外文翻譯--智能停車輔助系統(tǒng)的系統(tǒng)配置

1、<p><b>　　中文2470字</b></p><p>　　智能停車輔助系統(tǒng)的系統(tǒng)配置</p><p>　　智能停車場管理系統(tǒng)采用先進技術(shù)和高度自動化的機電設(shè)備，將機械、電子計算機和自控設(shè)備以及智能IC卡技術(shù)有機地結(jié)合起來，通過電腦管理可實現(xiàn)車輛出入管理、自動存儲數(shù)據(jù)等功能，實現(xiàn)脫機運行并提供—種高效管理服務(wù)的系統(tǒng)。新型的智能停車場將生活理念和建筑藝術(shù)、

2、信息技術(shù)、計算機電子技術(shù)等現(xiàn)代高科技完美結(jié)合，提供的是一種操作簡單、使用方便、功能先進的人性化系統(tǒng)。它依靠高科技，以人為本，采用圖形人機界面操作方式提供一種更加安全、舒適、方便、快捷和開放的智能化、信息化生活空間促進了人文環(huán)境的健康發(fā)展。</p><p>　　本文介紹了目前開發(fā)的投資促進機構(gòu)配置（智能停車輔助系統(tǒng)）。IPAS允許司機指定目標(biāo)位置的三個免費方法：基于單眼視覺的停車位置標(biāo)記識別，基于超聲波傳感器的停

3、車位識別，和拖放GUI(圖形用戶界面)。IPAS生成最優(yōu)路徑馬赫指定的目標(biāo)位置。在停車場的運作，并估計自我車輛姿勢使用ESP（電子穩(wěn)定程序）的傳感器，如車輪需要銀行腳踏開關(guān)和傳感器，轉(zhuǎn)向角傳感器。IPAS自動控制制動和轉(zhuǎn)向通過發(fā)送所需的促動ESP和軌跡通過可以EPS(電動助力轉(zhuǎn)向)。IPAS通知當(dāng)前驅(qū)動器通過對停車操作后視圖的圖像軌跡估計，這是通過實驗驗證了系統(tǒng)的車輛。 </p><p><b>　　關(guān)

4、鍵詞 </b></p><p>　　智能停車輔助系統(tǒng)駕駛員輔助系統(tǒng) </p><p><b>　　介紹 </b></p><p>　　系統(tǒng)主要由六部分組成：自我車輛姿態(tài)估計、路徑生成器、路徑跟蹤器、主動制動系統(tǒng)、主動轉(zhuǎn)向系統(tǒng)和HMI（人機界面）。IPAS既可進行半自動的停車輔助系統(tǒng)，其中的轉(zhuǎn)向操作自動化。而且自動泊車輔助系統(tǒng)，其中

5、轉(zhuǎn)向和制動操作自動化。指定目標(biāo)位置定位的自動/半自動停車操作的目標(biāo)位置。我們開發(fā)了三個互補的方法：基于單目視覺的停車插槽標(biāo)記識別，基于超聲傳感器的平行泊車插槽識別，和拖放的GUI圖形用戶界面。自我車輛姿態(tài)估計實現(xiàn)通過利用各種傳感器，包括輪速傳感器的車輛姿態(tài)估計的阿克曼模型，轉(zhuǎn)向角度傳感器，制動踏板開關(guān)和車輪角度傳感器。這些傳感器連接到ESP或ESC和EPS和報告他們的測量通過能。軌跡發(fā)生器使最優(yōu)路徑到達指定的目標(biāo)位置。路徑跟蹤控制轉(zhuǎn)向和

6、制動驅(qū)動使估計的自我車輛姿態(tài)按照規(guī)劃好的路徑。在停車時IPAS顯示后視影像通過人機界面驅(qū)動和重疊軌跡上的估計。</p><p>　　目標(biāo)位置的三維定位：我們的三維目標(biāo)定位位置的自動方法和手動1支持2的方法?；趩文恳曈X的停車插槽標(biāo)記識別指定的停車插槽標(biāo)記垂直停車的情況下的目標(biāo)位置。超聲波傳感器為基礎(chǔ)的平行泊車插槽識別指定的情況下，并行的目標(biāo)位置在向前和向后的停車情況。當(dāng)司機得到目標(biāo)位置使用自動的方法，可以調(diào)整或人

7、工方法細化目標(biāo)位置。當(dāng)然，如果目標(biāo)自動定位方法不可用，用戶可以指定目標(biāo)位置的手動方法。如拖放的概念為基礎(chǔ)的GUI。雖然有研究發(fā)現(xiàn)目標(biāo)位置的識別三維信息的相鄰車輛[1][2][3]，這種方法被認為是昂貴的第一代。他們有望被應(yīng)用于下一代IPAS。</p><p>　　基于單目視覺的停車插槽標(biāo)記識別[4]。基于單目視覺的停車插槽標(biāo)記識別使用單眼的CMOS攝像頭安裝在車輛的后端顯示2。視覺系統(tǒng)采用了廣角鏡頭蓋寬視野視野。

8、它對輸入圖像進行補償廣角鏡頭的徑向畸變，并將失真的圖像在鳥瞰圖像。鳥瞰圖像是一種由一個飛行的鳥看到的虛擬的圖像。</p><p>　　視覺系統(tǒng)開始識別程序從種子點，這是由與觸摸屏驅(qū)動程序指定。檢測正峰識別標(biāo)記線段所示。邊緣跟蹤可以拒絕虛假標(biāo)志著我一段和完善該線段的方向。精致的線段的線段之間，靠近相機是公認的準(zhǔn)則，我是邊境之間的道路和停車位。一旦指標(biāo)是公認的，種子點的投影指標(biāo)成為參考點。通過對標(biāo)記強度和非標(biāo)記強度之

9、間的強度比“T”形連接可以很容易地檢測到如圖所示。因此，指定的停車插槽可以被識別。提出的方法效果很好盡管在相鄰車輛由于它只使用指南和T形路口。 </p><p>　　超聲波傳感器為基礎(chǔ)的平行泊車插槽識別[5]。在平行泊車的情況，主要是有趣的障礙即停放的車輛，可以從攝像機覆蓋。距離測量的超聲波傳感器的制備，平行停車的駕駛過程中收集的，可以指定免費停車場。O1和O2對象集群和F1和F2免費空間集群。在聚類提取了最近

10、的自由空間聚類的兩個端點位置P1和P2。相鄰對象clursters相鄰的終點，即C1和C2提供免費空間的外邊界屬車輛姿態(tài)估計消除了相對于相鄰車輛的相對位置的影響。 </p><p>　　拖放RMT基于目標(biāo)位置的設(shè)計[6]。由于手工方法應(yīng)該是在自動方式盡管發(fā)展是必然的研究的重點應(yīng)在效率和方便的改進。為了驗證所提出的人工方法的效率，我們測量的操作時間和點擊數(shù)，然后比較拖放多箭法為基礎(chǔ)的方法。車庫停車，據(jù)觀察手術(shù)時間

11、17.6%和點擊次數(shù)減少減少64.2%。平行停車，據(jù)觀察手術(shù)時間29.4%和點擊次數(shù)減少75.1% 下降。 </p><p><b>　　路徑規(guī)劃與跟蹤 </b></p><p>　　目標(biāo)位置的定位后，停車場控制器的半自動導(dǎo)航路徑生成停車。車庫停車狀況規(guī)劃路徑基本上由兩個系，當(dāng)前車輛的前后方向延伸的線。線延伸的目標(biāo)位置的中心線。圓形部分的半徑是最小的旋轉(zhuǎn)半徑安裝轉(zhuǎn)向系

12、統(tǒng)連接兩線描述過渡部分。目前全自動泊車輔助系統(tǒng)不考慮多轉(zhuǎn)停車試驗情況呢。系統(tǒng)檢查是否可以跟蹤規(guī)劃路徑的操作開始前的停車場。 </p><p>　　參考點的車輛運動被認為是位于后橋的中心。當(dāng)系統(tǒng)引導(dǎo)車輛停放,操作模式R-EPS從正常的力量協(xié)助模式變?yōu)椤爸鲃愚D(zhuǎn)向控制”模式。在汽車發(fā)展到目標(biāo)位置,轉(zhuǎn)向角是由R-EPS控制。</p><p><b>　　實驗結(jié)果 </b>&l

13、t;/p><p>　　驗證提出的系統(tǒng)配置的可行性。我們進行了各種各樣的車輛測試。估計路徑測量軌跡幾乎是一樣的車庫停車情況,分別平行泊車的情況。引用意味著測量軌跡和估計方法估計車輛構(gòu)成的軌跡。 </p><p><b>　　結(jié)論 </b></p><p>　　在本文中。我們提出了一個IPAS系統(tǒng)配置，其中包括基于停車插槽標(biāo)記識別的單目視覺，超聲波傳感

14、器為基礎(chǔ)的空閑時隙檢測和拖放的手工設(shè)計方法的概念。通過可行性測試，我們可以發(fā)現(xiàn)，所提出的配置，大大提高駕駛方便，且只有少量的外成本。 </p><p>　　良好的企業(yè)形象是企業(yè)無價的無形資產(chǎn)，智能停車場系統(tǒng)現(xiàn)代化的高科技產(chǎn)品的使用無疑會提高企業(yè)的物業(yè)管理形象和知名度，采用電腦收費管理系統(tǒng)，無論從產(chǎn)品的造型方面，還是整套系統(tǒng)所帶來的先進性及管理的科學(xué)性，都將給物業(yè)管理樹立起良好的形象，使企業(yè)步人良性循環(huán)，不斷開拓進

15、取，成為科學(xué)管理的楷模。產(chǎn)品只是幫助人類更快捷、更方便、更簡單地解決問題。智能停車場系統(tǒng)作為一種先進的產(chǎn)品最終是為人服務(wù)，它不能脫離以人為本的原則，否則技術(shù)再先進也是一種浪費。因此停車場技術(shù)的應(yīng)用也應(yīng)因地制宜，充分發(fā)揮停車場的所有功能。 </p><p><b>　　參考文獻 </b></p><p>　　[1] Nico Kaempchen等﹒基于立體視覺的停車場使

16、用的3D車輛模型的姿態(tài)估計[J]﹒2002屆IEEE智能車輛，2002，2：17-21</p><p>　　[2] K. Fintzel 等﹒立體停車輔助系統(tǒng)﹒2004屆IEEE智能車輛[J]﹒2004,2:881-886。 </p><p>　　[ 3 ]H·G Jung等﹒為自由停車位置識別的三維視覺系統(tǒng)[J]﹒國際汽車技術(shù)學(xué)報﹒2006，7：361—367 </p&g

17、t;<p>　　[4]Ho Gi Jung等﹒結(jié)構(gòu)分析為基礎(chǔ)的停車插槽標(biāo)記為半自動停車系統(tǒng)識別﹒聯(lián)合系統(tǒng)國際研討會：在模式識別的句法模式識別和統(tǒng)計技術(shù)[C]﹒2006：106 </p><p>　　[5] Dong Suk Kim等﹒長距離的超聲波傳感器平行停車場的檢測﹒2006 ksae春季會議[C]，韓國，2006：1621-1626 </p><p>　　[6] Ho

18、Gi Jung,等﹒半自動泊車輔助系統(tǒng)的新用戶界面﹒2006 FISTA汽車世界大會[C]，日本，2006：754-760 </p><p>　　SYSTEM CONFIGURATION OF INTELLIGENT PARKING ASSISTANT SYSTEM</p><p>　　Intelligent parking management system uses advanced

19、technology and highly automated mechanical and electrical equipment, mechanical, and electronic computer-controlled equipment, and intelligent IC card technology combine management can be achieved through the computer ma

20、nagement of vehicle access, automatic data storage function, the realization of de machine operation and provide - efficient management of the system. </p><p>　　Smart new car park will be living concepts an

21、d architecture, information technology, computer electronics technology, such as the perfect combination of modern high-tech to provide a simple, easy-to-use, advanced system of human nature. It relies on high-tech, peop

22、le-oriented, graphical man-machine interface operation, providing a more safe, comfortable, convenient, fast and open intelligent, information-based living space, promoting the healthy development of human environment. &

23、lt;/p><p>　　This paper describes the configuration of currently developed IPAS Intelligent Parking Assistant System). IPAS allows driver to designate target position by three complimentary methods:monocular vis

24、ion based parking slot marking recognition,ultrasonic sensor based parallel parking slot recognition and drag&drop GUI (Graphical User Interface). IPAS generates an optimal path to mach the designated target positio

25、n. During parking operations, IPAS estimates ego-vehicle pose using ESP (Electric Stab</p><p>　　IPAS informs driver of the on-going parking operation by showing estimated trajectory on the rear view image. P

26、roposed system is validated by vehicle experiments </p><p><b>　　KEYWORDS </b></p><p>　　Intelligent Parking Assistant System, Driver Assistant System INTRODUCTION </p><p>

27、;　　I Our IPAS consists of six components. target position localization. ego-vehicle pose estimation, path generator & tracker, active braking system, active steer ing system, and ITMI (Human Machine Interface) as de

28、picted. IPAS can implement not only semi-automatic.</p><p>　　parking assistant system, in which steering operation is automated. but also automatic parking assist system,in which steering and braking operat

29、ion s automated. Target position localization designates the target position of automatic/semi-automatic parking operation. We developed three complimentary methods: monocular vision based parking slot marking recognitio

30、n, ultrasonic sensor based parallel parking slot recognition, and drag&drop GUI (Graphical User Interface). Ego-vehicle pose estimatio</p><p>　　3D Localization of Target Position </p><p>　　O

31、ur 3D localization of target position supports 2 automatic methods and 1 manual method as shown in Figure 3. Monocular vision based parking slot marking recognition designates target position in case of perpendicular par

32、king situation with parking slot markings. Ultrasonic sensor based parallel parking slot recognition designates target position in case of parallel parking situation with both forward and backward vehicle. Once driver ge

33、ts target position using automatic method, driver can adjus</p><p>　　MONOCULAR VISION BASED PARKING SLOT MARKING RECOGNITION [4] </p><p>　　Monocular vision based parking slot marking recognition

34、 uses a monocular CMOS camera installed on the backend of vehicle as shown in 2(a). The vision system uses a wideangle lens to cover wide FOV (Field Of View). It rectifies input image to compensate the radial distortion

35、of wide-angle lens, and then transforms the undistorted image into bird?s eye view image. Bird?s eye view image is a kind of virtual image taken by a flying bird.</p><p>　　Vision system starts recognition pr

36、ocedure from the seed point, which is designated by driver with touch screen.Detecting positive peaks recognizes marking line-segments as shown. Edge following can reject false marking I ine-segments and refine the direc

37、tion of line-segment. Among the refined line-segments, the line-segment nearest to the camera is recognized as guideline, vvhich is the border between roadway and parking slots. Once guideline is recognized, the project

38、ion of seed point to the </p><p>　　ULTRASONIC SENSOR BASED PARALLEL PARKING SLOT RECOGNITION [5] </p><p>　　In parallel parking situation, primarily interesting obstacles, i.e. parked vehicles, c

39、an be out of camers coverage. Distance measurements, collected during parallel parking preparation driving by ultmsonic sensor, can designate free parking slot. O1 and O2 are object clusters and F1 and F2 are free-space

40、clusters. After the clustering, two end positions of the nearest free-space cluster are extracted: p1 and p2. Adjacent end points of neighboring object clursters, i.e. c 1 and c2, provide the o</p><p>　　DRAG

41、&DROP RMT BASED TARGET POSITION DESIGNATION [6] </p><p>　　Captured scene of parking site is displayed on small touch screen monitor and current target position is displayed. The inside region of rectangu

42、lar target position is used as a moving cursor. The outside region of rectangular target position is used as a rotating cursor. User can easily designate the target position by the moving and rotating cursor .Manual targ

43、et designation method has two usages. First, it can refine the target position acquired by automatic target localization methods. Secon</p><p>　　Because manual method is supposed to be inevitable in spite of

44、 the development of automatic methods, research focus should bc on the improvement of efficiency and convenience. To verify the efficiency of the proposed manual method, we measure the operation time and clicking number,

45、 and then compare drag&drop based method with multiple-arrow based method. For garage parking, it is observed that operation time is reduced by 17.6% and clicking number is reduced by 64.2%. For parallel parking, it

46、 i</p><p>　　PATH PLANNING AND TRACKING </p><p>　　After the localization of target position, parking controller generates parking path for semi- automatic guidance. Planned path of garage park

47、ing situation basically consists of two lines line extending current vehicle's rear direction. line extending the central line of target position. A circular segment whose radius is the smallest rotating radius of i

48、nstalled steering system connects the transition part of two lines as depicted .Current semi-automatic parking assist system does not consi</p><p>　　The reference point of the vehicle motion is assumed to

49、 be located at the centre of rear axle. When the system guides vehicle to park, the operation mode of R-EPS changes from normal power ssist mode to active steering control mode. During vehicle progresses to the target p

50、osition,steering angle is controlled by the R-EPS. Parking control ler receives vehicle travel pulse from transmission and steering anglc from R-E-PS. The steering angle conunand at the moment is determined by rcfcrring

51、 to t</p><p>　　EXPERIMENTAL RESULT </p><p>　　To validate the feasibility of proposed system configuration. we conducted various kinds of vehicle tests. Measured trajectories are almost the same

52、with estimated path in case of garage parking situation and parallel parking situation respectively. Reference means measured trajectory and estimated means the trajectory by estimated vehicle pose. </p><p>

53、　　CONCLUSION </p><p>　　In this paper we propose an IPAS system configuration, which incorporates monocular vision based parking slot marking recognition, ultrasonic sensor based free slot detection and drag&

54、amp;drop concept based manual designation method. Through feasibility test, we can find out that proposed configuration enormously enhance drivers convenience with only small additional cost. </p><p>　　Good

55、corporate image is priceless intangible assets, smart parking system, the modernization of the use of high-tech products will no doubt enhance the image and visibility of property management, fee management computer syst

56、em, in terms of product design, or package system brought about by the nature and management of scientific, management will have to establish a good image, so that virtuous circle of companies who step-by-step, and conti

57、nuously forge ahead and become a model of scientific ma</p><p>　　Products are only to help human beings are becoming more efficient, more convenient and simple to solve the problem. Intelligent parking syste

58、m as an advanced product is the ultimate human services, it can not be divorced from the principle of people-oriented or advanced technology is a waste. Technology therefore parking should also be in line with local cond

59、itions and give full play to all the features of the car park. </p><p>　　REFERENCES </p><p>　　[1] Nico Kaempchen. et at.﹒Stereo vision based pose estimation of parking lots using 3D vehicle mode

60、ls[J]﹒2002 IEEE Intelligent Vehicle Symposium，2002，2：17-21 </p><p>　　[2] K. Fintzel , et at.﹒3D parking assistant system[J]﹒2004 IEEE Intelligent Vehicles Symposium，2004，2：881-886. </p><p>　　[

61、3] H.G Jung, et aI.﹒3D vision system for the recognition of free parking site location[J]﹒International Journal of Automotive Technology，2006，7：361-367 </p><p>　　[4] Ho Gi Jung, et at.﹒Structure analysis bas

62、ed parking slot marking recognition for semi-automatic parking system[C]﹒Joint IAPR International Workshops on Structural, Syntactic Pattern Recognition and Statistical Techniques in Pattern Rccognition﹒2006：106 </p&

63、gt;<p>　　[5] Dong Suk Kim, et at.﹒ Parallel Parking Lot Detection with Long Range Ultrasonic Sensor[C], 2006 KSAE Spring Conference， Korean，2006：1621-1626 </p><p>　　[6] Ho Gi Jung, et at. ﹒Novel user