CN113702983A - Parking space fusion identification method and system for automatic parking - Google Patents
Parking space fusion identification method and system for automatic parking Download PDFInfo
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- CN113702983A CN113702983A CN202010428227.1A CN202010428227A CN113702983A CN 113702983 A CN113702983 A CN 113702983A CN 202010428227 A CN202010428227 A CN 202010428227A CN 113702983 A CN113702983 A CN 113702983A
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- 230000004927 fusion Effects 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000010586 diagram Methods 0.000 description 11
- 238000004590 computer program Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 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
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- 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
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- 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
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
Abstract
The invention provides a parking space fusion identification method for automatic parking, which comprises the following steps: step S11, using a vehicle-mounted ultrasonic sensor and a look-around camera to identify the parking space of the parking space, and determining an effective parking space; step S12, recognizing the obstacles on the two sides of the parking space by using a vehicle-mounted all-round camera, and determining whether effective obstacle vehicles exist on the two sides of the parking space; step S13, using the vehicle-mounted all-round cameras to identify the parking angles of the effective obstacle vehicles at the two sides of the parking space of the parking space, and determining the parking angles of the effective obstacle vehicles relative to the driving direction of the vehicle; and step S14, according to the recognized parking angle, adjusting the effective parking space, and determining the parking space finally used for automatic parking. The invention also provides a corresponding system. By implementing the invention, the angles of the vehicles at two sides of the parking space can be identified, so that the vehicle parking space identification is more accurate, and the accuracy and efficiency of parking planning can be improved.
Description
Technical Field
The invention relates to the technical field of automatic parking, in particular to a parking space fusion identification method and system for automatic parking.
Background
In recent years, as the stock of domestic automobiles increases, automatic parking systems have become more and more popular. In the current automatic parking technology, the parking spaces for automatic parking usually employ an ultrasonic sensor, a look-around camera or a combination of the two to comprehensively identify the parking spaces, and the identified parking spaces usually include vertical, horizontal and diagonal parking spaces. The commonly used identification strategies are: when a car passes by, a certain parking space is found, and no obstacle exists in the space, the car is considered as a parking space; and if the ground has the parking space line and no barrier exists in the parking space line, the parking space line is considered as the parking space.
In the prior art, a common method for identifying the space of vertical and inclined parking spaces comprises the following steps: the method is mainly realized by detecting the obstacles by using ultrasonic waves, namely, firstly, detecting a section of space without the obstacles by using the ultrasonic waves, then, judging whether the section of space meets the parking requirement by using logic, and if the section of space meets the parking requirement, releasing the parking space serving as an effective parking space to a subsequent trajectory planning and vehicle control unit for parking.
However, the prior art also has some defects: when vehicles are detected to be in the two sides of the effective vertical and inclined parking space, only whether the space exists is judged due to the limitation of ultrasonic waves, and the parking shapes of the vehicles on the two sides cannot be judged. If the vehicles on the two sides are parked irregularly, are not approximately perpendicular to the driving direction of the vehicles and have a certain relative angle, the track planning performed by using the parking spaces identified by the prior technical scheme may cause that the initial planning is too close to the vehicle on one side, so that passengers on the vehicle on one side cannot get off the vehicle; or because the parking adjustment needs to be carried out for a plurality of times when the vehicle is close to one side, the parking process is complicated and the time is long.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a parking space fusion identification method and system for automatic parking, which can identify the angles of obstacle vehicles on two sides of a parking space, so that the vehicle parking space identification is more accurate, the accuracy of parking planning can be improved, and the number of parking steps and parking time are reduced.
In order to solve the above technical problem, an aspect of the present invention provides a parking space fusion recognition method for automatic parking, including the following steps:
step S11, using a vehicle-mounted ultrasonic sensor and a look-around camera to identify the parking space to determine an effective parking space, wherein the parking space is at least a vertical parking space or an inclined parking space;
step S12, recognizing obstacles on two sides of the parking space by using a vehicle-mounted all-round camera, and determining whether effective obstacle vehicles exist on two sides of the parking space;
step S13, recognizing the parking angle of the effective obstacle vehicle by using a vehicle-mounted all-round camera, and determining the parking angle of the effective obstacle vehicle relative to the driving direction of the vehicle;
and step S14, adjusting the effective parking space according to the identified parking angle, and determining the parking space finally used for automatic parking.
Wherein the step S11 further includes:
identifying space parameters of a parking space, wherein the space parameters comprise the width of the parking space and the depth of the parking space;
and comparing the space parameters with a preset threshold value, and determining the parking space as an effective parking space when the identified space parameters exceed the preset threshold value.
Wherein the step S12 further includes:
using a vehicle-mounted all-round camera to identify obstacles in the preset range on two sides of the parking space;
and if the obstacle exists on at least one side, the length, the width and the tire size information of the obstacle exist and the corresponding preset threshold value is met, determining that the valid obstacle vehicle exists on at least one side of the parking space, and storing the length, the width and the tire size information.
Wherein the step S13 further includes:
carrying out angle recognition on the effective obstacle vehicle on at least one side of the parking space to obtain the relative angle of the effective obstacle vehicle relative to the driving direction of the vehicle;
when the relative angle is within a predetermined angle threshold, the relative angle is stored.
Wherein the step S14 further includes:
according to the number of the effective obstacle vehicles and the parking angles of the obstacle vehicles, the effective parking space is adjusted to obtain an adjusted parking space; the adjusted parking space is a parallelogram-like space or a trapezoid-like space;
judging whether the adjusted parking space is an effective parking space;
and after the judgment result is that the parking space is the effective parking space, determining the adjusted parking space as the parking space finally used for automatic parking for the automatic parking system.
Accordingly, as another aspect of the present invention, there is also provided a parking space fusion recognition system for automatic parking, including:
the parking space identification unit is used for identifying the parking space of the parking space by using a vehicle-mounted ultrasonic sensor and a look-around camera to determine an effective parking space which can be parked, wherein the parking space is at least a vertical parking space or an inclined parking space;
the obstacle vehicle identification unit is used for identifying obstacles on two sides of the parking space by using a vehicle-mounted all-round camera and determining whether effective obstacle vehicles exist on two sides of the parking space;
the obstacle vehicle angle identification unit is used for identifying the parking angle of the effective obstacle vehicle by using a vehicle-mounted all-round camera and determining the parking angle of the effective obstacle vehicle relative to the driving direction of the vehicle;
and the parking space fusion adjusting unit is used for adjusting the effective parking space according to the identified parking angle and determining the parking space finally used for automatic parking.
Wherein, parking stall space recognition unit further includes:
the parking space parameter identification unit is used for identifying the parking space parameters, and the parking space parameters comprise the width of the parking space and the depth of the parking space;
and the parking space determining unit is used for comparing the space parameter with a preset threshold value and determining the parking space as an effective parking space when the identified space parameter exceeds the preset threshold value.
Wherein the obstacle vehicle identification unit further includes:
the obstacle identification unit is used for identifying obstacles in the preset range at two sides of the parking space by using a vehicle-mounted all-round camera;
and the obstacle vehicle confirming unit is used for determining that effective obstacle vehicles exist on at least one side of the parking space and storing the length, the width and the tire size information when the obstacle recognizing unit recognizes that the obstacle exists on at least one side and the length, the width and the tire size information of the obstacle exist and meet corresponding preset threshold values.
Wherein the obstacle vehicle angle recognition unit further includes:
the angle recognition unit is used for carrying out angle recognition on the effective obstacle vehicle on at least one side of the parking space to obtain the relative angle of the effective obstacle vehicle relative to the driving direction of the vehicle;
and determining a storage unit for storing the relative angle when the relative angle is within a predetermined angle threshold.
Wherein, the parking space integration adjustment unit further includes:
the adjusting unit is used for adjusting the effective parking space according to the effective number of the obstacle vehicles and the parking angles of the obstacle vehicles to obtain an adjusted parking space; the adjusted parking space is a parallelogram-like space or a trapezoid-like space;
the judgment output unit is used for judging whether the adjusted parking space is an effective parking space; and after the judgment result is the effective parking space, determining the adjusted parking space as the parking space finally used for automatic parking for the automatic parking system.
The embodiment of the invention has the following beneficial effects:
the invention provides a parking space fusion recognition method and a parking space fusion recognition system for automatic parking, aiming at the problem that the existing vertical and diagonal parking space recognition methods cannot recognize the angles of obstacle vehicles on two sides of a parking space, and on the basis of the existing parking space units, an obstacle vehicle recognition unit, an obstacle vehicle angle recognition unit and a parking space fusion adjustment unit are added, so that the vertical and diagonal parking space recognition of the automatic parking system is more accurate, the parking planning accuracy can be improved, and the number of parking steps and the parking time can be reduced;
the parking space fusion recognition method and the parking space fusion recognition system can simultaneously perform fusion recognition on vertical parking spaces and inclined parking spaces, judge the parking slopes of effective obstacle vehicles on two sides of the parking spaces on the basis of the original vertical or inclined parking space recognition unit, and can fuse and form adjusted parking space, so that the parking space recognition is more accurate, the perception capability of automatic parking on the target vertical and inclined parking spaces can be improved, and the parking efficiency of an automatic parking system can be improved.
Drawings
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 introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive exercise.
Fig. 1 is a schematic main flow chart of an embodiment of a parking space fusion identification method for automatic parking according to the present invention;
FIG. 2 is a schematic diagram of one embodiment of identifying a parking space involved in FIG. 1;
FIG. 3 is a comparison of the parking space before and after adjustment for one example of the system of FIG. 1;
FIG. 4 is a graph showing the relationship between the relative angle of the effective obstacle vehicle with respect to the direction of travel of the host vehicle as referenced in FIG. 1;
FIG. 5 is a comparison of the parking space before and after adjustment for another example of the type referred to in FIG. 1;
FIG. 6 is a comparison of the parking space before and after adjustment for yet another example of the type referenced in FIG. 1;
fig. 7 is a schematic structural diagram of an embodiment of a parking space fusion recognition system for automatic parking according to the present invention;
FIG. 8 is a schematic structural diagram of the parking space recognition unit in FIG. 7;
fig. 9 is a schematic view of the configuration of the obstacle vehicle identifying unit of fig. 7;
fig. 10 is a schematic structural view of an obstacle vehicle angle recognition unit in fig. 7;
fig. 11 is a schematic structural diagram of the parking space fusion adjusting unit in fig. 7.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 is a main flow chart illustrating an embodiment of a parking space fusion recognition method for automatic parking according to the present invention; with reference to fig. 2 to 6, in this embodiment, the parking space fusion recognition method for automatic parking includes the following steps:
step S11, using a vehicle-mounted ultrasonic sensor and a look-around camera to identify the parking space to determine an effective parking space, wherein the parking space is at least a vertical parking space or an inclined parking space;
in a specific example, the step S11 further includes:
identifying space parameters of a parking space, wherein the space parameters comprise a parking space Width (Width) and a parking space Depth (Depth);
and comparing the space parameters with a preset threshold value, and determining the parking space as an effective parking space when the identified space parameters exceed the preset threshold value.
It can be understood that the method for detecting the parking space adopted by the invention is to use ultrasonic waves to judge the parking space. Because the detection of ultrasonic wave is range detection, the judgment has a certain error range, so the condition in the parking space cannot be accurately determined, and only approximate effective parking space can be provided. In the prior art, the representation of the space is a rectangular space. Only if the depth and the width of the identified parking space are larger than the minimum parking space length and the minimum parking space width required by the automatic parking system, the parking space is considered as a parking space; the parking space can be seen in the range of the dashed box in fig. 3.
Step S12, recognizing obstacles on two sides of the parking space by using a vehicle-mounted all-round camera, and determining whether effective obstacle vehicles exist on two sides of the parking space;
in a specific example, the step S12 further includes:
using a vehicle-mounted all-round camera to identify obstacles in a preset range (such as 2 meters) at two sides of the parking space;
and if the obstacle exists on at least one side, and the length, the width, the wheel base length and the tire size information of the obstacle exist and meet the corresponding preset threshold, determining that the valid obstacle vehicle exists on at least one side of the parking space, and storing the length, the width, the wheel base length and the tire size information. It will be appreciated that the width of an obstacle needs to be greater than a fixed value (e.g. greater than 1.5 meters), while the dimensions of the identified vehicle, including length (Lcar), width (Wcar) and tire size (S), need to all meet a range of requirements to be considered a valid vehicle; in other examples, wheelbase length (Lgear) information may also be identified; the identification of the tire size can compare the picture shot by the viewing camera with the prestored tire model picture, and the similarity between the picture and the prestored tire model picture can be determined. Through the identification of the length (Lcar), the width (Wcar) and the tire size (S) of the vehicle, the obstacle can be judged to be a vehicle, and the contour line of the vehicle close to the parking space can be conveniently confirmed.
It can be understood that the purpose of effective obstacle vehicle identification is to identify whether vehicles exist in obstacles on two sides of a vertical or inclined effective parking space, and the obstacles include three situations that a vehicle exists on the left side and does not exist on the right side, a vehicle does not exist on the left side and exists on the right side, and vehicles exist on the left side and the right side. If no vehicle exists on the left side and the right side, merging the exiting parking space with the updated logic, and outputting the current parking space to the automatic parking system to serve as the target parking space. If there is a vehicle on either side of the space, the process proceeds to step S13, and in this embodiment, a specific flag may be used to indicate that there is an obstacle vehicle on one side.
Step S13, recognizing the parking angle of the effective obstacle vehicle by using a vehicle-mounted all-round camera, and determining the parking angle of the effective obstacle vehicle relative to the driving direction of the vehicle;
in a specific example, the step S13 further includes:
carrying out angle recognition on the effective obstacle vehicle on at least one side of the parking space to obtain the relative angle of the effective obstacle vehicle relative to the driving direction of the vehicle; in a specific example, the relative angle can be determined by adopting a connecting line of one side of the effective obstacle vehicle facing the parking space, and the relative angle can also be determined by adopting a longitudinal center line of the effective obstacle vehicle;
when the relative angle is within a predetermined angle threshold, the relative angle is stored. As shown in fig. 4, the Area in the figure is the predetermined angle threshold range, and the value of the Area may be, for example, 30 degrees to 150 degrees. Only if the parking angle of the effective obstacle vehicle relative to the driving direction of the vehicle is within the Area range, that is, when the recognized parking angle is between 30 and 150 degrees, the vehicle is considered to be an effective vehicle on both sides of the vertical or inclined parking space, otherwise, the vehicle is considered to be unrelated to the recognized effective parking space.
And step S14, adjusting the effective parking space according to the identified parking angle, and determining the parking space finally used for automatic parking.
In a specific example, the step S14 further includes:
according to the number of the effective obstacle vehicles and the parking angles of the obstacle vehicles, the effective parking space is adjusted to obtain an adjusted parking space; the adjusted parking space is a parallelogram-like space or a trapezoid-like space;
judging whether the adjusted parking space is an effective parking space; it can be understood that the depth and the minimum width of the adjusted parking space need to meet the requirements of a certain range. Updating the space slope only if the updated minimum parking space width and depth are larger than the minimum parking space width and depth required by the automatic parking system; otherwise, the parking space is an invalid parking space and cannot be released to the automatic parking system for subsequent parking;
and after the judgment result is that the parking space is the effective parking space, determining the adjusted parking space as the parking space finally used for automatic parking, and using the parking space for an automatic parking system, such as trajectory planning and control.
It can be understood that the foregoing method for adjusting the slope update using the space is divided into several cases: one is to update the rectangular space identified by the parking space identification unit to a trapezoidal space when there is a car on only one side, as shown in fig. 3, where the solid line frame is the parking space identified in step S10, and the dotted line frame is the adjusted parking space. Secondly, under the condition that vehicles are arranged on both sides, the rectangular space identified by the parking space identification unit is updated to be a space similar to a parallelogram or a trapezoid (see fig. 5 and 6).
Fig. 7 is a schematic structural diagram illustrating an embodiment of a parking space fusion recognition system for automatic parking according to the present invention; referring to fig. 8 to 11 together, in this embodiment, the parking space fusion recognition system 1 for automatic parking includes:
the parking space identification unit 10 is used for identifying the parking space of the parking space by using a vehicle-mounted ultrasonic sensor and a look-around camera, and determining an effective parking space which can be parked, wherein the parking space is a vertical parking space or an inclined parking space;
the obstacle vehicle identification unit 11 is configured to identify obstacles on two sides of the parking space by using a vehicle-mounted all-round camera, and determine whether effective obstacle vehicles exist on two sides of the parking space;
the obstacle vehicle angle identification unit 12 is configured to identify a parking angle of the effective obstacle vehicle by using a vehicle-mounted panoramic camera, and determine a parking angle of the effective obstacle vehicle relative to a driving direction of the vehicle;
and the parking space fusion adjusting unit 13 is configured to adjust the effective parking space according to the identified parking angle, and determine a parking space finally used for automatic parking.
Specifically, in an implementation example, the parking space recognition unit 10 further includes:
the system comprises a space parameter identification unit 100, a parking space identification unit and a parking space identification unit, wherein the space parameter identification unit is used for identifying space parameters of a parking space, and the space parameters comprise parking space width and parking space depth;
a parking space determining unit 101, configured to compare the spatial parameter with a predetermined threshold, and determine the space as a valid parking space when the identified spatial parameter exceeds the predetermined threshold.
Specifically, in one implementation example, the obstacle vehicle recognition unit 11 further includes:
the obstacle identification unit 110 is used for identifying obstacles in the preset range on two sides of the parking space by using a vehicle-mounted all-round camera;
and an obstacle vehicle confirming unit 111, configured to determine that an effective obstacle vehicle exists on at least one side of the parking space and store the length, the width, the wheel base length, and the tire size information when the obstacle recognizing unit recognizes that an obstacle exists on at least one side and the obstacle exists on the length, the width, the wheel base length, and the tire size information and satisfy corresponding predetermined thresholds.
Specifically, in one implementation example, the obstacle vehicle angle recognition unit 12 further includes:
an angle recognition unit 120, configured to perform angle recognition on an effective obstacle vehicle on at least one side of the parking space, and obtain a relative angle of the effective obstacle vehicle with respect to a driving direction of the vehicle;
a determination storage unit 121 for storing the relative angle when the relative angle is within a predetermined angle threshold.
Specifically, in an implementation example, the parking space fusion adjusting unit 13 further includes:
the adjusting unit 130 is configured to adjust the effective parking space according to the number of the effective obstacle vehicles and the parking angles of the obstacle vehicles, so as to obtain an adjusted parking space; the adjusted parking space is a parallelogram-like space or a trapezoid-like space;
a judgment output unit 131, configured to judge whether the adjusted parking space is an effective parking space; and after the judgment result is the effective parking space, determining the adjusted parking space as the parking space finally used for automatic parking for the automatic parking system.
For more details, reference may be made to the foregoing description of fig. 1 to 6, which is not detailed here.
The embodiment of the invention has the following beneficial effects:
the invention provides a parking space fusion recognition method and a parking space fusion recognition system for automatic parking, aiming at the problem that the conventional vertical and diagonal parking space recognition method cannot recognize the angles of obstacle vehicles on two sides of a parking space, and on the basis of the conventional parking space unit, an obstacle vehicle recognition unit, an obstacle vehicle angle recognition unit and a parking space fusion adjustment unit are added, so that the vertical and diagonal parking space recognition of the automatic parking system is more accurate, the parking planning accuracy can be improved, and the number of parking steps and the parking time are reduced;
the parking space fusion recognition method and the parking space fusion recognition system can simultaneously perform fusion recognition on vertical parking spaces and inclined parking spaces, judge the parking slopes of effective obstacle vehicles on two sides of the parking spaces on the basis of the original vertical or inclined parking space recognition unit, and can fuse and form adjusted parking space, so that the parking space recognition is more accurate, the perception capability of automatic parking on the target vertical and inclined parking spaces can be improved, and the parking efficiency of an automatic parking system can be improved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. A parking space fusion identification method for automatic parking is characterized by comprising the following steps:
step S11, using a vehicle-mounted ultrasonic sensor and a look-around camera to identify the parking space to determine an effective parking space, wherein the parking space is at least a vertical parking space or an inclined parking space;
step S12, recognizing obstacles on two sides of the parking space by using a vehicle-mounted all-round camera, and determining whether effective obstacle vehicles exist on two sides of the parking space;
step S13, recognizing the parking angle of the effective obstacle vehicle by using a vehicle-mounted all-round camera, and determining the parking angle of the effective obstacle vehicle relative to the driving direction of the vehicle;
and step S14, adjusting the effective parking space according to the identified parking angle, and determining the parking space finally used for automatic parking.
2. The method of claim 1, wherein the step S11 further comprises:
identifying space parameters of a parking space, wherein the space parameters comprise the width of the parking space and the depth of the parking space;
and comparing the space parameters with a preset threshold value, and determining the parking space as an effective parking space when the identified space parameters exceed the preset threshold value.
3. The method of claim 2, wherein the step S12 further comprises:
using a vehicle-mounted all-round camera to identify obstacles in the preset range on two sides of the parking space;
and if the obstacle exists on at least one side, the length, the width and the tire size information of the obstacle exist and the corresponding preset threshold value is met, determining that the valid obstacle vehicle exists on at least one side of the parking space, and storing the length, the width and the tire size information.
4. The method of claim 3, wherein the step S13 further comprises:
carrying out angle recognition on the effective obstacle vehicle on at least one side of the parking space to obtain the relative angle of the effective obstacle vehicle relative to the driving direction of the vehicle;
when the relative angle is within a predetermined angle threshold, the relative angle is stored.
5. The method of claim 4, wherein the step S14 further comprises:
according to the number of the effective obstacle vehicles and the parking angles of the obstacle vehicles, the effective parking space is adjusted to obtain an adjusted parking space; the adjusted parking space is a parallelogram-like space or a trapezoid-like space;
judging whether the adjusted parking space is an effective parking space;
and after the judgment result is that the parking space is the effective parking space, determining the adjusted parking space as the parking space finally used for automatic parking for the automatic parking system.
6. A parking space fusion recognition system for automatic parking, comprising:
the parking space identification unit is used for identifying the parking space of the parking space by using a vehicle-mounted ultrasonic sensor and a look-around camera to determine an effective parking space which can be parked, wherein the parking space is at least a vertical parking space or an inclined parking space;
the obstacle vehicle identification unit is used for identifying obstacles on two sides of the parking space by using a vehicle-mounted all-round camera and determining whether effective obstacle vehicles exist on two sides of the parking space;
the obstacle vehicle angle identification unit is used for identifying the parking angle of the effective obstacle vehicle by using a vehicle-mounted all-round camera and determining the parking angle of the effective obstacle vehicle relative to the driving direction of the vehicle;
and the parking space fusion adjusting unit is used for adjusting the effective parking space according to the identified parking angle and determining the parking space finally used for automatic parking.
7. The system of claim 6, wherein the parking space identification unit further comprises:
the parking space parameter identification unit is used for identifying the parking space parameters, and the parking space parameters comprise the width of the parking space and the depth of the parking space;
and the parking space determining unit is used for comparing the space parameter with a preset threshold value and determining the parking space as an effective parking space when the identified space parameter exceeds the preset threshold value.
8. The system of claim 7, wherein the obstacle vehicle identification unit further comprises:
the obstacle identification unit is used for identifying obstacles in the preset range at two sides of the parking space by using a vehicle-mounted all-round camera;
and the obstacle vehicle confirming unit is used for determining that effective obstacle vehicles exist on at least one side of the parking space and storing the length, the width and the tire size information when the obstacle recognizing unit recognizes that the obstacle exists on at least one side and the length, the width and the tire size information of the obstacle exist and meet corresponding preset threshold values.
9. The system of claim 8, wherein the obstacle vehicle angle identification unit further comprises:
the angle recognition unit is used for carrying out angle recognition on the effective obstacle vehicle on at least one side of the parking space to obtain the relative angle of the effective obstacle vehicle relative to the driving direction of the vehicle;
and determining a storage unit for storing the relative angle when the relative angle is within a predetermined angle threshold.
10. The system of claim 9, wherein the parking space fusion adjustment unit further comprises:
the adjusting unit is used for adjusting the effective parking space according to the effective number of the obstacle vehicles and the parking angles of the obstacle vehicles to obtain an adjusted parking space; the adjusted parking space is a parallelogram-like space or a trapezoid-like space;
the judgment output unit is used for judging whether the adjusted parking space is an effective parking space; and after the judgment result is the effective parking space, determining the adjusted parking space as the parking space finally used for automatic parking for the automatic parking system.
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| Publication number | Priority date | Publication date | Assignee | Title |
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