Autonomous parking navigation method based on parking lot map data guidance

Abstract

The invention provides an autonomous parking navigation method based on parking lot map data guidance, and belongs to the field of autonomous parking, and the autonomous parking navigation method comprises the steps: building a parking lot high-precision map containing parking lot environment information, obtaining the position of a vehicle through the comparison and matching of the obtained vehicle surrounding perception information and the parking lot environment information, selecting a preset parking space from the parking lot high-precision map, so that the system plans the shortest driving path between the vehicle and the selected parking space according to the position of the selected parking space and the position of the vehicle, and the vehicle is enabled to rapidly drive to the selected parking space; meanwhile, in the manual driving state, the vehicle surrounding information is extracted and compared with the parking lot environment information, when a unique matching result does not exist, the vehicle surrounding information is collected, map information is generated and fused with a parking lot high-precision map to generate a new parking lot high-precision map, and therefore secondary parking navigation of the vehicle and parking navigation of other vehicles are facilitated.

Description

technical field [0001] The invention belongs to the technical field of autonomous parking, in particular to an autonomous parking navigation method guided by parking lot map data. Background technique [0002] The autonomous parking system is a problem used to solve the problem of automatic driving of the vehicle from the entrance of the parking lot to the parking space. The traditional autonomous parking system establishes a high-precision map of the parking lot, and uses the on-board computing unit and on-board sensors to realize environment perception, path obstacle avoidance, and parking space search, thereby realizing automatic cruise parking. The real-time positioning system in autonomous parking generally uses on-board sensors, such as surround-view cameras, forward-looking cameras, and millimeter-wave radars. The information extracted by the sensors is compared with the high-precision map to realize the positioning of the vehicle in the high-precision map. In this p...

AI Technical Summary

Problems solved by technology

[0003] However, the millimeter wave positioning method is prone to produce unperceivable blind spots around the vehicle body, visual semantic target detection is difficult to work normally when the target is very close to the vehicle, and even in many scenes, there may not be a clear identification target, so these methods have certain advantages. limitations and cannot be applied to more complex scenarios

[0004] In addition, the traditional parking system does not subdivide the types of parking spaces in detail, and it is easy to ignore the specific information of the parking spaces during driving, resulting in vehicles being parked in the wrong storage spaces, such as non-charging vehicles / full-charged vehicles parked for charging Parking space, or the vehicle that needs to be charged misses the rechargeable parking space, parks in the disabled space by mistake, etc., which affects the user experience and is extremely inconvenient to use

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