The invention relates to a parking obstacle avoidance method and system for automatic parking. The method comprises the steps that obstacle information and a parking planning track are acquired; on the basis of the parking planning trajectory, the contour coordinates of the vehicle body at each trajectory point are calculated; correcting the contour coordinates of the vehicle body in real time based on the real-time positioning information of the vehicle; collision judgment is conducted according to the corrected contour coordinates of the vehicle body and the obstacle information; aiming at the problem that a sensor has a detection blind area, the invention provides a method for carrying out conflict prediction on an obstacle before approaching the blind area. Aiming at the problem of obstacle sensing precision, the invention provides a method for correcting the predicted position of a vehicle on a track point in real time according to a current control error and judging collision with an obstacle. Aiming at the problem of emergency braking, the invention provides a method for predicting the position of a collision occurrence point in real time, notifying a control module to decelerate and stably parking within a set safe distance.

    本发明涉及一种自动泊车停车避障的方法及系统,该方法包括:获取障碍物信息和泊车规划轨迹;基于泊车规划轨迹,计算每个轨迹点处车身的轮廓坐标;基于车辆的实时定位信息对车身的轮廓坐标进行实时修正;根据修正后的车身的轮廓坐标与障碍物信息进行碰撞判定;针对传感器存在检测盲区的问题,提供一种在接近盲区前对障碍物进行冲突预测的方法;针对障碍物感知精度的问题,提供了一种根据当前控制误差实时补正车辆在轨迹点上的预测位置并与障碍物进行碰撞的判定的方法;针对紧急刹停的问题,提供一种实时预测碰撞发生点的位置,并通知控制模块进行减速并在设定的安全距离平稳停车的方法。


    Access

    Download


    Export, share and cite



    Title :

    Automatic parking obstacle avoidance method and system


    Additional title:

    一种自动泊车停车避障的方法及系统


    Contributors:
    WANG JUNDE (author) / WU DI (author)

    Publication date :

    2023-06-23


    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



    Obstacle collision avoidance method based on automatic parking system

    SUN WENHUA / HE BO / XIONG XING et al. | European Patent Office | 2020

    Free access

    OBSTACLE AVOIDANCE METHOD IN AUTOMATIC PARKING PATH PLANNING AND PARKING PATH PLANNING SYSTEM

    TONG LEBIN / LV BINGBING / CHENG HANGJIAN | European Patent Office | 2021

    Free access

    Obstacle avoidance method for automatic parking path planning and parking path planning system

    TONG LEBIN / LYU BINGBING / CHENG HANGJIAN | European Patent Office | 2020

    Free access

    Automatic parking method, device and system based on intelligent obstacle avoidance

    YE JIANPING / XUAN WENWEI / WANG LIGUO | European Patent Office | 2024

    Free access

    Parking auxiliary system based on obstacle avoidance judgment

    ZHANG YUQING | European Patent Office | 2023

    Free access