安全冗余的自动泊车寻库和巡航方案

A Safe and Reliable Solution for Parking Space Finding and Cruising in Automated Valet Parking

随着自动驾驶的发展,驾驶辅助逐步普及,高级别自动驾驶也取得长足进展,商业化落地的条件渐趋成熟。在商业化进程中,成本、安全因素愈加重要,自动泊车因其特点,有望成为乘用车高级自动驾驶首批商业落地的功能。本文提出了一种安全冗余的自动泊车寻库和巡航方案,该方案采用基于量产探测器的车端感知架构,和具有冗余特性的线控执行机构,借助V2X技术和车路协同,实现了自动泊车的寻库和巡航功能。通过在停车场实车试验表明,该方法适用于普通停车场,精度高、鲁棒性好。

With the development of autonomous driving technology,advanced driver assistance technologies are widely applied.In addition,great process has also been made in high level autonomous driving technologies.So that the commercialization conditions are gradually mature.In the process of commercialization,the cost and safety are rather important influence factors.Automated Valet Parking(AVP)is expected to become one of the first commercialized scenes for high level autonomous driving passenger vehicle,due to its inherent characteristics.This paper proposed a parking space finding and cruising solution based on mass-produced sensors on the Intelligent and Connected Vehicles(ICV),using well developed redundant drive-by-wire products as the actuator.The mass-produced parking space finding and cruising function of AVP is achieved through the intelligent network connection between vehicles and parking area infrastructure.Experiments are conducted in a parking lot.The results showed that it can be applied to general parking areas with strong robustness and high accuracy.