The invention discloses an automatic parking space searching method and system based on a 4D millimeter-wave radar, environment perception is performed on an automatic parking scene according to the vehicle-mounted 4D millimeter-wave radar, a main controller receives 4D point cloud data of the millimeter-wave radar, an object in the environment is imaged through the point cloud data, and a parking space searching result is obtained. According to the invention, environment perception in four dimensions is realized by means of a point cloud mode of the 4D millimeter wave radar, and the 4D millimeter wave radar is synchronously associated with the wheel speed pulse data of the vehicle, the steering wheel angle information of the vehicle and the vehicle speed information, that is, the 4D millimeter wave radar is matched with the actual vehicle displacement information; therefore, environment surveying and mapping matched with the vehicle speed are formed, the method is more suitable for the actual parking condition, and the false detection condition caused by the movement of the vehicle is reduced.
本发明公开了一种基于4D毫米波雷达的自动泊车车位搜索方法和系统,根据车载的4D毫米波雷达对自动泊车场景进行环境感知,主控制器通过接收毫米波雷达的4D点云数据,通过点云数据对环境的物体进行成像,本发明不仅借助了4D毫米波雷达的点云模式来实现四个维度的环境感知,还将4D毫米波雷达与车辆自身的轮速脉冲数据、车辆的方向盘转角信息、车速信息进行同步关联,也就是将4D毫米波雷达与实际的车辆位移信息相配合,从而形成与车速相适应的环境测绘,更加适应实际的泊车情况,减少了因车辆自身运动所导致的误检情况。
Automatic parking space searching method and system based on 4D millimeter wave radar
一种基于4D毫米波雷达的自动泊车车位搜索方法和系统
2022-07-05
Patent
Elektronische Ressource
Chinesisch
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / 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 / G06K Erkennen von Daten , RECOGNITION OF DATA / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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