The invention relates to the technical field of intelligent driving, in particular to an obstacle recognition method, device and equipment for full-automatic parking and a medium. The method comprises the steps that a bus signal and a driving distance of a vehicle are obtained, when the bus signal and the driving distance meet preset conditions, a torque increasing request containing a preset torque increasing duration is sent to an engine, the real-time torque increasing duration and the real-time torque of the engine and the real-time vehicle speed of the vehicle are obtained, and when the real-time torque increasing duration is larger than the preset torque increasing duration, the torque increasing request is sent to the engine. When the real-time torque is larger than the torque threshold value or the lasting time when the real-time vehicle speed is detected to be zero is larger than the time threshold value in the request torque increasing process, it is detected that the vehicle is still static, it is determined that the obstacle is recognized, and indirect judgment of the obstacle is achieved through the state data of the vehicle and the state data of an engine; therefore, missing recognition of the obstacle due to the limitation of the radar and the camera is avoided, supplementary recognition is provided for obstacle recognition, and the accuracy of obstacle recognition in the full-automatic parking scene is improved.

    本发明涉及智能驾驶技术领域,尤其涉及一种用于全自动泊车的障碍物识别方法、装置、设备及介质。该方法获取车辆的总线信号和行驶距离,在总线信号和行驶距离满足预设条件时,向发动机发送包含预设增扭时长的扭矩增加请求,获取发动机的实时增扭时长、实时扭矩和车辆的实时车速,当实时增扭时长大于预设增扭时长,或者实时扭矩大于扭矩阈值,或者在请求扭矩增加过程检测到实时车速为零的持续时长大于时长阈值时,检测到车辆仍静止,确定识别到障碍物,通过车辆和发动机自身的状态数据,实现障碍物的间接判断,避免受到雷达和摄像头自身限制影响而导致障碍物漏识别,为障碍物识别提供补充识别,从而提高了全自动泊车场景下障碍物识别的准确率。


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    Title :

    Obstacle recognition method, device and equipment for full-automatic parking and medium


    Additional title:

    用于全自动泊车的障碍物识别方法、装置、设备及介质


    Contributors:
    LONG MIN (author)

    Publication date :

    2023-03-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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