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

Abstract

The invention discloses an automatic parking obstacle detection method, parking method, system and vehicle, which include: a surround-view camera and an ultrasonic sensor to continuously output obstacle distance information; and a streaming media camera to detect suspended protruding obstacles within the field of view. Recognition, after grabbing the target obstacle, the streaming media controller identifies the current object type and the shortest distance between the target obstacle and the vehicle, and sends the target type and distance value to the automatic parking controller; automatic parking control The device compares the distance information sensed by the ultrasonic sensor, the distance information sensed by the surround-view camera, and the distance information sensed by the streaming camera of the suspended protruding obstacle, selects the closest distance value, and then subtracts the safety distance between the vehicle and the obstacle. Distance value, the obtained distance value is the target distance of this retreat. The invention can inspect suspended protruding obstacles to avoid friction caused by the inability of the sensors below to detect them.

Description

Technical field [0001] The invention belongs to the technical field of automatic parking, and specifically 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, among which automatic parking units are also an integral part of autonomous driving. By analyzing existing OEMs After product experience, we found that most products can only be adapted to parking in the most conventional parking spaces. When parking in a target parking space composed of a large truck trunk on the roadside, the rear end of the cargo box is in a suspended state from a structural point of view. Therefore, the ultrasonic sensor and surround-view camera solutions based on conventional automatic parking units cannot detect the actual boundary of the obstacle. They can only us...

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

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