The invention provides an automatic parking obstacle processing method and device, an automobile and a program, and the method comprises the steps: detecting an obstacle point near the automobile, and judging whether the obstacle point is located in a first outer contour of the automobile or not; if not, whether an obstacle point located in the second outer contour of the vehicle exists or not is judged; when an obstacle point is located in the second outer contour of the vehicle, making a ray by taking the central point of the vehicle as a starting point and the obstacle point as a passing point, and taking a point, which intersects with a third outer contour of the vehicle, on the ray as a new obstacle point; and planning an automatic parking path according to the new obstacle point. The collision detection of the vehicle at the initial position and the obstacle point can be ensured to pass, the obstacle point still has a certain limiting effect on the movement of the vehicle, and the intention of the vehicle approaching the obstacle point is prevented.

    本发明提供一种自动泊车障碍物的处理方法、装置、汽车及程序,包括,检测车辆附近的障碍物点并判断是否存在障碍物点处于车辆的第一外轮廓内;当不存在时,判断是否存在障碍物点处于车辆的第二外轮廓内;当存在障碍物点处于所述车辆的第二外轮廓内时,以车辆中心点为起点并以该障碍物点为途经点作射线,将该射线上与所述车辆的第三外轮廓相交的点作为新的障碍物点;根据所述新的障碍物点规划自动泊车的路径。本发明既可以确保初始位置上的车辆与障碍物点的碰撞检测可以通过,又确保了障碍物点对车辆的移动仍有一定的限制作用,阻止车辆向障碍物点靠近的意图。


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    Title :

    Automatic parking obstacle processing method and device, automobile and program


    Additional title:

    一种自动泊车障碍物的处理方法、装置、汽车及程序


    Contributors:
    CHOU WEN-LI (author)

    Publication date :

    2024-05-14


    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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