CN102879773B - Lateral distance detecting method and device for auxiliary parking - Google Patents
Lateral distance detecting method and device for auxiliary parking Download PDFInfo
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- CN102879773B CN102879773B CN201210384242.6A CN201210384242A CN102879773B CN 102879773 B CN102879773 B CN 102879773B CN 201210384242 A CN201210384242 A CN 201210384242A CN 102879773 B CN102879773 B CN 102879773B
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Abstract
The invention provides a lateral distance detecting method and device for auxiliary parking, belonging to the technical field of the auxiliary parking. The problem that the conventional lateral distance detecting technology for the auxiliary parking has the defects of poor accuracy and not considering vehicle inclination can be solved. The lateral distance detecting method for the auxiliary parking provided by the invention comprises the following steps of: recording lateral distance data collected by a lateral distance measurement radar; when recorded lateral distance data reaches to a pre-set quantity, analyzing variation tendency of the recoded lateral distance data, and determining a lateral distance according to the variation tendency; and if the lateral distance data is increased, regarding a minimum value in the lateral distance data as a lateral distance, and if the lateral distance data is decreased, regarding a maximum value in the lateral distance data as the lateral distance. The lateral distance detecting device for the auxiliary parking provided by the invention uses the method for distance measurement.
Description
Technical field
The invention belongs to the auxiliary technical field of parking, be specifically related to a kind of auxiliary park lateral distance detection method and device.
Background technology
At present, using auxiliary the parking of range radar (as supersonic sounding radar) is very common technology.Wherein, range radar generally comprises front range radar, rear range radar, side direction range radar, they are respectively used to for example, distance between measuring vehicle (car of the operation of will parking) front end, rear end, side and barrier (obstacle car), calculate these distances key area that is used to park, and the result of calculation of the key area of parking is for pointing out driver the operation of how parking.Wherein, the every side of vehicle has a side direction range radar conventionally, can be positioned at front bumper avris.
Inventor finds that in prior art, at least there are the following problems: on the one hand, range radar is found range by ultrasonic reflections echo (or reflection echo of laser, infrared ray etc.), due to the impact of range radar sensor itself and extraneous factor etc., may produce ripple or the incorrect situation of echo of losing, may have indivedual range data incorrect, data accuracy is not good enough.On the other hand, vehicle barrier car most and side not parallel (mutual deflection in other words) while parking, and this not parallel two kinds of situations that are divided into, Fig. 1 be headstock near obstacle car and the tailstock away from the situation of obstacle car, advance forward while parking when vehicle, the distance in vehicle and obstacle workshop is dwindled gradually, and Fig. 2 be headstock away from obstacle car the tailstock near the situation of obstacle car, in the time that vehicle is parked to overtake, the distance in vehicle and obstacle workshop can increase gradually; Obviously, should be by the Different Strategies operation of parking for the situation of Fig. 1, Fig. 2, but the existing auxiliary lateral distance detection method of parking cannot be distinguished this two kinds of situations, the lateral distance recording may be identical, thus obtain auxiliaryly park operation indicating too; That is to say, the existing auxiliary lateral distance detection method of parking do not consider vehicle with respect to the situation of obstacle car deflection, be difficult to guarantee that the parking stall after stopping is rectified.
Certainly, rectify the parking stall with obstacle car in Fig. 1, Fig. 2, and vehicle deflection is example, but should be appreciated that vehicle is relative with the position of obstacle car, therefore it also can represent obstacle car deflection and the proper situation of vehicle.
Summary of the invention
Technical matters to be solved by this invention comprises, not good enough and do not consider the problem of vehicle deflection for the auxiliary lateral distance detection technique data accuracy of parking of the prior art, provide a kind of data accuracy good, and considered the auxiliary lateral distance detection method of parking of vehicle deflection influence.
The technical scheme that solution the technology of the present invention problem adopts is a kind of auxiliary lateral distance detection method of parking, and comprising:
The lateral distance data that record is gathered by side direction range radar;
When the lateral distance data of record reach after predetermined quantity, the variation tendency of the lateral distance data of analytic record, and determine lateral distance according to described variation tendency: if described lateral distance data are for increasing progressively trend, take the minimum value in lateral distance data as lateral distance, if described lateral distance data are decline trend, take the maximal value in lateral distance data as lateral distance.
In the auxiliary lateral distance detection method of parking of the present invention, draw lateral distance according to the variation tendency of multiple lateral distance data, even therefore wherein have indivedual data because of the generation mistakes such as sensor problem also not can to range finding result have much impact, data accuracy is good;
Simultaneously the variation tendency of lateral distance data reflects the deviation condition of vehicle, thereby can obtain different lateral distance according to different deviation condition, and the calculating accurate science more of the key area that makes to park, guarantees that the parking stall after stopping is rectified.
Preferably, the variation tendency of the lateral distance data of described analytic record comprises:
Successively each lateral distance data and lateral distance data are thereafter compared, being wherein greater than at rear side in front side to range data is M to the number of times of range data, and being greater than the number of times to range data in front side at rear side to range data is N; In the time of M>N, described lateral distance data are for increasing progressively trend, and in the time of M<N, described lateral distance data are decline trend.
Preferably, the variation tendency of the lateral distance data of described analytic record, and determine that according to described variation tendency lateral distance also comprises: if described lateral distance data are moderate tone, take the minimum value in lateral distance data or last is as lateral distance.
Further preferably, the variation tendency of the lateral distance data of described analytic record comprises: successively each lateral distance data and lateral distance data are thereafter compared, wherein, being greater than at rear side in front side to range data is M to the number of times of range data, and being greater than the number of times to range data in front side at rear side to range data is N; In the time of M=N, described lateral distance data are moderate tone.
Preferably, the predetermined quantity of the lateral distance data of described record is between 20 to 28.
Further preferably, the predetermined quantity of the lateral distance data of described record is 24.
Further preferably, the variation tendency of the lateral distance data of described analytic record also comprises: give up 2 maximal values and 2 minimum value in the lateral distance data of described record, then analyze the variation tendency of remaining lateral distance data.
Preferably, the lateral distance data that described record is gathered by side direction range radar also comprise: judge that the lateral distance data that gathered by side direction range radar are whether in predetermined range, if record described lateral distance data, give up if not described lateral distance data.
Further preferably, described predetermined range is 0.5 meter to 1.5 meters.
Technical matters to be solved by this invention also comprises, not good enough and do not consider the problem of vehicle deflection to provide a kind of auxiliary lateral distance pick-up unit of parking for the auxiliary lateral distance detection technique data accuracy of parking of the prior art.
The technical scheme that solution the technology of the present invention problem adopts is a kind of auxiliary lateral distance pick-up unit of parking, and it comprises:
For gathering the side direction range radar of lateral distance data;
Determine the lateral distance determining unit of lateral distance according to the above-mentioned auxiliary lateral distance detection method of parking.
Because the auxiliary lateral distance pick-up unit of parking of the present invention is found range according to the method described above, therefore its data accuracy is good, can guarantee that the parking stall after stopping is rectified.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of situation of vehicle and barrier generation deflection while parking;
Fig. 2 is the schematic diagram of the another kind of situation of vehicle and barrier generation deflection while parking;
Fig. 3 is the schematic flow sheet of the auxiliary lateral distance detection method of parking of embodiments of the invention 2.
Embodiment
For making those skilled in the art understand better technical scheme of the present invention, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Embodiment 1:
The present embodiment provides a kind of auxiliary lateral distance detection method of parking, and comprising:
The lateral distance data that record is gathered by side direction range radar;
When the lateral distance data of record reach after predetermined quantity, the variation tendency of the lateral distance data of analytic record, and determine lateral distance according to described variation tendency: if described lateral distance data are for increasing progressively trend, take the minimum value in lateral distance data as lateral distance, if described lateral distance data are decline trend, take the maximal value in lateral distance data as lateral distance.
In the auxiliary lateral distance detection method of parking of the present embodiment, draw lateral distance according to the variation tendency of multiple lateral distance data, even therefore wherein have indivedual data because of the generation mistakes such as sensor problem also not can to range finding result have much impact, data accuracy is good; Simultaneously the variation tendency of lateral distance data reflects the deviation condition of vehicle, thereby can obtain different lateral distance according to different deviation condition, and the calculating accurate science more of the key area that makes to park, guarantees that the parking stall after stopping is rectified.
Embodiment 2:
The present embodiment provides a kind of auxiliary lateral distance detection method of parking, for determine the distance (lateral distance) between vehicular sideview and barrier (the obstacle car as shown in Figure 1, Figure 2) in the time that vehicle is parked, calculate this lateral distance key area that is used for parking, and the operation of can driver assistance parking of the result of calculation of the key area of parking.
As shown in Figure 3, the auxiliary lateral distance detection method of parking of the present embodiment comprises:
S01, the beginning of parking, side direction range radar gathers lateral distance data.
Wherein, side direction range radar is usually located at vehicle front bumper avris, can be the known types such as ultrasonic distance measuring radar, infrared distance measurement radar, range laser radar, and it for example, once found range at interval of a period of time (30ms).
S02, preferred, judges that the lateral distance data that gathered by side direction range radar whether in predetermined range, if carry out next step, give up if not this lateral distance data, and return to step S01.
That is to say, preferably data are judged recording before lateral distance data, will exceed the rejection of data of predetermined range; Due to the impact of many factors, therefore the part lateral distance data that side direction range radar detects may produce larger error or mistake, therefore can, by obvious part irrational rejection of data, avoid the impact of accidentalia, to guarantee recorded accuracy.
Preferably, above-mentioned predetermined range is 0.5m to 1.5m.This predetermined range draws after a large amount of practices, in the time that lateral distance is greater than 1.5m, side direction barrier can not exert an influence to parking substantially, and in the time that lateral distance is less than 0.5m, park and be also difficult to carry out, therefore can not consider for the data that exceed 0.5m to 1.5m scope.
Certainly, not necessarily, if do not judged, and directly carry out following recording step, (the whole lateral distance data by the collection of side direction range radar are all recorded) is also feasible to this determining step.
The lateral distance data that S03, record are gathered by side direction range radar.
That is to say, multiple lateral distance data of range radar collection are recorded to (for example storing in buffer memory) successively, to these data analysis.
S04, judge record lateral distance data amount check whether reach predetermined quantity, if enter next step, return to if not step S01.
Preferably, above-mentioned predetermined quantity between 20 to 28, more preferably 24.
For the accuracy that guarantees to analyze, therefore should have some for the data of analyzing.Find after deliberation, above-mentioned data amount check scope is preferred, and it both can ensure enough data volumes, can within the enough short time, gather again; With 24 data instances (below all with 24 data instances), if the time interval between twice range finding of side direction range radar is 30ms, gathers 24 data and only need, less than 1s, can not exert an influence to parking.
S05, preferred, gives up 2 maximal values and 2 minimum value in 24 lateral distance data of record, remains 20 lateral distance data.
This step is the interference in order further to avoid error information; Certainly, if carry out this step, and directly the total data of record being analyzed, is also feasible.
The variation tendency of the lateral distance data of S06, analytic record, and determine lateral distance according to described variation tendency, it specifically comprises:
Preferably, successively each lateral distance data and lateral distance data are thereafter compared, being wherein greater than at rear side in front side to range data is M to the number of times of range data, and being greater than the number of times to range data in front side at rear side to range data is N;
In the time of M>N, described lateral distance data are for increasing progressively trend, take the minimum value in lateral distance data as lateral distance;
In the time of M<N, described lateral distance data are decline trend, take the maximal value in lateral distance data as lateral distance;
Preferably, in the time of M=N, described lateral distance data are moderate tone, take the minimum value in lateral distance data or last is as lateral distance.
That is to say, first relatively first in 20 lateral distance data and second, by same method, second and the 3rd lateral distance data are compared afterwards, by that analogy, until complete the comparison of nineteen and the 20 data, and draw data variation trend according to being greater than at rear side to the number of times of range data and being greater than the number of times to range data in front side at rear side to range data to range data in front side.
Certainly, the concrete grammar that obtains above-mentioned M and N is various, for example can be M, N and set up respectively a counter, at every turn in front side to range data be greater than rear side to range data M add 1, at every turn in front side to range data be less than rear side to range data N add 1, until complete the comparison of total data; Certainly, M, N also can obtain by other known way, are not described in detail at this.
In the time of M>N, represent that vehicle and barrier are not parallel, and along with the distance between driving vehicle and barrier increases gradually, the calculating of the key area that now should be used for using the minimum value in 24 lateral distance data as lateral distance parking; And in the time of M<N, represent that equally vehicle and barrier are not parallel, and but along with the distance between driving vehicle and barrier reduces gradually, now should be using the maximal value calculating for the key area of parking as lateral distance in 24 lateral distance data; In the time of M=N, represent that vehicle is basic parallel with barrier, therefore should take the minimum value in 24 lateral distance data or last be as lateral distance is (because vehicle is parallel with barrier, therefore each lateral distance data differ not too large, therefore also can select other lateral distance data as lateral distance).
Certainly, the method of above-mentioned judgement lateral distance data variation trend is also various, for example can form the curve map of lateral distance data variation rule, and determine above-mentioned variation tendency according to this slope of a curve situation, because the judgement of variation tendency can realize by multiple difference and known mathematical method, therefore describe in detail no longer one by one at this.
The auxiliary of the present embodiment parked in lateral distance detection method, determine lateral distance according to the variation tendency of multiple lateral distance data, therefore its one side data volume is large, be subject to the impact of accidentalia little, accuracy is good, it has considered again vehicle and the uneven situation of barrier on the other hand, can guarantee the correct of vehicle location after stopping.
Embodiment 3:
The present embodiment provides a kind of auxiliary lateral distance pick-up unit of parking, and it comprises:
For gathering the side direction range radar of lateral distance data;
Determine the lateral distance determining unit of lateral distance according to the above-mentioned auxiliary lateral distance detection method of parking.
Because the auxiliary lateral distance pick-up unit of parking of the present embodiment is found range according to the method described above, therefore its data accuracy is good, can guarantee that the parking stall after stopping is rectified.
Be understandable that, above embodiment is only used to principle of the present invention is described and the illustrative embodiments that adopts, but the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement are also considered as protection scope of the present invention.
Claims (10)
1. the auxiliary lateral distance detection method of parking, is characterized in that, comprising:
The lateral distance data that record is gathered by side direction range radar;
When the lateral distance data of record reach after predetermined quantity, the variation tendency of the lateral distance data of analytic record, and determine lateral distance according to described variation tendency: if described lateral distance data are for increasing progressively trend, take the minimum value in lateral distance data as lateral distance, if described lateral distance data are decline trend, take the maximal value in lateral distance data as lateral distance.
2. the auxiliary lateral distance detection method of parking according to claim 1, is characterized in that, the variation tendency of the lateral distance data of described analytic record comprises:
Successively each lateral distance data and lateral distance data are thereafter compared, being wherein greater than at rear side in front side to range data is M to the number of times of range data, and being greater than the number of times to range data in front side at rear side to range data is N; In the time of M>N, described lateral distance data are for increasing progressively trend, and in the time of M<N, described lateral distance data are decline trend.
3. the auxiliary lateral distance detection method of parking according to claim 1, is characterized in that, the variation tendency of the lateral distance data of described analytic record, and determine that according to described variation tendency lateral distance also comprises:
If described lateral distance data are moderate tone, take the minimum value in lateral distance data or last is as lateral distance.
4. the auxiliary lateral distance detection method of parking according to claim 3, is characterized in that, the variation tendency of the lateral distance data of described analytic record comprises:
Successively each lateral distance data and lateral distance data are thereafter compared, wherein, being greater than at rear side in front side to range data is M to the number of times of range data, and being greater than the number of times to range data in front side at rear side to range data is N; In the time of M=N, described lateral distance data are moderate tone.
5. according to the auxiliary lateral distance detection method of parking described in any one in claim 1 to 4, it is characterized in that,
The predetermined quantity of the lateral distance data of described record is between 20 to 28.
6. the auxiliary lateral distance detection method of parking according to claim 5, is characterized in that,
The predetermined quantity of the lateral distance data of described record is 24.
7. the auxiliary lateral distance detection method of parking according to claim 6, is characterized in that, the variation tendency of the lateral distance data of described analytic record also comprises:
Give up 2 maximal values and 2 minimum value in the lateral distance data of described record, then analyze the variation tendency of remaining lateral distance data.
8. according to the auxiliary lateral distance detection method of parking described in any one in claim 1 to 4, it is characterized in that, the lateral distance data that described record is gathered by side direction range radar also comprise:
Judge that the lateral distance data that gathered by side direction range radar whether in predetermined range, if record described lateral distance data, give up described lateral distance data if not.
9. the auxiliary lateral distance detection method of parking according to claim 8, is characterized in that,
Described predetermined range is 0.5 meter to 1.5 meters.
10. the auxiliary lateral distance pick-up unit of parking, comprises the side direction range radar for gathering lateral distance data; It is characterized in that, the described auxiliary lateral distance pick-up unit of parking also comprises:
Lateral distance determining unit, for reaching after predetermined quantity when the lateral distance data of record, the variation tendency of the lateral distance data of analytic record, and determine lateral distance according to described variation tendency: if described lateral distance data are for increasing progressively trend, take the minimum value in lateral distance data as lateral distance, if described lateral distance data are decline trend, take the maximal value in lateral distance data as lateral distance.
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| CN112376382A (en) * | 2020-11-17 | 2021-02-19 | 深圳中科超远科技有限公司 | Method for positioning and bypassing abnormal section of guardrail by edge distance measurement |
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| JP4626426B2 (en) * | 2005-07-11 | 2011-02-09 | トヨタ自動車株式会社 | Parking assistance device |
| CN102632837A (en) * | 2012-03-31 | 2012-08-15 | 奇瑞汽车股份有限公司 | Auxiliary parking system and controlling method thereof |
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| JPH082357A (en) * | 1994-06-20 | 1996-01-09 | Nissan Motor Co Ltd | Parking assisting device for vehicle |
| JP5267588B2 (en) * | 2010-03-26 | 2013-08-21 | 株式会社デンソー | Marking line detection apparatus and marking line detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4626426B2 (en) * | 2005-07-11 | 2011-02-09 | トヨタ自動車株式会社 | Parking assistance device |
| CN102632837A (en) * | 2012-03-31 | 2012-08-15 | 奇瑞汽车股份有限公司 | Auxiliary parking system and controlling method thereof |
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| JP特开平8-2357A 1996.01.09 |
| JP特许第4626426B2 2011.02.09 |
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