An automatic parking method based on the fusion of vision and ultrasonic perception

Abstract

The invention relates to an automatic parking method based on the fusion of vision and ultrasonic perception, comprising the following steps: visual parking space detection, ultrasonic radar parking space detection, fusion of two kinds of parking space detection results, parking space tracking, and parking space display; determining a target parking space, combining the current Scene map, planning parking speed and parking trajectory; based on visual detection and ultrasonic radar detection, detect the drivable area around the vehicle and the obstacles on the edge of the drivable area, and perform motion estimation on obstacles; calculate the occurrence of own vehicles and obstacles The possibility of collision, if the possibility of collision is greater than the preset threshold, the obstacle avoidance function will be triggered; the low-speed controller is used to track the parking trajectory to realize gear control, vehicle speed control, steering wheel steering control and obstacle avoidance control along the parking trajectory , complete automatic parking. The invention improves the detection effect of parking spaces and obstacles around the vehicle, improves the robustness, increases the trajectory estimation module of moving obstacles, and improves the reliability of obstacle avoidance.

Description

technical field [0001] The invention relates to the technical field of automatic driving of automobiles, in particular to an automatic parking method based on the 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 technologies and systems will develop rapidly around the world from 2020 to 2030. At present, most of the research and development of autonomous driving technology and systems are based on two application scenarios of highway and parking. The assisted driving application based on the parking scene has been developed in the automotive industry for many years, and the functional application has developed from the initial collision warning to the later parking assistance, parking guidance and automatic parking; the system form has developed from the initial parking radar system to Later parking camera systems ...

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

Images