Automatic parking method based on fusion of vision and ultrasonic perception

Abstract

The invention relates to an automatic parking method based on fusion of vision and ultrasonic perception. The method comprises the following steps that visual parking space detection is carried out, ultrasonic radar parking space detection is carried out, two parking space detection results are fused, and parking space tracking and parking space display are carried out; a target parking space is determined, and a parking speed and a parking track are planned in combination with a current scene map; according to the visual detection and the ultrasonic radar detection, obstacles at a driving area around a vehicle and an edge of the driving area are detected, and the obstacles are subjected to motion estimation; the probability of collision of the vehicle itself and the obstacles is calculated, and if the collision probability is greater than a preset threshold value, an obstacle avoidance function is triggered; and parking track tracking is carried out through a low-speed controller, gear control, vehicle speed control, steering wheel steering control and obstacle avoidance control along the parking track are achieved, and automatic parking is completed. According to the method, thedetection effect of the parking space and the obstacles around the vehicle is improved, the robustness is improved, a motion obstacle track estimation module is added, and the obstacle avoidance reliability is improved.

Description

technical field [0001] The invention relates to the technical field of automobile automatic driving, in particular to an automatic parking method based on fusion of vision and ultrasonic perception. Background technique [0002] Intelligence is one of the important trends in the development of the automotive industry today. It is expected that intelligent driving technology and systems will develop rapidly around the world during the period from 2020 to 2030. At present, the research and development of autonomous driving technology and systems are mostly based on two application scenarios: highway and parking. Assisted driving applications based on parking scenarios have been developed in the automotive industry for many years. Functional applications have developed from the initial collision warning to later parking assistance, parking guidance, and automatic parking; the system has developed from the initial parking radar system to Later parking camera systems and more re...

AI Technical Summary

Problems solved by technology

However, the existing fusion methods require the normal operation of both vision and ultrasonic radar systems to detect corresponding parking spaces (such as vision for parking space template detection, ultrasonic radar for obstacle detection in parking space areas), and does not have multi-modality Potential Perceptual Robustness of Perceptual Systems

In addition, the existing system does not predict the trajectory of moving obstacles, so it cannot achieve a good obstacle avoidance effect, which affects the smooth completion of automatic parking

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