CN108944915A - A kind of automatic parking method, system and computer readable storage medium - Google Patents
A kind of automatic parking method, system and computer readable storage medium Download PDFInfo
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- CN108944915A CN108944915A CN201810769208.8A CN201810769208A CN108944915A CN 108944915 A CN108944915 A CN 108944915A CN 201810769208 A CN201810769208 A CN 201810769208A CN 108944915 A CN108944915 A CN 108944915A
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- 238000004590 computer program Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 description 4
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Classifications
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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
- B60W2554/00—Input parameters relating to objects
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses automatic parking method, system and computer readable storage medium, this method includes being scanned to the environment of vehicle periphery, obtains range information of the object at a distance of vehicle of vehicle periphery；Two-dimensional map is constructed in real time according to range information, and obtains current location information of the vehicle in two-dimensional map；Target area is determined according to two-dimensional map, and determines parking path according to the location information where current location information and target area；Control vehicle is parked according to parking path, so that in vehicle parking to target area.The application can be realized the accurate positioning to vehicle, and vehicle can be made to realize in the case where parking environment complexity and quickly, accurately parked, and bring very big convenience for driver.
Description
Technical field
The present embodiments relate to automatic parking technical fields, more particularly to a kind of automatic parking method, system and meter
Calculation machine readable storage medium storing program for executing.
Background technique
With the development of science and technology and the continuous improvement that illustrates of people's lives, automobile have become the daily vehicles of people.
In people's driving, parallel parking will cause colliding with or scratching for vehicle for most drivers, to band of parking
Inconvenient therefore automatic parking technology is come into being, and automatic parking technology refers to that automobile automatic parking enters position and do not need manually to control
System, to offer convenience to people's lives.
Currently, automatic parking technology in the prior art is realized using ultrasonic radar or camera etc. to barrier
Detection, and according to the driving direction of the range information of barrier to vehicle control vehicle, to realize automatic parking.But
The situation at the scene of parking is often complex, using method in the prior art be difficult to realize it is quick, accurately park.
It a kind of solve the automatic parking method of above-mentioned technical problem, system in consideration of it, how to provide and computer-readable deposits
Storage media becomes the current problem to be solved of those skilled in the art.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of automatic parking method, system and computer readable storage medium are provided,
It can be realized the accurate positioning to vehicle in use process, and it is fast that vehicle can be made to realize in the case where parking environment complexity
Speed is accurately parked, and brings very big convenience for driver.
In order to solve the above technical problems, the embodiment of the invention provides a kind of automatic parking methods, comprising:
S11: being scanned the environment of vehicle periphery, obtains distance of the object at a distance of the vehicle of the vehicle periphery
Information；
S12: constructing two-dimensional map according to the range information in real time, and obtains the vehicle in the two-dimensional map
Current location information；
S13: target area is determined according to the two-dimensional map, and according to the current location information and the target area
Location information where domain determines parking path；
S14: controlling the vehicle and park according to the parking path, so that the vehicle parking is to the target area
In domain.
Optionally, the process that target area is determined according to the two-dimensional map are as follows:
Free area is identified from the two-dimensional map；
Judge whether the area of the free area and shape meet default condition of parking, if so, by the free area
Domain is as the target area.
Optionally, the control vehicle is parked according to the parking path, so that the vehicle parking is to institute
The process stated in target area includes:
Whether the parking path on have barrier appearance, if so, pause is parked, obtain the barrier and institute if detecting
The distance between vehicle information is stated, and returns to S12, to be updated to the two-dimensional map and the current location information；If
It is no, then continue to control the vehicle and park according to the parking path, so that the vehicle parking is to the target area
It is interior.
Optionally, before the environment to the vehicle periphery is scanned, the method also includes:
Judge whether the current vehicle speed of vehicle is less than preset threshold, and when the current vehicle speed of the vehicle is less than preset threshold
When, into S11.
Optionally, the environment to vehicle periphery is scanned, and obtains the object of the vehicle periphery at a distance of the vehicle
Range information process are as follows:
The object in the first area of the vehicle periphery is scanned using rotary laser radar, obtains described first
The first distance information of object in region at a distance of the vehicle；
The object in the second area of the vehicle periphery is scanned using ultrasonic radar, obtains firstth area
Object in domain and is made the first distance information and the second distance information at a distance of the first distance information of the vehicle
For the range information；Wherein, the second area is the blind area of the rotary laser radar.
The embodiment of the present invention provides a kind of automated parking system accordingly, comprising:
Data acquisition device is scanned for the environment to vehicle periphery, obtains the object of the vehicle periphery apart
The range information of the vehicle；
Map structuring module for constructing two-dimensional map in real time according to the range information, and obtains the vehicle in institute
State the current location information in two-dimensional map；
Path planning module, for determining target area according to the two-dimensional map, and according to the present bit confidence
Location information where breath and the target area determines parking path；
Control module is parked for controlling the vehicle according to the parking path, so that the vehicle parking is extremely
In the target area.
Optionally, the path planning module includes:
Recognition unit, for identifying free area from the two-dimensional map；
Whether judging unit, area and shape for judging the free area meet default condition of parking, if so,
Using the free area as the target area；
Path planning unit, for being determined according to the location information where the current location information and the target area
Parking path.
It optionally, further include speed judgment module, current vehicle speed used for vehicles is judged, and when the vehicle
When current vehicle speed is less than preset threshold, the data acquisition device is triggered.
Optionally, the data acquisition device includes:
Rotary laser radar is scanned for the object in the first area to the vehicle periphery, obtains described the
The first distance information of object in one region at a distance of the vehicle；
Ultrasonic radar is scanned for the object in the second area to the vehicle periphery, obtains described first
The first distance information of object in region at a distance of the vehicle；Wherein, the second area is the rotary laser radar
Blind area；
The range information includes the first distance information and the second distance information.
The embodiment of the invention provides a kind of computer readable storage medium, stored on the computer readable storage medium
There is the step of computer program, the computer program realizes automatic parking method as described above when being executed by processor.
The embodiment of the invention provides a kind of automatic parking method, system and computer readable storage medium, this method packets
It includes: the environment of vehicle periphery is scanned, obtain range information of the object at a distance of vehicle of vehicle periphery；According to range information
Building two-dimensional map in real time, and obtain current location information of the vehicle in two-dimensional map；Target is determined according to two-dimensional map
Region, and parking path is determined according to the location information where current location information and target area；Control vehicle is according to parking
Path is parked, so that in vehicle parking to target area.
As it can be seen that the application passes through the object of vehicle periphery detected and the range information of vehicle constructs vehicle place in real time
The two-dimensional map in region, and can accurately determine target area for parking and vehicle to the mesh according to the two-dimensional map
The parking path for marking region parks according to parking path control vehicle, vehicle can be made accurately to park to the target
In region.The application can be realized the accurate positioning to vehicle, and vehicle can be made to realize in the case where parking environment complexity
Quickly, it accurately parks, brings very big convenience for driver.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow diagram of automatic parking method provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of automated parking system provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the invention provides a kind of automatic parking method, system and computer readable storage mediums, are using
It can be realized the accurate positioning to vehicle in journey, and vehicle can be made to realize quickly, accurately in the case where parking environment complexity
It parks, brings very big convenience for driver.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, Fig. 1 is a kind of flow diagram of automatic parking method provided in an embodiment of the present invention.This method,
Include:
S11: being scanned the environment of vehicle periphery, obtains range information of the object at a distance of vehicle of vehicle periphery；
It should be noted that be scanned during vehicle is parked by the environment to vehicle periphery, it can
The range information of the object and the vehicle in scanning range is obtained, namely with the traveling of vehicle, it can be in real time to vehicle periphery
Environment is scanned, and obtains range information of the object at a distance of vehicle of vehicle periphery in real time.
It is understood that can be realized fast and accurately scanning is accurate building two for complexity parks environment
The key for tieing up map, has the advantages that scanning speed is fast in view of laser radar, is capable of the variation of real-time capture ambient conditions, so
The application can realize the scanning to the environment of vehicle periphery using laser radar (such as rotary laser radar), to make to obtain
Range information real-time and accuracy it is higher.
Specifically, when being scanned to ambient enviroment, the sensor (such as rotary laser radar) that will can be used to scan
Center as coordinate origin, immediately ahead of rotary laser radar be that x-axis establishes local measurement coordinate system.Since vehicle was being parked
It is constantly travelled in journey, so at the time of being scanned since sensor to ambient enviroment, the moment vehicle institute is in place
The origin as automobile is set, vehicle forward direction is that x-axis establishes global coordinate system, relative to each measurement point, by local coordinate
Each measurement point under system is converted to global coordinate system, so that each object for obtaining vehicle periphery is believed at a distance of the distance of vehicle
Breath.
S12: two-dimensional map is constructed in real time according to range information, and obtains present bit confidence of the vehicle in two-dimensional map
Breath；
It should be noted that the application be based on SLAM (simultaneous localization and mapping, i.e.,
Shi Dingwei and map structuring) algorithm each object according to accessed by current time range information construct two-dimensional map, and
With vehicle it is mobile can real-time reception to current time range information, thus realize to two-dimensional map be updated with it is complete
It is kind.That is, S11 and S12 is real-time perfoming during vehicle parking.
Wherein, when starting to be scanned vehicle periphery object, the application can also be started by the odometer of vehicle
The driving path of vehicle is recorded.During component two-dimensional map, in order to avoid noise etc. interferes, the application may be used also
To carry out pose estimation to vehicle using regularized particle filter device (RPF) algorithm, in conjunction with the vehicle running path of odometer record
Vehicle is accurately positioned, to obtain current location information of the vehicle in two-dimensional map.
S13: target area is determined according to two-dimensional map, and according to the position where current location information and target area
Information determines parking path；
Specifically, S13 be S12 building two-dimensional map excessively in execute, can be from two-dimensional map building process
Free area is identified in the two-dimensional map currently constructed, and the free area is judged according to default condition of parking, it should
The default condition of parking can be the size and/or vehicle of vehicle, specifically can determine whether the area of free area and shape meet
Default condition of parking, and the free area for meeting default condition of parking is met as target area.According to it is current two-dimensionally
The current location information of position and vehicle in current two-dimensional map in figure where target area determines parking path.
It should be noted that the current location information of the vehicle in the application is the location information with target area same
The location information calibrated in the two-dimensional map at moment.
S14: control vehicle is parked according to parking path, so that in vehicle parking to target area.
After having planned parking path, i.e., controllable vehicle carries out automatic parking according to the parking path, finally makes vehicle
It parks into the target area, and the mode that can also park determines according to actual conditions when controlling vehicle parking, e.g.
It is stopped or is moved backward using side and is put in storage, parked in a manner of parking accordingly to control vehicle according to the parking path.
Certainly, the two-dimensional map of building and parking path can also be saved after completing to park, again so as to vehicle
After secondary starting, the path can be called, and detect to the environment of vehicle periphery, it, can in the case where ambient enviroment allows
Parking place is driven out to control vehicle according to the parking path of storage.
Further, control vehicle is parked according to parking path, so that the process in vehicle parking to target area
Include:
Whether there is barrier appearance on detection parking path, if so, pause is parked, obtains between barrier and vehicle
Range information, and S12 is returned, to be updated to two-dimensional map and current location information；If it is not, then continue control vehicle according to
Parking path is parked, so that in vehicle parking to target area.
It should be noted that the application is during controlling vehicle parking, sensing in order to avoid the transmission of emergency case
Device is also scanned the environment of vehicle periphery in real time, when detect there is barrier on parking path when, control vehicle
Pause is parked, while can carry out warning note, at this time can be according to the range information of the obstacle distance vehicle by the obstacle
Object is demarcated in two-dimensional map, to realize update to two-dimensional map, and according to current updated two-dimensional map and
The location information that vehicle is currently located plans parking path again.
Specifically, after having barrier appearance on parking path, it can be determined that whether the barrier disappears within a preset time
It loses, if disappeared, control vehicle can be continued and parked according to the parking path, if the barrier within a preset time
It does not disappear, then obtains the distance between barrier and vehicle information, and return to S12, to two-dimensional map and present bit confidence
Breath is updated, and plans parking path from new.
The application can be realized the process in vehicle automatic parking and take emergency measures to emergency case, be preferably user
It offers convenience, and can guarantee traffic safety to a certain extent.
Further, in above-mentioned S11 before the environment to vehicle periphery is scanned, this method can also include:
Judge whether the current vehicle speed of vehicle is less than preset threshold, and when the current vehicle speed of vehicle is less than preset threshold,
Into S11.
Specifically, usually when vehicle preparation is parked, its speed is lower, the application can be in vehicle for energy saving
Speed just starts to be scanned the environment of vehicle periphery when being lower than preset threshold, wherein and preset threshold is, for example, 10km/h,
Specific value can be determined according to the actual situation.That is, when the current vehicle speed of vehicle is lower than preset threshold, explanation
Vehicle is parked demand, be can control the data acquisition device being arranged on vehicle at this time and is opened, and starts to vehicle periphery
Environment is scanned.Specifically, can be incited somebody to action after each sensor (such as rotary laser radar) in data acquisition device is opened
Vehicle position at this time as origin, vehicle relocate direction of advance be x-axis establish coordinate system, the coordinate system be world coordinates
System, for each measurement point,
Further, the environment of vehicle periphery is scanned in above-mentioned S11, obtains the object of vehicle periphery apart
The process of the range information of vehicle, is specifically as follows:
The object in the first area of vehicle periphery is scanned using rotary laser radar, is obtained in first area
First distance information of the object at a distance of vehicle；
The object in the second area of vehicle periphery is scanned using ultrasonic radar, obtains the object in first area
Body at a distance of vehicle first distance information, and using first distance information and second distance information as range information；Wherein, second
Region is the blind area of rotary laser radar.
It should be noted that minimize cost in order on the basis of guaranteeing scanning accuracy and real-time, the application
It can be scanned by main region of the rotary laser radar to vehicle periphery, due to mainly being needed during vehicle parking
The object in vehicle tail region is scanned, so rotating radar can be set to the tailstock of vehicle in the specific implementation
Portion, to realize the scanning to vehicle tail region；For rotary laser radar scanning less than region (namely blind area), can be with
Sub-scanning is carried out by ultrasonic radar, so as to obtain the range information of the object distance vehicle in global scope.This
Using the scanning area of rotary laser radar as first area in application, the region that ultrasonic radar is scanned is as the secondth area
Domain, second area are the blind area of rotary laser radar.
Certainly, can also be set to the top of vehicle with rotary laser radar in practical applications, and in normally travel or
Rotary laser radar can be packed up after person's vehicle parking, make to measure to prevent external environment from polluting rotary laser radar
As a result inaccurate, and vehicle integrally occupied space can also be reduced.
In addition, in practical applications in addition to realizing the environment to vehicle periphery using rotary laser radar and ultrasonic radar
Except being scanned, the scanning to vehicle-periphery can also be realized using other equipment, it is special that specific the application is not done
It limits, is able to achieve the purpose of the application.
The embodiment of the invention provides a kind of automatic parking methods, this method comprises: the environment to vehicle periphery is swept
It retouches, obtains range information of the object at a distance of vehicle of vehicle periphery；Two-dimensional map is constructed in real time according to range information, and obtains vehicle
Current location information in two-dimensional map；Determine target area according to two-dimensional map, and according to current location information and
Location information where target area determines parking path；Control vehicle is parked according to parking path, so that vehicle parking
To target area.
As it can be seen that the application passes through the object of vehicle periphery detected and the range information of vehicle constructs vehicle place in real time
The two-dimensional map in region, and can accurately determine target area for parking and vehicle to the mesh according to the two-dimensional map
The parking path for marking region parks according to parking path control vehicle, vehicle can be made accurately to park to the target
In region.The application can be realized the accurate positioning to vehicle, and vehicle can be made to realize in the case where parking environment complexity
Quickly, it accurately parks, brings very big convenience for driver.
On the basis of the above embodiments, the embodiment of the present invention provides a kind of automated parking system accordingly, specifically asks
Referring to Fig. 2.The system includes:
Data acquisition device 1 is scanned for the environment to vehicle periphery, obtains the object of vehicle periphery at a distance of vehicle
Range information；
Map structuring module 2 for constructing two-dimensional map in real time according to range information, and obtains vehicle in two-dimensional map
Current location information；
Path planning module 3, for determining target area according to two-dimensional map, and according to current location information and target
Location information where region determines parking path；
Control module 4 is parked for controlling vehicle according to parking path, so that in vehicle parking to target area.
Optionally, path planning module 2 includes:
Recognition unit, for identifying free area from two-dimensional map；
Judging unit, whether area and shape for judging free area meet default condition of parking, if so, by empty
Not busy region is as target area；
Path planning unit, for determining road of parking according to the location information where current location information and target area
Diameter.
It optionally, further include speed judgment module, current vehicle speed used for vehicles is judged, and works as the current of vehicle
When speed is less than preset threshold, trigger data acquisition device.
Optionally, data acquisition device 1 includes:
Rotary laser radar is scanned for the object in the first area to vehicle periphery, is obtained in first area
Object at a distance of vehicle first distance information；
Ultrasonic radar is scanned for the object in the second area to vehicle periphery, is obtained in first area
First distance information of the object at a distance of vehicle；Wherein, second area is the blind area of rotary laser radar；
Range information includes first distance information and second distance information.
It should be noted that automated parking system provided in an embodiment of the present invention have with provide in above-described embodiment from
The dynamic identical beneficial effect of method of parking, the specific introduction to automatic parking method involved in this present embodiment, this Shen
It please details are not described herein.
On the basis of the above embodiments, the embodiment of the invention provides a kind of computer readable storage medium, computers
It is stored with computer program on readable storage medium storing program for executing, such as above-mentioned automatic parking method is realized when computer program is executed by processor
The step of.The embodiment of the present invention has beneficial effect identical with above-mentioned embodiment of the method, to involved in this present embodiment
The specific introduction of the automatic parking method arrived, details are not described herein by the application.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of automatic parking method characterized by comprising
S11: being scanned the environment of vehicle periphery, and the object for obtaining the vehicle periphery is believed at a distance of the distance of the vehicle
Breath；
S12: two-dimensional map is constructed in real time according to the range information, and it is current in the two-dimensional map to obtain the vehicle
Location information；
S13: target area is determined according to the two-dimensional map, and according to the current location information and target area institute
Location information determine parking path；
S14: controlling the vehicle and park according to the parking path, so that the vehicle parking is to the target area
It is interior.
2. automatic parking method according to claim 1, which is characterized in that described to determine target according to the two-dimensional map
The process in region are as follows:
Free area is identified from the two-dimensional map；
Judge whether the area of the free area and shape meet default condition of parking, if so, the free area is made
For the target area.
3. automatic parking method according to claim 2, which is characterized in that the control vehicle is parked according to described
Path is parked, so that the process in the vehicle parking to the target area includes:
Whether the parking path on have barrier appearance, if so, pause is parked, obtain the barrier and the vehicle if detecting
The distance between information, and S12 is returned to, to be updated to the two-dimensional map and the current location information；If it is not, then
Continue to control the vehicle and park according to the parking path, so that in the vehicle parking to the target area.
4. automatic parking method according to claim 2, which is characterized in that the environment to the vehicle periphery into
Before row scanning, the method also includes:
Judge whether the current vehicle speed of vehicle is less than preset threshold, and when the current vehicle speed of the vehicle is less than preset threshold,
Into S11.
5. automatic parking method according to any one of claims 1-4, which is characterized in that the ring to vehicle periphery
Border is scanned, and obtains the object of the vehicle periphery at a distance of the process of the range information of the vehicle are as follows:
The object in the first area of the vehicle periphery is scanned using rotary laser radar, obtains the first area
First distance information of the interior object at a distance of the vehicle；
The object in the second area of the vehicle periphery is scanned using ultrasonic radar, is obtained in the first area
Object at a distance of the vehicle first distance information, and using the first distance information and the second distance information as institute
State range information；Wherein, the second area is the blind area of the rotary laser radar.
6. a kind of automated parking system characterized by comprising
Data acquisition device is scanned for the environment to vehicle periphery, obtains the object of the vehicle periphery at a distance of described
The range information of vehicle；
Map structuring module for constructing two-dimensional map in real time according to the range information, and obtains the vehicle described two
Tie up the current location information in map；
Path planning module, for determining target area according to the two-dimensional map, and according to the current location information and
Location information where the target area determines parking path；
Control module is parked for controlling the vehicle according to the parking path, so that the vehicle parking is to described
In target area.
7. automated parking system according to claim 6, which is characterized in that the path planning module includes:
Recognition unit, for identifying free area from the two-dimensional map；
Judging unit, whether area and shape for judging the free area meet default condition of parking, if so, by institute
Free area is stated as the target area；
Path planning unit, for parking according to the location information determination where the current location information and the target area
Path.
8. automated parking system according to claim 6, which is characterized in that further include speed judgment module, for vehicle
Current vehicle speed judged, and when the current vehicle speed of the vehicle is less than preset threshold, trigger data acquisition dress
It sets.
9. according to automated parking system described in claim 6-8 any one, which is characterized in that the data acquisition device packet
It includes:
Rotary laser radar is scanned for the object in the first area to the vehicle periphery, obtains firstth area
The first distance information of object in domain at a distance of the vehicle；
Ultrasonic radar is scanned for the object in the second area to the vehicle periphery, obtains the first area
First distance information of the interior object at a distance of the vehicle；Wherein, the second area is the blind area of the rotary laser radar；
The range information includes the first distance information and the second distance information.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program, realizing the automatic parking method as described in claim 1 to 5 any one when the computer program is executed by processor
Step.
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739231A (en) * | 2018-12-29 | 2019-05-10 | 北京智行者科技有限公司 | Automatic Pilot charging vehicle control method for stopping and system |
| CN110155043A (en) * | 2019-05-09 | 2019-08-23 | 禾多科技（北京）有限公司 | Automatic parking two-dimensional location method |
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| CN112477851A (en) * | 2020-11-30 | 2021-03-12 | 广州小鹏自动驾驶科技有限公司 | Deceleration strip identification method and device, vehicle and readable storage medium |
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| CN110979313B (en) * | 2019-12-13 | 2021-02-09 | 武汉乐庭软件技术有限公司 | Automatic parking positioning method and system based on space map |
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| CN112046469A (en) * | 2020-09-29 | 2020-12-08 | 上海汽车集团股份有限公司 | Automatic parking method, system, server and storage medium |
| CN112193242A (en) * | 2020-10-10 | 2021-01-08 | 上海欧菲智能车联科技有限公司 | Parking control method, system, device and storage medium |
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