The invention provides a collision early warning method for automatic parking. The collision early warning method comprises the following steps: calculating a driving area of a vehicle in an automatic parking mode; judging whether each ultrasonic clustering scatter point is valid or not; the relative relation between the vehicle and the target parking space where the vehicle is to be parked is judged; if the vehicle is out of the target parking space range, the collision distance between the vehicle and the obstacle is calculated based on the effective ultrasonic clustering points in the vehicle driving area; if the vehicle is in the target parking space range, the possible collision position of the effective ultrasonic clustering points and the vehicle is judged, the early warning range of each ultrasonic radar in the range is correspondingly improved, and the collision distance is the detection distance of a certain ultrasonic radar in the range-the safe distance of the position where the ultrasonic radar is located; when the collision distance is smaller than a preset brake valve value, collision early warning is carried out, and it is accurately guaranteed that collision does not occur in the vehicle parking process; the invention further provides a collision early warning system for automatic parking and a computer storage medium.

    本发明提供一种自动泊车的碰撞预警方法,包括以下步骤:计算车辆自动泊车模式下的行驶区域;判断每个超声聚类散点是否有效;判断车辆与待泊车的目标车位的相对关系;若车辆在目标车位范围外,基于在车辆行驶区域内的有效的超声聚类点计算车辆与障碍物的碰撞距离;若车辆在目标车位范围内,判断有效的超声聚类点与车辆可能的碰撞位置,并相应提升该范围内每个超声雷达的预警范围,碰撞距离为该范围内某个超声雷达探测距离‑该超声雷达所在位置的安全距离,当该碰撞距离低于预设的制动阀值时进行碰撞预警,精准的保证车辆泊车过程中不发生碰撞;本发明还提供一种自动泊车的碰撞预警系统,以及一种计算机存储介质。


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    Title :

    Collision early warning method and system for automatic parking and storage medium


    Additional title:

    一种自动泊车的碰撞预警方法、系统及存储介质


    Contributors:
    LIU YIN (author) / ZHOU ZENGBI (author) / SHENG JINYUAN (author) / DANG JIANMIN (author) / WAN KAILIN (author)

    Publication date :

    2023-10-31


    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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