The invention discloses an ultrasonic radar-based automatic parking method for a parking space containing a cylinder obstacle, and relates to the technical field of ultrasonic parking. The method comprises the following steps: constructing a kinematic model of a vehicle under a low-speed driving working condition; recording echo point coordinates while the vehicle advances at a certain speed, and determining whether a parking space is available or not according to the echo coordinates; in the reverse parking process, according to the side radar echo point coordinates, an obstacle is fitted, and the position of the obstacle is recorded; and when the vehicle backs, calculating the shortest distance from the obstacle to the edge of the vehicle and the position of the obstacle to update the parking space coordinates. According to the invention, the ultrasonic sensor accurately identifies the parking space containing the cylinder obstacle, obtains the coordinates of the obstacle vehicle and the cylinder obstacle, tracks the position of the obstacle in real time in the process of backing up to enter the garage, fits the obstacle and updates the parking space by using the echo of the ultrasonic sensor, avoids the collision of the vehicle in the process of automatic parking, and improves the parking efficiency. And the automatic parking success rate of the vehicle is improved.
本发明公开了一种基于超声波雷达的含柱体障碍物车位的自动泊车方法,涉及超声波泊车技术领域。本发明包括如下步骤:构造车辆在低速行驶工况下的运动学模型;车辆保持一定速度前行同时记录下回波点坐标,根据回波坐标确定是否存在可泊入车位;在倒车入库过程中,根据侧边雷达回波点坐标,拟合障碍物,并记录障碍物位置;当车辆在倒退时,计算障碍物到车辆边缘的最短距离及障碍物位置更新车位坐标。本发明通过超声波传感器准确识别包含柱体障碍物车位,获得障碍物车辆以及柱体障碍物坐标,并在倒车入库过程中实时跟踪障碍物位置,利用超声波传感器回波拟合障碍物并更新车位,避免车辆在自动入库的过程中发生碰撞,提高车辆自动泊车的成功率。
Automatic parking method for parking space containing cylinder obstacle based on ultrasonic radar
一种基于超声波雷达的含柱体障碍物车位的自动泊车方法
06.05.2022
Patent
Elektronische Ressource
Chinesisch
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