A method of automatic parking

Abstract

The invention discloses an automatic parking method. The automatic parking method comprises the following steps: an automatic parking state is started, a trip computer obtains pose information of a vehicle, and then pre-measured parking space information is loaded to judge the relative position relationship between the initial position of the vehicle and a parking space; according to the judging result, a forward command is sent out to enable the vehicle to reach a first pre-aiming point to be parked, then a forward command is sent again to enable the vehicle to reach a second pre-aiming pointto be parked, the trip computer plans a path where reverse stall parking is conducted to a third pre-aiming point, a reversing command is sent, the vehicle is reversed to a certain position in frontof the parking space and parked, whether the vehicle can be reversed into the parking space or not is judged, and if yes, the vehicle is parked when reaching the third pre-aiming point; and if no, thetrip computer sends out a forward command to adjust the pose of the vehicle, and thus the vehicle re-travels to the second pre-aiming point and is parked to re-plan the reversing path to the third pre-aiming point till the vehicle can be reversed into the parking space. Automatic parking in-place can be achieved on the left side and the right side of the vehicle travelling direction, expandability is high, and flexibility is high.

Description

technical field [0001] The invention relates to the field of car parking, in particular to an automatic parking method. Background technique [0002] Most of the existing unmanned automatic parking technologies rely on environmental perception systems (including surround-view cameras, millimeter-wave radars, lidars, and ultrasonic radars, etc.), map navigation systems, real-time positioning systems, central decision-making systems, and communication systems. This type of technology can automatically identify obstacles and parking space information, and at the same time, through the fusion processing of various data, it can realize the automatic parking in or out function in a more complex environment. [0003] The specific process is roughly as follows: [0004] When the communication module receives the parking instruction, it imports the high-precision map of the current location into the map navigation system, and at the same time sends the parking instruction to the cen...

AI Technical Summary

Problems solved by technology

The process is relatively cumbersome and the system structure is relatively complicated. It is difficult to integrate existing automotive products within a limited time to realize the automatic parking function.

At the same time, the fusion processing of a large amount of data requires the vehicle itself to have a powerful processor, and the use of processors and multiple sensors means that the technology requires higher manufacturing costs

Images