CN111731272A - Obstacle collision avoidance method based on automatic parking system - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000012790 confirmation Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000009545 invasion Effects 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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Abstract
The invention provides an obstacle collision avoidance method based on an automatic parking system, which relates to the technical field of automobile auxiliary driving. According to the invention, the coordinates of the obstacle target detected by the ultrasonic radar and the camera are integrated, so that the position accuracy of the detected relative obstacle target is improved, the obstacle detection reliability and detection distance are improved, and the problem of safety collision easily caused in the automatic parking process can be avoided. The identification and judgment of pedestrians or other obstacles in the automatic parking process are realized, and the adaptive scenes of the automatic parking system are richer by adjusting parameters.
Description
Technical Field
The invention relates to the technical field of automobile auxiliary driving, in particular to a pedestrian collision avoidance method based on automatic parking.
Background
The automatic parking system is widely applied in the field of automobiles, and mass production of full-automatic parking technology is realized by many manufacturers at home and abroad. The full-automatic parking system can realize the automatic parking and warehousing and ex-warehouse functions of the vehicle by controlling the steering, braking, gear shifting and other actuating mechanisms, liberates both hands and feet of a driver in the whole process, greatly reduces the pressure of a user in the using process, and improves the user experience. The pedestrian collision safety is the problem to be solved in the automatic parking system, and whether safety measures effectively and directly influence the safety, experience and satisfaction of users of the automatic parking system.
The collision safety measures of the automatic parking system in the market at present mainly adopt the following two judgment strategies: the first strategy is to directly judge the distance of an obstacle around the vehicle through an ultrasonic radar, but cannot judge the type of the obstacle; the second strategy is to identify and locate obstacles by an ultrasonic radar and a camera respectively. The first strategy is to detect the information of obstacles around the vehicle in real time only by relying on the ultrasonic radar, and in the actual use process, the blind area of the ultrasonic radar is large, the types of the obstacles cannot be distinguished, and the adaptability is poor. And the second strategy is to respectively identify and position the obstacles through the ultrasonic radar and the camera, but the camera has low positioning precision, a large blind area and low fusion degree of the two, and the like, so that the adaptability is poor. The two strategies can not give way to the pedestrian, and the safety of the pedestrian in the automatic parking environment is guaranteed.
Therefore, it is necessary to develop an obstacle collision avoidance method based on an automatic parking system.
Disclosure of Invention
In view of the above, the present invention provides an obstacle collision avoidance method based on an automatic parking system, which improves the accuracy of detecting the position of a relative obstacle target, improves the reliability and detection distance of obstacle detection, and can avoid the problem of safety collision easily occurring in the automatic parking process by integrating the coordinates of the obstacle target detected by an ultrasonic radar and a camera.
In a first aspect, the present invention provides an obstacle collision avoidance method based on an automatic parking system, including the steps of:
step 1, detecting target positions of obstacles around an automobile through a camera and an ultrasonic radar respectively to obtain a first coordinate (x1, y1) and a second coordinate (x2, y 2);
step 2, calculating the target position coordinate of the obstacle based on the second coordinate (x2, y2) if the coordinate values of the first coordinate and the second coordinate satisfy | x1-x2| ≦ Ex and | y1-y2| ≦ Ey, wherein the range of Ex and Ey is any value between 0.15m and 0.25 m;
and 4, if the collision distance d is greater than or equal to the preset emergency braking distance d2 and the automatic parking system controls the automobile to continue driving until the collision distance d is equal to the parking waiting distance d3, the automatic parking system enters a delay confirmation strategy, otherwise, the automatic parking system returns to the step 3 and recalculates the collision distance d.
Further, in the process that the automatic parking system enters a real-time delay confirmation strategy, whether a moving barrier invades around the automobile or not is detected in real time, if the invasion of the moving barrier is not detected and the delay detection time reaches the preset detection time, parking is finished, and if not, parking is continued.
Further, if the ultrasonic radar in the step 1 does not detect the target position of the obstacle around the automobile or the calculation result in the step 2 does not satisfy | x1-x2| ≦ Ex and | y1-y2| ≦ Ey, the target position coordinates of the obstacle are calculated by the automatic parking system based on the first coordinates (x1, y1) to obtain the collision distance d 'between the target position coordinates (x1, y1) of the obstacle and the automatic parking path of the automobile, and the collision distance d' is entered into the steps 3 and 4 to judge the parking state.
Further, the preset safety override distance d1 in step 4 is any value between 0.9m and 1.1m, the preset emergency braking distance d2 is any value between 0.2m and 0.4m, and the parking waiting distance d3 is any value between 0.6m and 0.8 m.
In a second aspect, the present invention also provides a computer-readable storage medium storing a program which, when executed by a processor, implements the steps of the automatic parking system-based obstacle collision avoiding method.
The invention brings the following beneficial effects:
according to the obstacle collision avoidance method based on the automatic parking system, the identification and judgment of pedestrians or other obstacles in the automatic parking process are realized by fusing the ultrasonic radar and the camera and applying the ultrasonic radar and the camera to the automatic parking system, and the adaptive scenes of the method are richer by adjusting parameters. The invention is integrated on the automatic parking system, and the cost is not required to be increased.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic block diagram of an automatic parking system according to the present invention;
FIG. 2 is a schematic view of a work flow of an automatic parking system according to the present invention;
FIG. 3 is a detailed operation diagram of an automatic parking system according to the present invention;
fig. 4 is a schematic workflow diagram of an obstacle collision avoidance method based on an automatic parking system according to the present invention.
In the figure: the method comprises the steps of 1-remote control parking system, 2-remote control parking system controller, 3-ultrasonic radar, 4-high-definition camera, 5-remote control parking system switch, 6-gateway, 7-intelligent key, 8-intelligent vehicle body controller, 9-instrument, 10-vehicle-mounted display, 11-electric power steering system, 12-electronic gear shifting system, 13-engine management system, 14-vehicle body stabilizing system, 15-transmission system and 16-corner sensor.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, hardware related to control of the automatic parking system includes a Remote parking system 1, a Remote parking system Switch (SW)5, a Gateway (GW)6, a smart Key (Remote Key)7, a smart body controller (iBCM)8, a meter (IP + Speaker)9, a vehicle mounted display (THU)10, an electric power steering system (EPS)11, an electronic shift system (ESL)12, an Engine Management System (EMS)13, a body stabilization system (EPBi)14, a transmission system (TCU)15, and a Steering Angle Sensor (SAS) 16. The remote control parking system 1 includes a remote control parking system controller (ECU)2, an Ultrasonic radar (Ultrasonic Sensor)3 and a Camera (HD Camera)4, which are respectively connected to the remote control parking system controller 2. The remote parking system switch 5 is connected to the remote parking system controller 2. The remote control parking system controller 2 is connected with the gateway 6 through a Safe CAN bus. The electric Power steering system 11, the electronic gear shifting system 12, the engine management system 13, the vehicle body stabilizing system 14, the transmission system 15 and the rotation angle sensor 16 are respectively connected with the gateway 6 through Power CAN buses. The intelligent vehicle Body controller 8, the instrument 9 and the vehicle-mounted display 10 are respectively connected with the gateway 6 through a Body CAN bus. Through the hardware device, the automatic parking system can control the camera and the ultrasonic radar to detect the target positions of the obstacles around the automobile, integrate the target coordinates of the obstacles detected by the ultrasonic radar and the camera, improve the precision of detecting the target positions of the relative obstacles, improve the reliability and the detection distance of the obstacles, and further avoid the problem of safety collision easily caused in the automatic parking process.
In order to achieve the purpose, as shown in fig. 2, after a vehicle is started, the vehicle is firstly powered on to self-check whether other faults exist in the vehicle, if the faults are detected, a fault lamp gives an alarm, the vehicle is parked to detect the faults of the vehicle, if the faults are not detected, an automatic parking switch is pressed, whether a gear is located in a D/R gear is further judged, if the gear is located in the D/R gear, a driver drives the vehicle to search for a parking space, if the gear is not located in the D/R gear, the driver puts the gear into the D/R gear, and drives the vehicle to continuously search for the parking space. In the process of finding the automobile parking space, when the automobile finds one parking space, the driver is prompted to park, and the control key is activated through remote operation to enter the automatic parking process. Similarly, when the automobile finds two parking spaces, three parking spaces or a plurality of parking spaces, the automobile can also prompt the driver to lift the automobile, and the automobile enters the automatic parking process through remote activation of the remote control key.
In this embodiment, as shown in fig. 3, when the automatic parking system of the automobile starts to search for an empty parking space, a parking path is planned after the empty parking space is searched, and meanwhile, the automatic parking system detects the surrounding environment in real time through an ultrasonic radar and a high-definition camera, calculates the distance from an obstacle to the automobile, realizes the detection of the obstacle and the pre-judgment of braking, and ensures the safety of the system. In the parking process, when the camera identifies that the type of the obstacle is a pedestrian, the automatic parking system judges that the obstacle is in an error range of the positioning position of the camera and has reflection point information positioned by the ultrasonic radar, and the automatic parking system judges that the current position is the position of the pedestrian relative to the vehicle body. After the pedestrian position is determined, the automatic parking system judges and tracks the pedestrian position, braking waiting is carried out according to a set distance, at the moment, the blind area of a camera is large, and the early braking waiting in a region with high reliability in a visual range is usually needed. When the camera can get the pedestrian and the ultrasonic wave latin can not locate the reflection point information, the position of the pedestrian needs to be determined by time delay confirmation, and the pedestrian can be known to enter the ultrasonic radar locating range. And when the camera cannot recognize the obstacle information but the ultrasonic radar can locate the reflection point information of the obstacle, judging that the current reflection point is a common obstacle, and continuing parking according to the set safety distance.
Specifically, an obstacle collision avoidance method based on an automatic parking system, as shown in fig. 4, includes the following steps:
step 1, detecting target positions of obstacles around an automobile through a camera and an ultrasonic radar respectively to obtain a first coordinate (x1, y1) and a second coordinate (x2, y 2).
And 2, calculating the target position coordinate of the obstacle based on the second coordinate (x2, y2) if the coordinate values of the first coordinate and the second coordinate satisfy | x1-x2| ≦ Ex and | y1-y2| ≦ Ey, wherein the range of Ex and Ey is any value between 0.15m and 0.25 m.
And 3, calculating a target position coordinate (x2, y2) of the obstacle and an automatic parking path of the automobile through the automatic parking system to obtain a collision distance d, comparing the collision distance d with a preset safe neglect distance d1, if the collision distance d is greater than the preset safe neglect distance d1, continuing automatic parking of the automobile, otherwise, comparing the collision distance d with a preset emergency braking distance d2, if the collision distance d is less than the preset emergency braking distance d2, actively braking the automobile, shifting the gear, replanning the path, and continuing parking, otherwise, entering the step 4.
And 4, if the collision distance d is greater than or equal to the preset emergency braking distance d2 and the automatic parking system controls the automobile to continue driving until the collision distance d is equal to the parking waiting distance d3, the automatic parking system enters a delay confirmation strategy, otherwise, the automatic parking system returns to the step 3 and recalculates the collision distance d.
Specifically, when the automatic parking system enters a real-time delay confirmation strategy process, whether a moving barrier invades around the automobile or not is detected in real time, if the invasion of the moving barrier is not detected and the delay detection time reaches the preset detection time, parking is finished, otherwise, parking is continued.
It should be noted that, if the ultrasonic radar in step 1 does not detect the target position of the obstacle around the automobile or the calculation result in step 2 does not satisfy | x1-x2| ≦ Ex and | y1-y2| ≦ Ey, the target position of the obstacle is calculated by the automatic parking system based on the first coordinate (x1, y1) to obtain the collision distance d' between the target position coordinate (x1, y1) of the obstacle and the automatic parking path of the automobile, and the steps 3 and 4 are performed to determine the parking state. Wherein, the preset safe neglect distance d1 mentioned in the above steps is an arbitrary value between 0.9m-1.1m, the preset emergency braking distance d2 is an arbitrary value between 0.2m-0.4m, and the parking waiting distance d3 is an arbitrary value between 0.6m-0.8 m. By combining various reference factors such as vehicle models and Chinese driver driving habits, engineers set the preset safe neglecting distance d1 to 1m, set the preset emergency braking distance d2 to 0.3m and set the parking waiting distance d3 to 0.8m after a plurality of experimental operations, which are ideal parameter values in the obstacle collision avoidance method of the camera and the ultrasonic radar based on the automatic parking system.
A computer-readable storage medium of the present invention stores one or more programs, which are executable by one or more processors, to implement the steps of an automatic parking system-based obstacle collision avoiding method according to the present invention.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Claims (5)
1. An obstacle collision avoidance method based on an automatic parking system is characterized by comprising the following steps:
step 1, detecting target positions of obstacles around an automobile through a camera and an ultrasonic radar respectively to obtain a first coordinate (x1, y1) and a second coordinate (x2, y 2);
step 2, calculating the target position coordinate of the obstacle based on the second coordinate (x2, y2) if the coordinate values of the first coordinate and the second coordinate satisfy | x1-x2| ≦ Ex and | y1-y2| ≦ Ey, wherein the range of Ex and Ey is any value between 0.15m and 0.25 m;
step 3, calculating a target position coordinate (x2, y2) of an obstacle and an automatic parking path of the automobile through the automatic parking system to obtain a collision distance d, comparing the collision distance d with a preset safe neglect distance d1, if the collision distance d is greater than the preset safe neglect distance d1, continuing automatic parking of the automobile, otherwise, comparing the collision distance d with a preset emergency braking distance d2, if the collision distance d is less than the preset emergency braking distance d2, actively braking the automobile, gear-shifting to re-plan the path to continue parking, and otherwise, entering the step 4;
and 4, if the collision distance d is greater than or equal to the preset emergency braking distance d2 and the automatic parking system controls the automobile to continue driving until the collision distance d is equal to the parking waiting distance d3, the automatic parking system enters a delay confirmation strategy, otherwise, the automatic parking system returns to the step 3 and recalculates the collision distance d.
2. The method for avoiding the collision of the obstacles based on the automatic parking system as claimed in claim 1, wherein in the process that the automatic parking system enters the real-time delay confirmation strategy, whether the moving obstacles around the automobile invade or not is detected in real time, if the invasion of the moving obstacles is not detected and the delay detection time reaches the preset detection time, the parking is finished, otherwise, the parking is continued.
3. The obstacle collision avoiding method based on the automatic parking system according to claim 1, wherein if the ultrasonic radar in step 1 does not detect the target position of the obstacle around the vehicle or the calculation result in step 2 does not satisfy | x1-x2| ≦ Ex and | y1-y2| ≦ Ey, the target position coordinate of the obstacle is based on the first coordinate (x1, y1), the target position coordinate (x1, y1) of the obstacle and the automatic parking path of the vehicle are calculated by the automatic parking system to obtain the collision distance d', and the steps 3 and 4 are performed to determine the parking state.
4. The obstacle collision avoiding method according to claim 1, wherein the preset safe override distance d1 in step 4 is an arbitrary value between 0.9m and 1.1m, the preset emergency braking distance d2 is an arbitrary value between 0.2m and 0.4m, and the parking waiting distance d3 is an arbitrary value between 0.6m and 0.8 m.
5. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a program which, when executed by a processor, is capable of implementing the steps of the automatic parking system-based obstacle collision avoiding method according to any one of claims 1 to 4.
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Cited By (8)
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| CN112677939A (en) * | 2021-01-07 | 2021-04-20 | 广西汽车集团有限公司 | Emergency braking device and method of intelligent driving vehicle based on edge-touching switch |
| CN112776797A (en) * | 2021-02-27 | 2021-05-11 | 重庆长安汽车股份有限公司 | Original parking space parking establishment method and system, vehicle and storage medium |
| CN113071480A (en) * | 2021-04-30 | 2021-07-06 | 重庆长安汽车股份有限公司 | Automatic parking obstacle detection method, parking method and system and vehicle |
| CN113232650A (en) * | 2021-05-31 | 2021-08-10 | 吉林大学 | Vehicle collision avoidance control system and method for converging vehicles with front sides |
| CN113954822A (en) * | 2021-10-19 | 2022-01-21 | 的卢技术有限公司 | Method for automatically parking vehicle in side direction |
| CN114379545A (en) * | 2020-10-16 | 2022-04-22 | 上海汽车集团股份有限公司 | Vehicle anti-collision method and device |
| CN114454874A (en) * | 2022-02-21 | 2022-05-10 | 岚图汽车科技有限公司 | Method and system for preventing emergency braking during automatic parking |
| CN115223133A (en) * | 2022-02-14 | 2022-10-21 | 广州汽车集团股份有限公司 | Parking obstacle detection method, parking obstacle detection device, vehicle, and storage medium |
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| CN114379545A (en) * | 2020-10-16 | 2022-04-22 | 上海汽车集团股份有限公司 | Vehicle anti-collision method and device |
| CN114379545B (en) * | 2020-10-16 | 2024-02-02 | 上海汽车集团股份有限公司 | Anti-collision method and device for vehicle |
| CN112677939A (en) * | 2021-01-07 | 2021-04-20 | 广西汽车集团有限公司 | Emergency braking device and method of intelligent driving vehicle based on edge-touching switch |
| CN112776797A (en) * | 2021-02-27 | 2021-05-11 | 重庆长安汽车股份有限公司 | Original parking space parking establishment method and system, vehicle and storage medium |
| CN113071480A (en) * | 2021-04-30 | 2021-07-06 | 重庆长安汽车股份有限公司 | Automatic parking obstacle detection method, parking method and system and vehicle |
| CN113232650A (en) * | 2021-05-31 | 2021-08-10 | 吉林大学 | Vehicle collision avoidance control system and method for converging vehicles with front sides |
| CN113954822A (en) * | 2021-10-19 | 2022-01-21 | 的卢技术有限公司 | Method for automatically parking vehicle in side direction |
| CN115223133A (en) * | 2022-02-14 | 2022-10-21 | 广州汽车集团股份有限公司 | Parking obstacle detection method, parking obstacle detection device, vehicle, and storage medium |
| CN114454874A (en) * | 2022-02-21 | 2022-05-10 | 岚图汽车科技有限公司 | Method and system for preventing emergency braking during automatic parking |
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