The invention provides an automatic parking method and system based on a vehicle-mounted radar and an automobile, and the method comprises the steps: obtaining the point cloud data of the surrounding environment of the automobile through the vehicle-mounted radar, and carrying out the classification to obtain ground point cloud data and point cloud data above the ground; clustering processing is carried out on the point cloud data above the ground, and boundary information of obstacles in a clustering processing result is identified; determining a parking space, and carrying out binary classification on the ground point cloud data in the parking space range to obtain corresponding parking space line information; determining a parking space line space according to the parking space line information, and judging whether the parking space line space meets a preset vehicle parking condition or not; if yes, parking is carried out according to the parking space line space; and if not, parking is carried out according to the parking space. According to the invention, the laser radar parking step structure is optimized, the scene adaptive parking based on the laser radar is realized, the parking space detection efficiency of parking is improved, and the development of driving intelligence is promoted.
本发明提供一种基于车载雷达的自动泊车方法、系统及汽车,包括,通过车载雷达获取本车周围环境的点云数据,并进行分类得到地面点云数据和地面以上点云数据;对地面以上点云数据进行聚类处理,并识别聚类处理结果中障碍物的边界信息;确定可泊车的空间,对可泊车的空间范围内的地面点云数据进行二分类,得到对应的泊车车位线信息;根据所述泊车车位线信息确定泊车车位线空间,并判断所述泊车车位线空间是否满足预设的本车泊车条件;若满足,则根据所述泊车车位线空间进行泊车;若不满足,则根据所述可泊车的空间进行泊车。本发明优化激光雷达泊车步骤结构,实现基于激光雷达的场景自适应泊车,提高泊车的车位检测效率,推动了驾驶智能化的发展。
Automatic parking method and system based on vehicle-mounted radar and automobile
一种基于车载雷达的自动泊车方法、系统及汽车
30.01.2024
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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