The invention provides an automatic parking dynamic obstacle detection method and device. The method comprises the steps that dynamic obstacle information, the driving direction of a current vehicle and the turning radius are obtained; judging a driving state according to the turning radius and the driving direction of the current vehicle; scene classification is performed based on the driving state, and whether the dynamic obstacle has an intrusion risk to the current vehicle is determined according to the scene classification result, the coordinates of the current vehicle and the coordinates of the dynamic obstacle, so that the prediction trajectory of the dynamic obstacle does not need to be predicted by using a complex model algorithm; the reliability of dynamic obstacle recognition is improved, the calculation speed and the response speed are high, a state keeping strategy and a response strategy are designed, the safety of automatic parking is improved, and safety protection is provided for pedestrians and vehicles outside the vehicle.

    本发明提供一种自动泊车动态障碍物检测方法及装置,该方法包括:通过获取动态障碍物信息、当前车辆的行驶方向和转弯半径;根据转弯半径和当前车辆的行驶方向判断行驶状态;基于行驶状态进行场景分类,并根据场景分类结果、当前车辆的坐标、动态障碍物的坐标,确定动态障碍物对当前车辆是否存在侵入风险,无需使用复杂的模型算法预测动态障碍物的预测轨迹,采用划分识别区域的方法,提高了动态障碍物识别的可靠性,计算速度、响应速度快,并设计了状态保持策略和响应策略,提高了自动泊车的安全性,并对车外的行人车辆提供了安全保护。


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    Title :

    Automatic parking dynamic obstacle detection method and device


    Additional title:

    一种自动泊车动态障碍物检测方法及装置


    Contributors:
    LIU YALONG (author) / TIAN XIAOKANG (author) / JIANG BIAO (author) / BI XIANGRU (author)

    Publication date :

    2024-05-03


    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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