Method and device for automatic parking control based on data fusion

Abstract

The invention provides a method and device for automatic parking control based on data fusion. The method comprises the steps that (S1) a parking request is received, a current car speed is obtained, and whether the current car speed is lower than a preset car speed thread is judged, wherein a parking control system will be started if the current car speed is lower than the threshold; (S2) the angle of a parking camera is adjusted to a first preset angle, and a parking radar is started; (S3) a parking space is detected through methods based on image identification method and obstacle detection respectively; (S4) when the parking space is found first by the method based on the image identification, the next step will be executed, and otherwise the step S7 will be executed; (S5) a position LR of a right edge of a marking line of the parking space relative to the parking radar is computed; (S6) whether LR is bigger than 0 is judged, wherein the next step will be executed if LR is bigger than 0, and otherwise the step will be executed cyclically; (S7) the system is switched to a parking space type identification mode based on the obstacle detection; and (S8) a parking route is planned according to the method based on the obstacle detection. In this way, the automatic parking system based on radar detection can carry out parking according to information of the camera.

Description

technical field [0001] The invention relates to the technical field of automatic parking, in particular to an automatic parking control method and device based on data fusion. Background technique [0002] The current automatic parking systems are independent systems based on radar detection or camera detection. The radar-based automatic parking system requires the first obstacle. The disadvantage of this solution is that for many obvious parking spaces, if there is no first obstacle The system cannot recognize objects; the automatic parking system based on the camera detection needs to rely on the detection of parking space marking lines on the ground. When there are no parking space marking lines on the ground, it is also difficult to detect parking spaces. Accuracy is difficult to guarantee. [0003] Therefore, the prior art needs to be further improved. Contents of the invention [0004] The present invention provides an automatic parking control method and device ba...

AI Technical Summary

Problems solved by technology

[0002] The current automatic parking systems are independent systems based on radar detection or camera detection. The radar-based automatic parking system requires the first obstacle. The disadvantage of this solution is that for many obvious parking spaces, if there is no first obstacle The system cannot recognize objects; the automatic parking system based on the camera detection needs to rely on the detection of parking space marking lines on the ground. When there are no parking space marking lines on the ground, it is also difficult to detect parking spaces. Accuracy is difficult to guarantee

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