CN105608924A - Parking stall detection method based on ultrasonic radar - Google Patents
Parking stall detection method based on ultrasonic radar Download PDFInfo
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- CN105608924A CN105608924A CN201610091607.4A CN201610091607A CN105608924A CN 105608924 A CN105608924 A CN 105608924A CN 201610091607 A CN201610091607 A CN 201610091607A CN 105608924 A CN105608924 A CN 105608924A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
Abstract
The invention discloses a parking stall detection method based on an ultrasonic radar. The method comprises steps that A, the relative distance between a vehicle and a side obstacle can be detected through the ultrasonic radar in a driving process; B, minimum filtering processing on the detected relative distance data can be carried out; C, jump edge detection on the data after filtering processing is carried out; D, the suspected parking stall length is calculated according to the detected jump edge; and E, if the suspected parking stall length is consistent with the parking stall length, the suspected parking stall width is calculated, and obstacle detection can be carried out. Through the method, minimum filtering processing on the detected relative distance data is carried out, in combination with jump edge detection, the parking stall width and the parking stall length are calculated and corrected, accurate detection on parallel parking stalls and perpendicular parking stalls can be carried out in different modes, and the parking stall identification accuracy rate can reach up to 99%. The method can be widely applied to the parking stall detection field.
Description
Technical field
The present invention relates to parking stall measure field, especially a kind of car of parking based on ultrasonic radarPosition detecting method.
Background technology
Parking stall measure is to realize automatic parking and enter the prerequisite of position, enters position motion carrying out automatic parkingWhen the planning of track, need to input some essential informations of parking stall, mainly comprise: parking stall length,Parking stall width, lateral distance etc. So far, about the patent major part of parking stall measure be allTo the parking stall state-detection on all parking stalls in the scene of similar parking lot, general way beOn target parking stall, set up initiatively magnetic field, and according to the mixed magnetic field of active magnetic field and earth's magnetic field formationIn magnetic variable signal judge the dead ship condition on parking stall, conventionally can only judge that whether this parking stall isRoom, and can not export concrete parking stall essential information, simultaneously mainly for structurized scene,In the time of environmental change, the method is no longer applicable to automatic parking.
As shown in Figure 1, according to shape facility, parking stall conventionally can be divided into " one " word and stopPosition (A district), " non-" word parking stall (B district) and oblique parking stall (C district), they are by being close toTwo cars form space form, be not subject to the impact of lane line. At present, for this type of parkingPosition, the scheme of the sensor active detecting parking stall that known dependence vehicle body carries has two. SchemeOne (detection method-application of CN201510368616-parking position is open), relies on vehicle body side peaceThe camera of dress, the binocular image of collection driving vehicle side, detects in binocular image and wrapsThe feature pixel containing and distribution thereof, rely on the wider visual field of camera, when in two width imagesThe described feature pixel of any piece image is corresponding to the institute of a parking position outlineWhile having feature pixel, prompting detects parking position; According to the character pixel in binocular imagePoint and distribution thereof, determine the spacing between the two obstacle cars that berth on parking position, if described spacingBe not less than pre-set threshold value, pointing out between described two obstacle cars is parking position. This based on visionThe change sensitivity of method for detecting parking stalls to illumination condition, to night operating mode cannot be suitable for. SideCase two (CN201510212103-tiltedly berths method for detecting parking stalls-application openly), adopts vehicle bodyThe ultrasonic sensor that install side, has realized the detection to oblique parking stall, but does not discuss in detailState the filtering processing procedure of ultrasound data, edge, parking stall Rule of judgment is also too simple, and adoptsCalculate the method for parking stall length by distance, do not consider that vehicle body is partial to parking stall in traveling processThe error that length detection causes.
Summary of the invention
In order to solve the problems of the technologies described above, the object of the invention is: provide a kind of based on ultrasonic waveRadar is realized the method that multiple parking space is detected.
The technical solution adopted in the present invention is: the inspection of a kind of parking space based on ultrasonic radarSurvey method, includes following steps:
A, in the driving process of vehicle and parking stall keeping parallelism, super by vehicle body sideSound radar detects the relative distance with side barrier;
B, the relative distance data that detect in above-mentioned steps A are carried out to mini-value filtering processing;
C, filtering data after treatment are carried out to hopping edge detection;
Doubtful parking stall length is calculated in the hopping edge that D, basis detect;
If the doubtful parking stall of E length meets Parking Stall length, calculate this doubtful parking stall widthAnd carry out detection of obstacles.
Further, the mini-value filtering processing in described step B is specially:
B1, the data that detect in steps A are divided into multiple data segments;
B2, minimum coverage value is set;
If the data in B3 data segment are all less than minimum coverage value, the institute in data segmentHaving the equal assignment of data is 0; Otherwise all data of minimum coverage value will be greater than in data segmentArrange, and by minimum of a value assignment wherein to all data in data segment.
Further, the each data segment in described step B1 comprises 10 data, described minimumCoverage value is 30cm.
Further, described step C specifically comprises following sub-step:
C1, by the rear data in every two adjacent datas deduct previous data obtain poorValue;
C2, be greater than threshold value for hopping edge when the absolute value of difference, wherein difference is greater than at 1 o'clock and isRising edge, it is trailing edge that difference is less than at 1 o'clock;
C3, when the difference of first data before the data of the n before hopping edge and hopping edge all littleIn error threshold, and the difference of first data behind n data and hopping edge behind hopping edgeWhile being all less than error threshold, this hopping edge is effective hopping edge.
Further, described step D specifically comprises following sub-step:
Doubtful parking stall length is calculated in the hopping edge that D1, basis detect;
D2, according to vehicle heading, doubtful parking stall length is revised.
Further, in described step e, when the relative distance detecting in steps A is less than width thresholdWhen value, there is barrier in judgement.
Further, described width threshold value is 0.9 times of vehicle width.
Further, after step B, perform step before C, will before data after treatment filtering, spliceThe end 2n-1 that enters the rear data of upper one group of filtering processing is individual, then jumps at execution step CBecome along detecting.
The invention has the beneficial effects as follows: the data that detect are carried out minimum of a value filter by the inventive methodRipple processing, and detect in conjunction with hopping edge in subsequent treatment, thereby realize the meter of parking stall length and width degreeCalculate and revise, and can get rid of the situation that has barrier, and to parallel parking stall, vertically parkingThe parking stall of the different modes such as position all can accurately be detected, the rate of accuracy reached to 99% of parking stall identification withUpper, reliable for effect.
Brief description of the drawings
Fig. 1 is all types of parking stalls schematic diagrames;
Fig. 2 is flow chart of steps of the present invention;
Fig. 3 is parking stall measure output quantity schematic diagram;
Fig. 4 is that ultrasound data intercepts quantity schematic diagram;
Fig. 5 is ultrasound data mini-value filtering flow chart of the present invention;
Fig. 6 is the desirable hopping edge of ultrasound data;
Fig. 7 is that ultrasound data trailing edge calculates schematic diagram;
Fig. 8 is the data spliced map that hopping edge is detected;
Fig. 9 is parking stall length computation correction figure;
Figure 10 is that parking stall width calculates and intermediate obstacles detects schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further:
With reference to Fig. 2, a kind of parking space's detection method based on ultrasonic radar, include withLower step:
A, in the driving process of vehicle and parking stall keeping parallelism, by vehicle body sideUltrasonic radar detects the relative distance with side barrier;
If successively detect in continuous testing process, distance significantly rises and declines, i.e. judgementA doubtful parking stall detected, then by judging whether parking stall length meets automatic parkingLittle length requirement, need to consider whether have barrier in the middle of parking stall in addition, having barrierIn situation, even if parking stall length meets the demands, be judged as equally " parking stall not detected ".In the time completing parking stall measure, output parking stall length, parking stall width and lateral distance, its concept asShown in lower Fig. 3.
B, the relative distance data that detect in above-mentioned steps A are carried out to mini-value filtering processing;
C, filtering data after treatment are carried out to hopping edge detection;
Doubtful parking stall length is calculated in the hopping edge that D, basis detect;
If the doubtful parking stall of E length meets Parking Stall length, calculate this doubtful parking stall widthAnd carry out detection of obstacles.
Be further used as preferred embodiment, the mini-value filtering in described step B is processed toolBody is:
B1, the data that detect in steps A are divided into multiple data segments;
B2, minimum coverage value is set;
If the data in B3 data segment are all less than minimum coverage value, the institute in data segmentHaving the equal assignment of data is 0; Otherwise all data of minimum coverage value will be greater than in data segmentArrange, and by minimum of a value assignment wherein to all data in data segment.
Taking Fig. 4 as example, because ultrasound data stream is a continuous process, need to intercept oneSegment data (20) is carried out single treatment, and this segment data intercepting needs to be divided into somePart is carried out filtering processing. The concrete data amount check once intercepting and one group of filtering data number are by selectingGetting performance and the actual effect that detects of selected sensor demarcates.
Be further used as preferred embodiment, the each data segment in described step B1 comprises10 data, described minimum coverage value is 30cm.
Concrete filter step can be with reference to the flow chart of steps of Fig. 5, due to the spy of ultrasonic sensorProperty, often there is saltus step in the distance value of detection, especially easily sports the range upper limit (5000mm),Therefore adopt the method for " mini-value filtering " to process comparatively suitable. Concrete grammar is: rightThe data that intercept, in chronological sequence order, 10 data one group (by experimental calibration) are carried outFiltering processing, carry out sequence from small to large to these 10 data, takes out these 10 dataMinimum of a value min, composes all values of these group data into min. Even for fear of ultrasonic waveThe impact of abnormal lowest distance value on notebook data filtering method so detected, according to parking stall measureIn process, body side is to for example, arranging ultrasonic with the minimum distance (0.3m) on parking stallThe minimum coverage value that ripple detects is 0.3m, in the time of min < 0.3m, gets this 10 numberAccording in the second little distance value, and then judge whether it is greater than 0.3m, and the rest may be inferred, straightTo finding " minimum of a value " that satisfy condition, if finally find, these 10 data are all less than 0.3m,Be 0 by these 10 whole assignment of data.
Be further used as preferred embodiment, described step C specifically comprises following sub-step:
C1, the rear data in every two adjacent datas are deducted to previous data obtain differenceb；
C2, when the absolute value of difference is greater than threshold value M for hopping edge, wherein difference b is greater than zeroTime be rising edge, it is trailing edge that difference b is less than at 1 o'clock;
Under normal circumstances, for parallel parking stall, threshold value M is generally made as the width of a parking stall,Can replace with the width of car is approximate; For vertical parking stall, threshold value M is generally made as a carThe length of position, can replace with the length of car is approximate.
C3, when the difference of first data before the data of the n before hopping edge and hopping edge all littleIn error threshold, and the difference of first data behind n data and hopping edge behind hopping edgeWhile being all less than error threshold, this hopping edge is effective hopping edge.
Because filtered data may exist invalid value, and the complexity of external environment (for exampleEdge in parking stall is serious apart from saltus step), cause the ultrasonic wave distance obtaining by acoustic reflectionEven if still there is the situation of hopping edge flase drop after by above-mentioned " mini-value filtering " method from value.According to the feature of desirable hopping edge, at saltus step nidus, the data of left and right sides certain length are protectedHold and remain unchanged, be illustrated in fig. 6 shown below, remain unchanged along nidus A, B segment data in lower jumping,Remain unchanged along nidus B, C segment data in upper jumping. Specific implementation process can compare thisThe distance value of all adjacent 2 in segment data, if the absolute value of the difference of its distance is no more than certainIndividual threshold value N, thinks that this lateral extent " remains unchanged ".
In sum, taking parallel parking stall as example, the condition of a correct hopping edge generation is:
The absolute value of the difference of (1) i distance value and i-1 distance value is not less than parking stallWidth W,
|di-di-1|≥W
(2) left data is since i-1 distance value n distance value " guarantor altogether before itHold constant "; Right side data are total to thereafter n distance value since i distance value and " keep notBecome ".
Be illustrated in fig. 7 shown below, taking trailing edge as example, for i in filtered one group of dataThe difference of i-1 the distance value that distance value is adjacent meets saltus step and triggers distance, also needs simultaneouslyIn will detection figure, each side whether n distance value be more or less the same, and jumps under one here along justReally judge according to being:
(1)d(i)-d(i-1)＜-W
(2) [d (i-n), d (i-n+1) ..., d (i-1)] and [d (i), d (i+1) ..., d (i-n-1)] these two groups of dataIn all adjacent two data values be more or less the same.
In addition,, in the time judging whether two side datas remain unchanged, need to first detect this n numberAccording in whether have invalid value 0 to occur, if having, think the data of this side for fear of flase dropBe not consistent, the condition (2) of the hopping edge of i data is not met.
Be further used as preferred embodiment, described step D specifically comprises following sub-step:
Doubtful parking stall length is calculated in the hopping edge that D1, basis detect;
In the process of seeking parking stall, the movement velocity of car is generally lower than 30km/h, parking stall lengthCalculating need to try to achieve according to the distance of travelling of car, therefore need an energy in low speed situationThe wheel speed sensors of accurately estimating the speed of a motor vehicle, the data transmitting period of establishing wheel speed sensors is T,The wheel speed of this cycle internal feedback is V, and the distance in this cycle is S=V*T so. If carBe successively t by the time of rising edge, this process of trailing edge, the calculating of parking stall length soFormula is:
In formula, L represents parking stall length, and N represents the periodicity that this process elapsed-time standards converts(rounding up), ViRepresent in this process the wheel speed in i cycle.
D2, according to vehicle heading, doubtful parking stall length is revised.
Consider that seeking in the process of parking stall, the travel direction of vehicle and parking stall direction are generally not tightLattice are parallel, and the parking stall length that adopts Vehicle Driving Cycle distance to calculate may exist certain error, thisBrightly some corrections are done according to lateral distance. Be illustrated in fig. 9 shown below, AB represents that vehicle seeks parking stallThe driving trace of process, can obtain the distance S that travels of vehicle by method above, d1,D2 represents respectively the lateral distance with front and back two cars, and so real parking stall length is:
Be further used as preferred embodiment, in described step e, when what detect in steps AWhen relative distance is less than width threshold value, there is barrier in judgement.
Be further used as preferred embodiment, described width threshold value is 0.9 times of vehicle width.
Be illustrated in fig. 10 shown below, taking parallel parking stall as example, vehicle is along shown in arrow in figureDirection finding parking stall, d (0) represents the lateral distance of vehicle body from parking stall, d (i) represents to pass through parking stallThe ultrasonic distance value that interlude moment t (i) is corresponding, if opposite side is not shown in figureBarrier, d (i)=maxRange (ultrasonic distance detect maximum range), parking stall is wideDegree can be calculated as follows:
W＝d(i)–d(0)
If the width of car is W0, for calculated value W, if W > is W0, by the parking stall of calculatingWidth assignment is W0That is:
W＝W0,(W＞W0)
In addition, in the middle of parking stall, may there is the situation of barrier, when certain moment t (j) ultrasonic waveIn the middle of meeting the following conditions and can judging, there is barrier in the distance value d (j) detecting:
W＝d(j)-d(0)＜0.9*W0
Coefficient 0.9 is to produce for fear of the situation of barrier flase drop.
Be further used as preferred embodiment, after step B, perform step before C, by filteringBefore data after treatment, splice end 2n-1 of data after processing into upper one group of filtering, thenIn execution step, C carries out hopping edge detection.
When getting one group of data and carrying out (with 20 data instances) after filtering, need to be to thisIn a little data, the distance value of all consecutive points compares, known with reference to part on Fig. 8, one groupIn data, a front n data and last n-1 data fail to carry out the detection judgement of hopping edge,In order to ensure that obliterated data does not detect, last n-1 data need to be organized data at next and come thenCarry out hopping edge judgement, so just need to carry out the splicing of data. With reference to part under Fig. 8, establishOne group of data amount check is m (for example m=20), so wherein can complete the point that hopping edge is detectedSequence number is n+1 ..., m-n+1, in order to ensure that (sequence number is the last remaining point not detectingM-n+2, m-n+3 ..., m) complete hopping edge and detect, need these data at next group filtering numberBefore the detection of hopping edge, carry out transition detection, therefore a more rational processing method according to carrying outIt is the beginning that these data is spliced to next group data. Due to the spy of this hopping edge detection algorithmPoint, for measuring point to be checked, needs to have n data point at least before it, therefore, and in order to ensureThe data that can be m-n+2 from sequence number start the detection of hopping edge, need to spell in upper one group of dataThe data sequence number of receiving next group beginning is: m-2n+2 ..., m, 2n-1 splicing data altogether,Form the data group that m+2n-1 hopping edge detected, this data group with m data of next groupShould be just that detailed process is illustrated in fig. 7 shown below as hopping edge data to be checked.
Like this, each ultrasonic wave gets m data and carries out after filtering processing, need to be by upperThe one group of last 2n-1 of filtered data data is spliced to this group Data Start and forms altogetherM+2n-1 hopping edge data to be tested, so just can ensure that upper one group of data are last severalThe data that detect are carried out hopping edge detection in this detects, and the last n-1 of this group data does not examineSurvey data and be spliced to again next group data, complete together hopping edge and detect, so circulation, with regard to energyEnsure that all data points have all carried out the detection of hopping edge. The program that it is pointed out that startsTime first group of data, a front n data equally do not detect, owing to there is no upper one group of data, because ofThis can not carry out the splicing of data, and this programme is invalid data 0 by the whole assignment of this n dataIn order to avoid produce wrong hopping edge judgement, and meanwhile, due to the quick renewal of data flow, can shadowRing to overall hopping edge judgement.
Be more than that better enforcement of the present invention is illustrated, but the invention is notBe limited to described embodiment, those of ordinary skill in the art are in the prerequisite without prejudice to spirit of the present inventionCan also make down all equivalents or replacement, the distortion that these are equal to or replacement all compriseIn the application's claim limited range.
Claims (8)
1. the parking space's detection method based on ultrasonic radar, is characterized in that: include following steps:
In the driving process of vehicle and parking stall keeping parallelism, by the ultrasonic radar detection of vehicle body side and the relative distance of side barrier;
The relative distance data that detect in above-mentioned steps A are carried out to mini-value filtering processing;
Filtering data after treatment are carried out to hopping edge detection;
Calculate doubtful parking stall length according to the hopping edge detecting;
If doubtful parking stall length meets Parking Stall length, calculate this doubtful parking stall width and carry out detection of obstacles.
2. a kind of parking space's detection method based on ultrasonic radar according to claim 1, is characterized in that: the mini-value filtering processing in described step B is specially:
B1, the data that detect in steps A are divided into multiple data segments;
B2, minimum coverage value is set;
If the data in B3 data segment are all less than minimum coverage value, the equal assignment of all data in data segment is 0; Otherwise all data that are greater than minimum coverage value in data segment are arranged, and by minimum of a value assignment wherein to all data in data segment.
3. a kind of parking space's detection method based on ultrasonic radar according to claim 2, is characterized in that: the each data segment in described step B1 comprises 10 data, and described minimum coverage value is 30cm.
4. a kind of parking space's detection method based on ultrasonic radar according to claim 2, is characterized in that: described step C specifically comprises following sub-step:
C1, the rear data in every two adjacent datas are deducted to previous data obtain difference;
C2, be greater than threshold value for hopping edge when the absolute value of difference, to be wherein greater than at 1 o'clock be rising edge to difference, and it is trailing edge that difference is less than at 1 o'clock;
C3, be all less than error threshold when the difference of first data before the data of the n before hopping edge and hopping edge, and the difference of first data behind n data and hopping edge behind hopping edge is while being all less than error threshold, this hopping edge is effective hopping edge.
5. a kind of parking space's detection method based on ultrasonic radar according to claim 4, is characterized in that: described step D specifically comprises following sub-step:
Doubtful parking stall length is calculated in the hopping edge that D1, basis detect;
D2, according to vehicle heading, doubtful parking stall length is revised.
6. a kind of parking space's detection method based on ultrasonic radar according to claim 1, is characterized in that: in described step e, in the time that the relative distance detecting in steps A is less than width threshold value, judgement exists barrier.
7. a kind of parking space's detection method based on ultrasonic radar according to claim 6, is characterized in that: described width threshold value is 0.9 times of vehicle width.
8. a kind of parking space's detection method based on ultrasonic radar according to claim 4, it is characterized in that: after step B, perform step before C, by before data after treatment filtering, splice process into upper one group of filtering after end 2n-1 of data, then carry out hopping edge detection at execution step C.
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