The invention relates to the technical field of automatic parking obstacle avoidance, and discloses a parking real-time obstacle avoidance method and device. The method comprises the following steps: determining an obstacle avoidance grid map based on radar data information and an initial grid map; the radar data information is determined based on an ultrasonic input component of the vehicle; the initial grid map is determined based on a visual input component of the vehicle; a preview algorithm is adopted to obtain a future movement track of the vehicle in the obstacle avoidance grid map; and judging whether an obstacle exists at a coordinate point on a future movement track in the obstacle avoidance grid map or not and whether the obstacle has a collision risk with the vehicle or not, and determining an obstacle avoidance strategy of the vehicle according to a judgment result. According to the invention, the preview algorithm with low calculation cost is adopted to predict the future motion trail of the vehicle in real time, and quick response can be realized, so that the real-time performance of parking and obstacle avoidance is improved.

    本发明涉及自动泊车避障技术领域,公开了一种泊车实时避障方法和装置。本发明公开基于雷达数据信息与初始栅格地图,确定避障栅格地图;所述雷达数据信息基于车辆的超声波输入组件确定;所述初始栅格地图基于车辆的视觉输入组件确定;采用预瞄算法,获取在避障栅格地图中车辆的未来运动轨迹;判断避障栅格地图中未来运动轨迹上的坐标点是否存在障碍物,以及障碍物是否与车辆存在碰撞风险,根据判断结果,确定车辆的避障策略。本发明采用计算开销较低的预瞄算法实时预测车辆未来运动轨迹,能够实现快速响应,从而提高泊车避障的实时性。


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    Title :

    Parking real-time obstacle avoidance method and device


    Additional title:

    泊车实时避障方法和装置


    Contributors:

    Publication date :

    2024-10-08


    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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