关键词: STM32 单片机；自动泊车系统；红外反射传感器；超声波传感器；无停车线

Abstract: Against the backdrop of the continuous increase in the density of urban motor vehicles and the growing demand for parking in complex environments, in order to solve the problems such as large detection blind areas and delayed dynamic responses caused by the traditional automatic parking system relying on a single sensor, this study aims to design a low-cost automatic parking system based on multi-sensor fusion to achieve precise parking in the environment without parking lines. The system takes STM32F103C8T6 as the core controller, realizes the detection of obstacles around the vehicle body through four TCRT5000 infrared emission sensors, and combines HC-SR04 ultrasonic sensors to accurately obtain the distance information at the rear of the vehicle. The small car can achieve reversing into a parking space or lateral parking without a stop line. It adopts a multi-sensor data fusion algorithm and generates the optimal parking path based on geometric constraints. Experiments show that in the simulated parking space, the success rate of the system reversing into the parking space is 96%, with the entire process taking 5.2 s. The success rate of side parking is 93%, with the entire process taking 6.5 s. This study provides a feasible technical path for automatic parking without parking lines.

Key words: STM32 microcontroller; automatic parking system; infrared reflection sensor; ultrasonic sensor; without parking lines