基于平行泊车路径规划的智能泊车系统设计

针对智能泊车系统对泊车准确度及计费实时性要求，提出一种基于距离和避障信息融合的自动泊车路径规划方法和泊车计费方法，解决当前泊车与计费不能有效融合，不利于进行智能管控的现实问题。系统采用STM32单片机作为系统主控芯片，电机驱动模块RZ7889D驱动直流电机，转向舵机采用MG996，超声波测距传感器HC-SR04用于测量车身与障碍物物理距离并结合LM393实现红外避障，实现智能泊车。系统采用LabVIEW设计智能泊车系统上位机面板，实时显示泊车车位、数量、时长和费用，并具有历史数据查询和车辆数据波形显示功能。经仿真测试和系统微缩物理模型测试，该系统能够实现平行泊车路径规划，可实现平稳、顺滑的良好泊车，平均泊车时长为41s，能够根据停车时长进行计费，满足简单、可靠且准确的智能泊车计费系统设计要求。

Design of Intelligent Parking System Based on Parallel Parking Path Planning

According to the requirements of the intelligent parking system for parking accuracy and charging real-time, an automatic parking path planning method and parking charging method based on the fusion of distance and obstacle avoidance information is proposed to solve the practical problem that the current parking and charging cannot be effectively integrated, which is not conducive to intelligent control. The system adopts STM32 MSC as the main control chip, the motor drive module RZ7889D drives the DC motor, the steering rudder adopts MG996, the ultrasonic ranging sensor HC-SR04 is used to measure the physical distance between the car body and obstacles and combine LM393 to realize infrared obstacle avoidance and intelligent parking. The system uses LabVIEW to design the upper computer panel of the intelligent parking system, with real-time display of parking space, quantity, time length and cost, and has the function of historical data query and vehicle data waveform display. After simulation test and system micro-shrinkage physical model test, the system can realize parallel parking path planning, smooth and smooth good parking, the average parking time is 41s, can be charged according to the parking time, to meet the requirements of simple, reliable and accurate intelligent parking charging system design.