand for cars is growing, and the number of cars continues to increase. The emergence of cars meets people's travel needs, but at this stage, the driving of cars is always inseparable from the driver's operation of the car. After arriving at the destination, parking becomes a problem that every driver needs to face. After get off work, I drove back to the community parking lot and suddenly found a parking space among the densely parked vehicles. With surprise and relief, I drove the car to the parking space, but suddenly found that the two cars next to it were parked close to the vacant parking space. With my clumsy driving skills, I couldn't park the car at all, and could only stare at the empty parking space with regret.

It is not easy to park the car perfectly in a parking space under various circumstances. Whether it is parallel parking or reversing into a garage, each driver needs to master the skills, but the actual situation is far from as good as imagined. The simple operation of "parking" has become a problem for many drivers. For novice drivers, what is the most difficult thing in the process of driving? Eighty percent of the answers are parking into a garage. Many novice drivers who have just come out of the "fledgling" are very troubled by parallel parking. It is a painful experience. Sometimes the distance between the front and back of the parallel parking space is too small, and sometimes the distance in front of the rear parking space is too narrow, which makes many novices very embarrassed. It is not a big deal to reverse the car a few more times, but sometimes there will be scratches, which is very annoying.

Parking a long, large and bulky front-wheel drive car is also a bit difficult. The engine of a front-wheel drive vehicle is generally installed horizontally, and a large part of the width of the car is occupied by the engine. Therefore, even if the steering wheel is turned to the bottom, the tires will not rotate much. It is difficult to change direction at low speeds. The larger the car, the more obvious this feeling is, and no matter how good the driving skills are, it cannot be avoided. Because vehicles and people have "visual blind spots" due to their own conditions, parking often consumes a lot of time and energy, which has always been a driving pain point for new and old drivers.

With the continuous acceleration of urbanization, traffic congestion has become more and more prominent, and parking space resources in cities are tight and there are problems such as small parking spaces. Parking problems continue to ferment. Due to the limited number of parking spaces in cities and the large number of vehicles, it has become increasingly difficult for "old drivers" to find suitable parking spaces. Parking in larger parking lots is prone to problems such as difficulty in finding parking spaces and finding cars, and driving has become increasingly challenging; at the same time, parking space in large cities is limited, especially in crowded parking spaces in the city center. The narrow parking space is always testing their parking skills. Backing a car into a narrow parking space has become a necessary skill, which brings trouble to drivers. For "new drivers", in many cases, it takes a lot of trouble to park the car. Parking in this environment is prone to local traffic jams, nervous fatigue, and bumper bending and other scratching accidents.

In this context, in order to facilitate people's travel and relieve traffic pressure, solving the parking problem has become an important task of urban management. In recent years, countries around the world have been exploring from the perspective of science and technology, trying to find a way to solve the problem of urban parking. In different countries, the willingness to implement autonomous driving in different scenarios is also different. The only certainty is that everyone does not like parking, or to be more precise, they do not like to find parking spaces and park. Foreign car companies are also aware of the problem of parking difficulties. With the emergence of advanced driver assistance systems, the driving experience of cars has become richer and richer, and drivers have become more and more relaxed in the process of driving cars. Driving safety has also been greatly improved due to the installation of advanced driver assistance systems. As an inevitable action in the process of driving a car, parking/parking has also been considered by car designers and car manufacturers. The development of technology has provided a solution for it, and relevant advanced driver assistance systems have been designed and developed, which is the automatic parking system. After unremitting efforts, in the outpost application of autonomous driving technology, people have also seen the hope and dawn of problem solving, that is, with the help of "automatic parking technology", the automatic parking system was first launched. Although some models are already equipped with automatic parking technology, the driver still needs to manually control the gear and throttle, which is not a true automatic parking. With the development of technology and the improvement of automation, the more advanced automatic parking assistance only needs to lightly start the button, sit down, and relax, and the parking can be completed automatically. This function is further loved by veteran drivers, after all, it can reduce the repetitive work of daily commuting parking. At present, many new cars launched by car companies have automatic parking functions. The application of automatic parking technology is indeed effective in solving parking and traffic problems in densely populated urban areas. Because automatic parking technology can park cars in smaller spaces, which are much smaller than the spaces where most drivers can park themselves, it makes it easier for car owners to find parking spaces. At the same time, since the same number of cars occupy less space, the utilization rate of parking lots has also been greatly improved. Now more and more manufacturers are beginning to develop real automatic parking functions without human intervention, which belongs to the category of unmanned driving. In this way, automatic parking can be realized without the driver, which is not only very convenient, but also very cool. Therefore, we are committed to using new technologies to make parking smarter, safer, and more convenient. The emergence and development of automatic parking technology provides new ideas for solving parking problems, and will effectively solve the pain points of drivers finding parking spaces and parking difficulties. II Overview

Three definitions

1. Automatic parking system Automatic parking is also called automatic parking. As the name implies, the system can automatically help users park their vehicles in parking spaces without human intervention. When you find an ideal parking spot, just press the start button, sit back, and relax. Everything else will be done automatically, completely eliminating the troubles encountered in parking. An important goal of automatic vehicle control is to improve safety and driver comfort. APAS achieves this goal through parking operations.

Automatic parking is a common low-speed operation scenario. It is the core technology to solve the last mile of autonomous driving. It is also an autonomous driving technology, which is equivalent to low-speed autonomous driving. The technical difficulty is relatively easy compared to autonomous driving. It is just a low-profile version of autonomous driving, which is a derivative of autonomous driving with lowered requirements. It is also the only way to achieve autonomous driving. Although true autonomous driving is still some distance away from commercial implementation and large-scale popularization, it also has great use value if the environmental conditions and actual limitations of autonomous driving applications are reduced. Automatic parking has become the first application scenario for unmanned driving. It is the easiest to implement with low speed, closed or semi-closed space, and relatively fixed scenes.

The Automated Parking System (APS)/Automatic Parking Assist (APA) mainly uses on-board sensors throughout the vehicle and its surroundings to measure the relative distance, speed and angle between the vehicle and surrounding objects: parking radar is used to automatically identify available parking spaces, and the image information of the 360° panoramic camera is used in combination with ultrasonic radar sensors to perceive and identify parking spaces and surrounding environments. The on-board processor/on-board computing platform or cloud computing platform then calculates the operation process, and the controller calculates the appropriate parking path based on the identified information and controls the actuator to implement the steering and acceleration and deceleration of the vehicle, and automatically and correctly completes the parking action in the parking space, so as to realize automatic parking in, out and partial driving functions, and realize safe and smooth parking of the vehicle. Cars equipped with automatic parking functions do not require human intervention. By collecting environmental information of the vehicle (including the location of obstacles) with the help of on-board sensors, processors and control systems , it is possible to automatically identify parking spaces and find a parking space, and automatically and safely complete the parking operation.

2. Autonomous parking system

With the development of autonomous driving technology, automatic parking is gradually evolving towards autonomous parking. Autonomous parking is also known as valet parking or one-touch parking: it means that the driver can call the vehicle in the parking space at a designated location, or let the current vehicle park in a designated or random parking space. The whole process does not require human operation and supervision under normal conditions, corresponding to SAE L3 level.