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

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...

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

Images