The invention provides a full-automatic parking method and system. The full-automatic parking method comprises the steps of acquiring space parking space data and obstacle data recognized by an ultrasonic radar and look-around parking space data and obstacle data recognized by a fisheye camera; performing fusion based on a data fusion algorithm to obtain parking space fusion data and obstacle space fusion data; according to a free track planning algorithm, carrying out planning in combination with the parking space fusion data and the obstacle space fusion data to obtain a parking track; and acquiring moving position information of a current vehicle, and making the vehicle run along the parking trajectory in real time based on a high-precision positioning algorithm and a high-precision track tracking algorithm. In the scheme, the parking track is determined by calculating the parking space fusion data and the obstacle space fusion data obtained by fusion by using the free track planning algorithm. And the vehicle is controlled to run along the parking track by using the high-precision positioning algorithm and the high-precision track tracking algorithm. Precision of parking spacerecognition and automatic parking control is improved so that the method and the system adapt to more parking scenes.

    本发明提供一种全自动泊车方法及系统,包括获取超声波雷达识别到的空间车位数据和障碍物数据,以及鱼眼摄像头识别到的环视车位数据和障碍物数据;基于数据融合算法进行融合,得到车位融合数据和障碍物空间融合数据;根据自由轨迹规划算法,结合车位融合数据和障碍物空间融合数据进行规划,得到泊车轨迹;获取当前车辆的移动位置信息,基于高精度定位算法和高精度轨迹追踪算法,实时控制车辆沿泊车轨迹运行。在本方案中,利用自由轨迹规划算法对融合得到的车位融合数据和障碍物空间融合数据计算,确定泊车轨迹。再利用高精度定位算法和高精度轨迹追踪算法控制车辆沿泊车轨迹运行。使车位识别和自动泊车控制的精度提高,从而适应更多的泊车场景。


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    Titel :

    Full-automatic parking method and system


    Weitere Titelangaben:

    一种全自动泊车方法及系统


    Beteiligte:
    LIU FEIFEI (Autor:in) / ZHAO YANG (Autor:in) / SHI YULING (Autor:in) / ZHOU JIAN (Autor:in) / ZHANG YANLING (Autor:in)

    Erscheinungsdatum :

    2020-10-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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