The invention provides an automatic parking method based on fusion information. The automatic parking method comprises the steps that an automobile obtains surrounding environment information through fisheye cameras and ultrasonic radars around the automobile; the type of the parking space is identified by combining fisheye camera information, ultrasonic radar information and wheel speed sensor information; according to the type of the parking space, fisheye camera information, ultrasonic radar information and wheel speed sensor information, an initial parking track from the current automobile position to the parking space is generated through a rapid exploration random tree, and the parking track is corrected through a path smoothing technology; and controlling the automobile to park according to the parking track generated in the T3, implementing path tracking by utilizing the MPC during the parking period, and finely adjusting the parking track according to the real-time feedback of the sensor until the parking is finished. The method has the beneficial effect that the accuracy and efficiency of automatic parking are greatly improved.
本发明提供了基于融合信息的自动泊车方法,包括汽车利用车辆四周的鱼眼摄像头和超声波雷达获取周围的环境信息;结合鱼眼摄像头信息、超声波雷达信息、车轮速传感器信息识别出停车位类型;根据停车位类型和鱼眼摄像头信息、超声波雷达信息、车轮速传感器信息,利用快速探索随机树生成当前汽车位置到停车位的初始泊车轨迹,并通过路径平滑技术修正泊车轨迹;按照T3中生成的泊车轨迹控制汽车泊车,泊车期间利用MPC实施路径跟踪,并根据传感器的实时反馈微调泊车轨迹直到泊车完成。本发明有益效果:大幅提高了自动泊车的准确性和效率。
Automatic parking method based on fusion information
基于融合信息的自动泊车方法
2024-07-09
Patent
Electronic Resource
Chinese
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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