CN113954822A - Method for automatically parking vehicle in side direction - Google Patents
Method for automatically parking vehicle in side direction Download PDFInfo
- Publication number
- CN113954822A CN113954822A CN202111224063.1A CN202111224063A CN113954822A CN 113954822 A CN113954822 A CN 113954822A CN 202111224063 A CN202111224063 A CN 202111224063A CN 113954822 A CN113954822 A CN 113954822A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- parking
- parking space
- obstacle
- vehicle body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000004888 barrier function Effects 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013135 deep learning Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a method for automatically parking in a vehicle side direction, which comprises the steps of firstly collecting parking space information and obstacle information around a parking space, judging whether the parking space meets automatic parking conditions or not by combining the information of a vehicle, planning a parking path if the parking conditions are met, enabling 2/5-4/5 of a vehicle body to enter the parking space, enabling the vehicle body to be parallel to the direction of the parking space by repeatedly moving towards the right front side or the left rear side, detecting that the distance between the vehicle and the obstacle meets a safety range through a sensor in the moving process, and finally adjusting the vehicle to enable the distance between the vehicle and the obstacle in front of and behind the parking space to meet the safety range to finish parking; the parking method can realize complete autonomous parking of the vehicle without participation of a driver, improves user experience, effectively avoids rubbing and colliding with obstacles in front and at back of the parking space in the parking process, and improves the safety and reliability of parking.
Description
Technical Field
The invention relates to a method for automatic parking, in particular for the lateral parking of a vehicle
Background
The difficulty of parking at the side position is usually greater than that of backing and warehousing, and how to park quickly and ensure that front and rear vehicles are not touched is a difficult problem for many drivers to accurately park in the parking space. At present, some cars are provided with automatic parking systems, but often need the participation of drivers, and can not realize real automatic parking; meanwhile, when vehicles are arranged in front of and behind the parking spaces on the sides, the vehicles in front of and behind are easily scraped.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a lateral automatic parking method for avoiding obstacles in front of and behind a scraped car space.
The technical scheme is as follows: the invention relates to a method for automatically parking in a vehicle side direction, which is used for the condition that obstacles exist in the front and the back of a parking space within 1 m and comprises the following steps:
(1) a driver stops the vehicle at the left side of a place for parking, and starts a camera and a sensor of the vehicle body;
(2) the method comprises the steps that surrounding pictures are collected through a camera of a vehicle body, parking space and obstacle information around the parking space are calculated through image processing and model matching, and whether the parking space meets automatic parking conditions or not is judged by combining information of the vehicle; if yes, executing the step (3), otherwise, the driver parks the vehicle by himself or changes the parking space;
(3) planning a parking path, and moving the vehicle to the vehicle bodies 2/5-4/5 to enter the parking spaces according to the parking path;
(4) the direction of the vehicle body is parallel to the direction of the parking space by repeatedly moving towards the right front or the left rear, and the distance between the vehicle and the barrier detected by the sensor in the moving process meets the safety range;
(5) and adjusting the distance between the vehicle and the obstacles in front of and behind the parking space to meet the safety range, and finishing parking.
The method for judging whether the parking space meets the automatic parking condition in the step (2) comprises the following steps:
(11) acquiring parking space photos through a camera and processing the images;
(12) identifying the size, the vertex position and the distance between the parking space and the obstacle through model matching, if the size of the parking space is larger than 50cm of the size of the vehicle body, and the distance between the parking space and the obstacle in front of the parking space is larger than 2m, meeting the parking condition, otherwise, replacing the parking space;
(13) judging whether obstacles such as other vehicles exist around the vehicle body or not, and if no obstacle exists, the vehicle meets the automatic parking condition; if the left side of the parking space is provided with the obstacle, but the horizontal distance between the obstacle and the parking space is larger than 1.5 times of the width of the vehicle body, the vehicle meets the automatic parking condition, and otherwise, the parking space is replaced or the driver parks the vehicle independently.
Has the advantages that: compared with the prior art, the invention has the following advantages: (1) the parking safety is high: the method comprises the steps of performing image processing and model matching by utilizing deep learning, detecting parking space information and whether potential safety hazards exist around a vehicle body when the vehicle parks in a parking space on the right side, judging whether the parking space meets automatic parking conditions, and stopping automatic parking if the parking space does not meet the automatic parking conditions, so that the safety problem in the parking process is avoided from the source; (2) avoid colliding with preceding back obstacle: the distance between the vehicle and the obstacle is detected in real time in the parking process, the safe distance between the vehicle and the obstacle is guaranteed, and the situations of rubbing and collision between the vehicle and the obstacle in front and back are avoided; (3) need not driver's participation, degree of automation is high: in the parking process, the vehicle-mounted intelligent system detects the parking information through the camera image processing and the sensor and controls the vehicle to finish autonomous parking, and the operation of a driver is not needed in the whole process, so that real automatic parking is realized.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 1, the method for automatically parking in the lateral direction of a vehicle according to the present invention is suitable for parking a vehicle in a right parking space, where obstacles such as other vehicles are located at the front and rear of the parking space, and a horizontal distance between the obstacle and the parking space is less than 100cm and greater than 10cm, and includes the following steps:
(1) the method comprises the following steps that a driver stops a vehicle at the left side of a place to be parked, the side parking function of a vehicle-mounted intelligent system is started, the vehicle starts all cameras and sensors of a vehicle body, the cameras at least comprise a left camera, a middle camera, a right camera and a vehicle right side B column of the front side of the vehicle, namely a camera in the middle of two vehicle glasses; the sensors at least comprise three millimeter wave sensors for measuring left, middle and right in front of the vehicle, three millimeter wave sensors for measuring left, middle and right in rear of the vehicle and an angle laser sensor on the roof of the vehicle.
(2) Judging whether the parking space meets the parking condition
The method comprises the steps that a B-pillar camera on the right side of a vehicle body shoots a picture of the surrounding environment, image processing and model matching are conducted through deep learning, a lateral parking space is detected through a lateral position model based on a target detection algorithm YOLO (you Only Look one) and training, and after the parking space is detected, a detection point in an image is extracted based on a detected information result to obtain information such as the coordinate size of the parking space in the image; then, the conversion ratio is calculated through configuration information such as downward or upward overlooking angles of the position of the camera on the vehicle body and the height above the ground, and the configuration information is a fixed numerical value, and data of each vehicle can be different but is fixed and unchangeable and is configured in the vehicle information; then converting the parking space information in the image into information under a vehicle body coordinate system through a conversion ratio; and finally, obtaining the size of the parking space, the positions of four vertexes of the parking space, and the distance between the front obstacle and the rear obstacle of the parking space through the coordinate points under a vehicle body coordinate system. Judging whether the parking space can be parked according to the information of the vehicle, such as the size, the maximum turning radius, the wheel base and the like of the vehicle, comprises the following steps: if the size of the parking space is more than 50cm larger than that of the vehicle body, parking can be performed, otherwise, the parking condition cannot be met; the distance between the obstacle in front of the parking space and the parking space is larger than 10cm, otherwise, the parking condition cannot be met.
And (4) if the vehicle meets the parking condition, continuing to execute the step (3), otherwise, the parking space cannot be parked, and the driver is required to search other parking spaces which are possible to park.
(3) Judging whether the surrounding environment of the vehicle meets the automatic parking condition
All cameras of the vehicle body shoot pictures of surrounding environment, whether obstacles such as other vehicles exist around the vehicle body or not is judged through image processing, and if no obstacle exists, the vehicle meets automatic parking conditions; if the left side of the parking space is provided with the obstacle, but the horizontal distance between the obstacle and the parking space is larger than 1.5 times of the width of the vehicle body, the vehicle meets the automatic parking condition.
And (4) if the vehicle meets the automatic parking condition, continuing to execute the step (4), otherwise, requiring the driver to park the vehicle by himself or to find other parking spaces which are possible to park the vehicle.
(4) Planning a parking path
And planning a driving path based on the distance of the vehicle relative to the parking space, the vehicle body information and the parking space information. In the embodiment, an a-x algorithm is used, the current position of the vehicle is taken as a starting point, the position where the vehicle body 2/3 enters the parking space and the position where the vehicle head is parallel to the obstacle is taken as an end point, the position where the vehicle body 2/5-4/5 enters the parking space can be set, an arc path is planned based on the minimum turning radius of the vehicle body, and the vehicle is stopped to the end point according to the path by driving a steering wheel and backing up the vehicle.
(5) The vehicle moves according to the parking path
The vehicle moves to a path end point according to the parking path, whether a moving obstacle exists around the vehicle body or not is judged according to images collected by a radar sensor and a camera of the vehicle body in the moving process, and if the moving obstacle is detected to be less than 50cm away from the vehicle body, the vehicle stops until the vehicle body is detected to be safe and then continues to move according to the parking path.
(6) Adjusting the position of the vehicle to make the vehicle body parallel to the parking space
(61) And (4) detecting whether the vehicle body is parallel to the parking space direction through a radar sensor of the vehicle body, if so, executing the step (6), otherwise, repeatedly executing the steps (62) and (63) until the vehicle body is parallel to the parking space direction.
(62) And (4) fully driving the steering wheel to the right, moving the vehicle body forwards, detecting that the vehicle is stopped when the specific distance from the radar sensor of the vehicle head to the front obstacle is not more than 20cm, and executing the step (63).
(63) And (4) filling the steering wheel to the left, moving the vehicle body backwards, stopping when the radar sensor at the tail of the vehicle detects that the distance from the rear obstacle is not more than 20cm, and executing the step (62).
(7) The vehicle position is adjusted to ensure that the vehicle body keeps a safe distance from front and rear obstacles
And judging the distance between the front vehicle and the rear vehicle through the radar sensors at the head and the tail of the vehicle, if the distance between the front vehicle and the rear vehicle is less than 20cm, moving the vehicle backwards, and if the distance between the front vehicle and the rear vehicle is less than 20cm, moving the vehicle forwards until the distance between the vehicle and the front and rear obstacles is more than 20cm, and stopping the vehicle to finish automatic parking.
Claims (7)
1. A method for automatically parking a vehicle in a side orientation, comprising the steps of:
(1) a driver stops the vehicle at the left side of a place for parking, and starts a camera and a sensor of the vehicle body;
(2) the method comprises the steps that surrounding pictures are collected through a camera of a vehicle body, parking space and obstacle information around the parking space are calculated through image processing and model matching, and whether the parking space meets automatic parking conditions or not is judged by combining information of the vehicle; if yes, executing the step (3), otherwise, the driver parks the vehicle by himself or changes the parking space;
(3) planning a parking path, and moving the vehicle to the vehicle bodies 2/5-4/5 to enter the parking spaces according to the parking path;
(4) the direction of the vehicle body is parallel to the direction of the parking space by repeatedly moving towards the right front or the left rear, and the distance between the vehicle and the barrier detected by the sensor in the moving process meets the safety range;
(5) and adjusting the distance between the vehicle and the obstacles in front of and behind the parking space to meet the safety range, and finishing parking.
2. The method for automatically parking in the lateral direction of the vehicle as claimed in claim 1, wherein the step (2) of determining whether the parking space satisfies the automatic parking condition comprises the steps of:
(21) acquiring parking space photos through a camera and processing the images;
(22) identifying the size, the vertex position and the distance between the parking space and the obstacle through model matching, if the size of the parking space is larger than 50cm of the size of the vehicle body, and the distance between the parking space and the obstacle in front of the parking space is larger than 2m, meeting the parking condition, otherwise, replacing the parking space;
(23) judging whether obstacles such as other vehicles exist around the vehicle body or not, and if no obstacle exists, the vehicle meets the automatic parking condition; if the left side of the parking space is provided with the obstacle, but the horizontal distance between the obstacle and the parking space is larger than 1.5 times of the width of the vehicle body, the vehicle meets the automatic parking condition, and otherwise, the parking space is replaced or the driver parks the vehicle independently.
3. The method for vehicle side-oriented automatic parking according to claim 1, wherein the cameras in step (1) comprise cameras located on the left side, the middle, the right side and the B-pillar of the vehicle head.
4. The method for vehicle side azimuth automatic parking according to claim 1, wherein the sensors in step (1) include millimeter wave sensors located at the left, middle and right sides of the vehicle head, millimeter wave sensors located at the left, middle and right sides of the vehicle tail, and a laser sensor of the vehicle roof.
5. The method for automatically parking at the side direction of the vehicle as claimed in claim 1, wherein the step (3) further comprises the steps of judging whether a moving obstacle exists around the vehicle body according to data collected by a sensor and a camera of the vehicle body during the moving process, and if the moving obstacle is detected to be less than 50cm away from the vehicle body, stopping the vehicle until the vehicle is detected to safely move around the vehicle body and then continuing to move according to the parking path.
6. The method for automatic parking in a side direction of a vehicle according to claim 1, wherein the safety range in step (4) and step (5) is 20cm or more.
7. The method for automatic parking in a side orientation of a vehicle according to claim 1, wherein the step (3) is: and taking the current position of the vehicle as a starting point, the positions of the vehicle bodies 2/5-4/5 entering the parking spaces and the vehicle heads parallel to the obstacles as an end point, planning an arc path based on the minimum turning radius of the vehicle bodies, and stopping the vehicle to the end point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111224063.1A CN113954822A (en) | 2021-10-19 | 2021-10-19 | Method for automatically parking vehicle in side direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111224063.1A CN113954822A (en) | 2021-10-19 | 2021-10-19 | Method for automatically parking vehicle in side direction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113954822A true CN113954822A (en) | 2022-01-21 |
Family
ID=79465253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111224063.1A Pending CN113954822A (en) | 2021-10-19 | 2021-10-19 | Method for automatically parking vehicle in side direction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113954822A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116061924A (en) * | 2023-03-31 | 2023-05-05 | 禾多科技（北京）有限公司 | HPA memory parking system with real-time feedback of touch point distance information |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990021740A (en) * | 1997-08-30 | 1999-03-25 | 양재신 | Auto parking control method of car |
| KR20130118116A (en) * | 2012-04-19 | 2013-10-29 | 현대모비스 주식회사 | Apparatus and method avoiding collision with moving obstacles in automatic parking assistance system |
| CN105035075A (en) * | 2015-06-24 | 2015-11-11 | 合肥中科自动控制系统有限公司 | Path planning method for autonomous parallel parking |
| CN106985815A (en) * | 2017-03-14 | 2017-07-28 | 重庆长安汽车股份有限公司 | Remote control parking system and method |
| CN107697064A (en) * | 2017-08-18 | 2018-02-16 | 智车优行科技（北京）有限公司 | Automobile side is parked control device, method and automobile and storage medium |
| CN111731272A (en) * | 2020-06-17 | 2020-10-02 | 重庆长安汽车股份有限公司 | Obstacle collision avoidance method based on automatic parking system |
| CN111762152A (en) * | 2019-03-30 | 2020-10-13 | 上海欧菲智能车联科技有限公司 | Parking method, parking device, parking equipment, vehicle and computer-readable storage medium |
-
2021
- 2021-10-19 CN CN202111224063.1A patent/CN113954822A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990021740A (en) * | 1997-08-30 | 1999-03-25 | 양재신 | Auto parking control method of car |
| KR20130118116A (en) * | 2012-04-19 | 2013-10-29 | 현대모비스 주식회사 | Apparatus and method avoiding collision with moving obstacles in automatic parking assistance system |
| CN105035075A (en) * | 2015-06-24 | 2015-11-11 | 合肥中科自动控制系统有限公司 | Path planning method for autonomous parallel parking |
| CN106985815A (en) * | 2017-03-14 | 2017-07-28 | 重庆长安汽车股份有限公司 | Remote control parking system and method |
| CN107697064A (en) * | 2017-08-18 | 2018-02-16 | 智车优行科技（北京）有限公司 | Automobile side is parked control device, method and automobile and storage medium |
| CN111762152A (en) * | 2019-03-30 | 2020-10-13 | 上海欧菲智能车联科技有限公司 | Parking method, parking device, parking equipment, vehicle and computer-readable storage medium |
| CN111731272A (en) * | 2020-06-17 | 2020-10-02 | 重庆长安汽车股份有限公司 | Obstacle collision avoidance method based on automatic parking system |
Non-Patent Citations (1)
| Title |
|---|
| 曹江卫，孙振杰: "智能网联汽车概论", 31 August 2021, 吉林大学出版社, pages: 137 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116061924A (en) * | 2023-03-31 | 2023-05-05 | 禾多科技（北京）有限公司 | HPA memory parking system with real-time feedback of touch point distance information |
| CN116061924B (en) * | 2023-03-31 | 2023-06-16 | 禾多科技（北京）有限公司 | HPA memory parking system with real-time feedback of touch point distance information |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109649384B (en) | Parking assisting method | |
| CN110103967B (en) | Automatic lane changing method for vehicle, vehicle control system and vehicle | |
| EP2988973B1 (en) | Vehicle hitch assistance system | |
| CN103158701B (en) | Derive the system and method for track of parking for vehicle | |
| EP2429877B1 (en) | Camera system for use in vehicle parking | |
| US10768616B2 (en) | Parking control method and parking control device | |
| US20180157267A1 (en) | Vehicle environment imaging systems and methods | |
| CN109131317A (en) | Automatic vertical parking system and method based on multisection type planning and machine learning | |
| CN108032859B (en) | Automatic lane change control method and device and automobile | |
| US10733889B2 (en) | Method and device for parking assistance | |
| US20140156178A1 (en) | Road marker recognition device and method | |
| CN108349533B (en) | Method for determining a parking area for parking a motor vehicle, driver assistance system and motor vehicle | |
| CN112721931A (en) | Vehicle meeting method, device, equipment and storage medium | |
| CN108407784B (en) | Anti-collision control method and device based on fuzzy control theory | |
| CN112224198A (en) | Parking space parking method and device, vehicle and storage medium | |
| CN109814115B (en) | Angle identification and correction method for vertical parking | |
| CN114132305B (en) | Method, system, storage medium and vehicle for planning vertical and inclined parking paths | |
| CN113954822A (en) | Method for automatically parking vehicle in side direction | |
| CN113655486B (en) | Automatic parking method based on single rearview camera and multiple radars | |
| KR20210138192A (en) | Control method of automatic parking device | |
| EP3244233B1 (en) | Apparatus and method for automated parking | |
| US11884265B1 (en) | Parking assistance method and parking assistance device | |
| US20220219678A1 (en) | Parking Assist Method and Parking Assist Apparatus | |
| US20220001856A1 (en) | Method for securing a starting movement of a semi-automated or fully automated vehicle | |
| US20240157965A1 (en) | Driving assistance device and driving assistance method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |