The invention provides a grid-based parking space identification method, and the method comprises the steps: 1, building a parking global coordinate system, and obtaining an initial parking space angular point; step 2, establishing a corresponding projection grid according to the initial parking space angular point; 3, determining simulation position points of all radars in the parking system; step 4, acquiring image point coordinates of a passable area corresponding to the initial parking space angular point; step 5, determining the drop point positions of the simulation position point and the image point coordinates in the projection grid, and determining a key basic grid according to the drop points; 6, determining the position of a final parking space angular point according to the key basic grid; and 7, judging whether the vehicle shifts gears or not, if so, returning to the step 1, and otherwise, taking the position of the final parking space angular point as the parking space angular point coordinate of the current path planning. According to the invention, the success rate of parking is improved, the risk of scratching and collision is avoided, and thus the user experience is improved.

    本发明提供基于栅格的车位识别方法,方法包括:步骤1、建立泊车全局坐标系,获取初始泊车空间角点;步骤2、根据所述初始泊车空间角点建立相应的投影栅格;步骤3、确定泊车系统中各雷达的模拟位置点;步骤4、获取所述初始泊车空间角点对应的可通行区域的图像点坐标;步骤5、确定所述模拟位置点及图像点坐标在所述投影栅格的落点位置,并根据所述落点确定关键基础栅格;步骤6、根据所述关键基础栅格确定最终泊车空间角点的位置;步骤7、判断本车是否换挡,是则返回步骤1,否则以所述最终泊车空间角点的位置作为当前路径规划的泊车空间角点坐标。本发明提高了泊车入位的成功率,避免剐蹭碰撞的风险,进而提高了用户体验。


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    Title :

    Grid-based parking space identification method


    Additional title:

    一种基于栅格的车位识别方法


    Contributors:
    TONG LEBIN (author) / HUANG XIAOQING (author)

    Publication date :

    2024-04-05


    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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