The invention provides an obstacle collision avoidance method based on an automatic parking system. The invention relates to the technical field of automobile auxiliary driving. A target position of an obstacle is collected through a camera and an ultrasonic radar; and then the collision distance is obtained through calculation based on the target position coordinates of the obstacle and the automatic parking path of the automobile, the collision distance is compared with a plurality of preset safety distances of the automatic parking system, and whether the automobile is in a continuous parking state or an end-of-parking state is judged. By integrating the obstacle target coordinates detected by the ultrasonic radar and the camera, the obstacle detection reliability and detection distanceare improved while the position precision of the detected relative obstacle target is improved, and the problem of safe collision easily occurring in the automatic parking process can be avoided. Pedestrians or other obstacles can be recognized and judged in the automatic parking process, and the adaptive scenes can be richer by adjusting parameters.
本发明提供了一种基于自动泊车系统的障碍物碰撞规避方法,涉及汽车辅助驾驶技术领域,通过摄像头与超声波雷达采集障碍物的目标位置,然后基于障碍物的目标位置坐标与汽车自动泊车路径通过计算得到碰撞距离,再将碰撞距离与自动泊车系统预设的多个安全距离作比较,进而判断出汽车是属于处于继续泊车的状态还是泊车结束的状态。本发明通过整合超声波雷达与摄像头所检测到的障碍物目标坐标,提高了探测相对障碍物目标位置精度的同时,还提升了障碍物探测可靠性和探测距离,能够避免自动泊车过程中易发生的安全碰撞问题。实现了自动泊车过程中针对行人或其他障碍物的识别与判定,还可以通过调整参数,使其适应场景更加丰富。
Obstacle collision avoidance method based on automatic parking system
基于自动泊车系统的障碍物碰撞规避方法
2020-10-02
Patent
Electronic Resource
Chinese
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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