Obstacle avoidance device and method for automatic parking assist system

Abstract

The invention relates to an apparatus and method avoiding collision with obstacles in automatic parking assistance system. According to the invention, a plurality of sensors are arranged in the front part, the rear part, and the side parts of a vehicle, so that the moving detection area of the obstacles is enlarged, an obstacle area in the prior art which detects the obstacles in all of the images and only detects the images having brightness changes is replaced, the movement of the obstacles is detected by means of a main component analyzing method and an obstacle image characteristic valve, and a support vector machine is employed to indicate the decision boundaries by means of some of support vectors. According to the support vector machine, the detection performance is improved because the movement of the obstacles is detected by the main component analyzing method and the obstacle image characteristic value; the obstacle detection and the movement can be automatically detected without the need for drivers' operation, thereby being convenient; and the minimal change of a device in prior art can be realized by adding the functions of obstacle movement detection and collision avoidance.

Description

technical field [0001] The present invention relates to an obstacle avoidance device and method, and in more detail relates to a device and method capable of detecting the movement of an obstacle so as to control a vehicle to avoid collision with the obstacle. Background technique [0002] The existing obstacle detection system has the following problems: the error rate is high when detecting obstacles, the algorithm for detecting obstacles is incorrect, and the movement of obstacles cannot be recognized, and collisions with obstacles cannot be accurately avoided. [0003] That is, the existing obstacle detection system is simply equipped with sensors, so it can only measure the distance, so that it cannot detect obstacles in the blind area, etc. When detecting obstacles, the error rate of recognizing obstacles is high, so the vehicle is parked In a narrow place, the vehicle may be damaged due to collision with walls around the vehicle or other vehicles, and even if there is...

AI Technical Summary

Problems solved by technology

[0002] The existing obstacle detection system has the following problems: the error rate is high when detecting obstacles, the algorithm for detecting obstacles is incorrect, and the movement of obstacles cannot be recognized, and collisions with obstacles cannot be accurately avoided

[0003] That is, the existing obstacle detection system is simply equipped with sensors, so it can only measure the distance, so that it cannot detect obstacles in the blind area, etc. When detecting obstacles, the error rate of recognizing obstacles is high, so the vehicle is parked In a narrow place, the vehicle may be damaged due to collision with walls around the vehicle or other vehicles, and even if there is room in the parking lot, collisions with low objects such as stones may cause the vehicle to be damaged during parking. The problem of the lower part of the vehicle being damaged

[0004] Moreover, the existing obstacle detection system has the problem of being unable to accurately detect obstacles due to incorrect detection algorithms such as the Multi-layer Perceptron (MLP) method.

[0005] For example, the MLP method only minimizes the error based on the provided sample data, and the accuracy of the learning data is high, but the accuracy of the non-learning data is low, so there are the following problems: in the detection of images of obstacles, etc. In an environment where the brightness, position, and shape of light change in various ways, it is difficult to ensure reliability if the number of sample data is extensive

[0006] The existing obstacle detection system senses the distance of an approaching obstacle through the distance sensing sensor installed on the front and rear bumpers of the vehicle and issues a warning to the driver, so there is a problem that the movement of the obstacle cannot be judged

[0007] Moreover, when the existing obstacle detection system controls the parking of the vehicle, if an obstacle suddenly appears, the obstacle in the parking space will be erroneously recognized due to the obstacle position recognition error of the sensor, so that the parking assistance system cannot Guiding the vehicle correctly into the parking space, causing the vehicle to collide with obstacles that appear suddenly or within the parking space

[0008] That is, when parking, the driver needs to detect obstacles and avoid them. If other vehicles are parked complicatedly on the left and right sides of the vehicle or the parking space passing the obstacles is narrow, the driver cannot perceive the movement of the obstacles and cannot communicate with them. Surrounding obstacles are maintained at a certain distance, thereby increasing the risk of collision with obstacles, and the driver only recognizes obstacles through the image of the camera, so there is a recognition rate of obstacles at night or after bad weather such as fog Collision and other problems due to lowering

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