The invention relates to the technical field of automatic driving, in particular to an automatic driving method for vehicles at parking lot entrances and exits and cross-layer entrances and exits, which comprises the following steps of: detecting walls on two sides of a vehicle body/downhill, and extracting boundary lines at wall roots; detecting an isolation sign existing in the middle of the vehicle body/downhill; collecting an image space of the vehicle body, and measuring the position and angle of the vehicle body in the image space; the vehicle body position is kept in the middle of two side wall bodies in the image space, and the vehicle body angle is kept in the middle of two side wall root line angles in the image space; according to the current position and angle of the vehicle body, planning the position and angle of the next step of the vehicle body, and re-projecting the position and angle to the image space coordinate system of the vehicle; the next driving action of the vehicle is decided; according to the method, the use value of autonomous parking is improved through effective sensing and safe automatic driving in extreme scenes such as uphill/downhill or cross-layer uphill/downhill of the entrance and exit of the parking lot.
本发明涉及自动驾驶技术领域,具体为用于车辆在停车场出入口及跨层出入口的自动驾驶方法,检测车身上/下坡两侧的墙体,提取墙根处的边界线;检测车身上/下坡中间存在的隔离标志;获取车身的图像空间,并测量出车身在图像空间中的位置和角度;让车身位置保持在图像空间中两侧墙体的中间,以及让车身角度保持在图像空间中两侧墙根线角度的中间;通过车身当前的位置及角度,规划出车身下一步的位置及角度,并重新投影到车辆的图像空间坐标系下;决策出车辆下一步的驾驶动作;控制车辆执行驾驶动作,完成自动驾驶本发明通过针对停车场出入口上/下坡或者跨层上/下坡这种极端场景下的有效感知和安全自动驾驶,提高自主泊车的使用价值。
Automatic driving method for vehicle at entrance and exit of parking lot and cross-layer entrance and exit
用于车辆在停车场出入口及跨层出入口的自动驾驶方法
2021-09-03
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 |
Europäisches Patentamt | 2020
|Freeway entrance and exit controls
Engineering Index Backfile | 1959
|SELF-ADAPTIVE PARKING LOT CHANGEABLE ENTRANCE AND EXIT CONTROL METHOD
Europäisches Patentamt | 2023
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