The invention relates to the technical field of automatic parking systems, in particular to a parking space angle recognition method and an automatic parking method, and the method comprises the following steps: scanning an obstacle, close to one side area of a vehicle, of a parking space entrance in real time in a reverse parking process, and obtaining the coordinate value of the obstacle; obtaining a discrete point set of a plurality of coordinate values; fitting the discrete point set into a straight line through a least square method; and calculating the slope of the obstacle according tothe straight line formed by fitting, wherein the slope is the parking space angle. The invention aims to provide the parking space angle identification method and the automatic parking method. By adopting the method provided by the invention, the technical problem that a current automatic parking system cannot accurately identify a parking space is solved.
本发明涉及自动泊车系统技术领域,尤其涉及一种车位角度识别方法以及自动泊车方法,包括以下步骤:在倒车入库过程中,实时扫描车位库口靠近车辆一侧区域的障碍物,并获取障碍物的坐标值;获取若干个坐标值的离散的点集;通过最小二乘法将离散的点集拟合成直线;根据拟合形成的直线推算出障碍物的斜率,所述斜率即为车位角度。本发明的发明目的在于提供一种车位角度识别方法以及自动泊车方法,采用本发明提供的技术方案解决了目前自动泊车系统无法精确识别车位的技术问题。
Parking space angle identification method and automatic parking method
一种车位角度识别方法以及自动泊车方法
2021-03-19
Patent
Elektronische Ressource
Chinesisch
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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