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Automatic parking obstacle detection method, parking method, parking system and vehicle

An obstacle detection and automatic parking technology, applied in the field of vehicle and storage medium, automatic parking obstacle detection, can solve the problem that the automatic parking unit cannot detect the obstacle boundary, cannot be completely trusted by the user, and cause collision risk, etc. question

Active Publication Date: 2021-07-06
CHONGQING CHANGAN AUTOMOBILE CO LTD
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Based on the rapid development of intelligent technology in the current automotive industry, more and more OEMs have begun to develop autonomous driving products, and the automatic parking unit is also an integral part of autonomous driving. Product experience, found that most of the products can only be used for parking in the most conventional parking spaces. When parking in a target parking space similar to the roadside consisting of a large truck tail box, the most edge of the tail of the cargo box is suspended in terms of structure. Therefore, the ultrasonic sensor and surround-view camera scheme based on the conventional automatic parking unit cannot detect the actual boundary of the obstacle, and can only use the wheel fender at the bottom of the cargo box as the obstacle boundary, then this situation will directly lead to automatic parking The unit cannot detect the real obstacle boundary, resulting in a collision risk, which is a limited scenario that cannot be solved by conventional automatic parking units. Limited scenarios cannot be fully trusted by users

Method used

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  • Automatic parking obstacle detection method, parking method, parking system and vehicle
  • Automatic parking obstacle detection method, parking method, parking system and vehicle
  • Automatic parking obstacle detection method, parking method, parking system and vehicle

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with accompanying drawing.

[0026] In this embodiment, an automatic parking obstacle detection method includes the following steps:

[0027] 1) When the vehicle 5 enters the target parking space, the surround view camera 1 and the ultrasonic sensor 3 continuously output obstacle distance information;

[0028] 2) During the slow backward movement of the vehicle 5, the streaming media camera 2 is used to identify the suspended protruding obstacles within the field of view, and when the target obstacle is captured, the streaming media controller 7 identifies the current object type and the target obstacle The shortest distance with the vehicle, and send the target type and distance value to the automatic parking controller 6 through the CAN network;

[0029] 3) The automatic parking controller 6 compares the distance information sensed by the ultrasonic sensor 3, the distance information sensed by the s...

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Abstract

The invention discloses an automatic parking obstacle detection method, a parking method, a parking system and a vehicle. The automatic parking obstacle detection method comprises the steps that all-round cameras and ultrasonic sensors continuously output obstacle distance information; the method comprises the steps that a streaming media camera is used for recognizing suspended protruding obstacles in the view range, and after a target obstacle is grabbed, a streaming media controller recognizes the current object type and the shortest distance between the target obstacle and a vehicle and sends the target type and the distance value to an automatic parking controller; the automatic parking controller compares the distance information sensed by the ultrasonic sensor, the distance information sensed by the all-round camera and the distance information, sensed by the streaming media camera, of the suspended protruding obstacle, selects the nearest distance value, and subtracts the safety distance value between the vehicle and the obstacle, and the obtained distance value is the target distance of the back-off. According to the invention, suspended protruding obstacles can be checked, so that the situation of scratching caused by incapability of detection by a sensor below is avoided.

Description

technical field [0001] The invention belongs to the technical field of automatic parking, and in particular relates to an automatic parking obstacle detection method, system, vehicle and storage medium. Background technique [0002] Based on the rapid development of intelligent technology in the current automotive industry, more and more OEMs have begun to develop autonomous driving products, and the automatic parking unit is also an integral part of autonomous driving. Product experience, found that most of the products can only be used for parking in the most conventional parking spaces. When parking in a target parking space similar to the roadside consisting of a large truck tail box, the most edge of the tail of the cargo box is suspended in terms of structure. Therefore, the ultrasonic sensor and surround-view camera scheme based on the conventional automatic parking unit cannot detect the actual boundary of the obstacle, and can only use the wheel fender at the bottom...

Claims

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Application Information

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IPC IPC(8): B60W30/06B60W30/09B60W40/02
CPCB60W30/06B60W30/09B60W40/02
Inventor 周扬黎平梁锋华
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD
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