CN114063086B - Automatic parking space error release preventing method - Google Patents
Automatic parking space error release preventing method Download PDFInfo
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- CN114063086B CN114063086B CN202111328343.7A CN202111328343A CN114063086B CN 114063086 B CN114063086 B CN 114063086B CN 202111328343 A CN202111328343 A CN 202111328343A CN 114063086 B CN114063086 B CN 114063086B
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000008569 process Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 230000002265 prevention Effects 0.000 abstract description 11
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
Classifications
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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 discloses an automatic parking space error release prevention method, which comprises the following steps: searching the parking spaces around the vehicle; if the detected first position is the line parking space, judging the confidence that the first parking space is the line parking space; if the confidence coefficient is higher than the threshold value, determining that the vehicle is a line vehicle, detecting whether an obstacle exists in the vehicle, and determining whether to release the vehicle; if the confidence coefficient is lower than the threshold value, determining whether to release the corresponding parking space based on the consistency of the parking space types of the second parking space, the third parking space and the first parking space and whether obstacles exist in the first, second and third parking spaces; if the detected first available parking space is a space parking space, judging whether the same type of space parking space exists before, and determining whether the first available parking space is released; and determining whether to release the follow-up available parking spaces according to the consistency of the follow-up detected parking spaces and the first available parking spaces. The automatic parking space error release prevention method of the invention releases the parking space based on the front and rear parking space types, and can solve the problems of error recognition and error release of the parking space.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to an automatic parking space error release prevention method.
Background
With the arrival of automobile intellectualization, more and more vehicles are provided with functions such as an automatic parking system (APA), a remote control parking system (RPA) and the like, so that the problem of difficult parking of a new driver can be solved by automatic parking and remote control parking, and on the other hand, the obstacles around the vehicle can be detected based on sensors around the vehicle in the process of parking, so that the collision between the vehicle and other objects in the parking process is avoided, the safety of the vehicle in the parking process is ensured, and the loss caused by the parking collision is reduced. However, most automatic parking systems on the market at present often generate missing report and false report of the parking space in the parking space searching process, and the parking experience of a driver is affected.
Therefore, there is a need for an anti-misplacement method for automatic parking spaces.
Disclosure of Invention
The invention aims to provide an automatic parking space error release prevention method, which aims to solve the problems in the prior art.
The invention provides an automatic parking space error release prevention method, which comprises the following steps:
searching the parking spaces around the vehicle;
if the detected first parking space is a line parking space, judging that the first parking space is the position degree of the line parking space;
if the position degree of the first parking space being the line parking space is higher than a preset position degree threshold, determining that the first parking space is the line parking space, and detecting whether an obstacle exists in the first parking space or not to determine whether the first parking space is released or not;
if the position degree of the first parking space being the line parking space is lower than a preset position degree threshold value, determining whether to release the corresponding parking space based on the consistency of the parking space types of the second parking space and the third parking space and the parking space type of the first parking space and whether an obstacle exists in the first parking space or the second parking space or the third parking space;
if the detected first available parking space is a space parking space, judging whether the first available parking space has the same type of space parking space before so as to determine whether to release the first available parking space;
and determining whether to release the subsequent available parking space and the corresponding parking space type according to the consistency of the type of the subsequent detected parking space and the type of the first available parking space.
The method for preventing the automatic parking space from being released by mistake, wherein the searching the parking space around the vehicle preferably comprises the following steps:
and searching the parking spaces around the vehicle by using the 360-degree looking camera and the ultrasonic radar which are arranged around the vehicle.
The method for preventing the automatic parking space from being released by mistake, wherein preferably, if the detected first parking space is a linear parking space, the method for judging the confidence that the first parking space is the linear parking space comprises the following specific steps:
if the detected first parking space is the line parking space, judging the confidence that the first parking space is the line parking space based on a line parking space detection algorithm.
The method for preventing the automatic parking space from being released by mistake, wherein preferably, if the confidence coefficient of the first parking space being the line parking space is higher than a preset confidence coefficient threshold value, determining that the first parking space is the line parking space, and detecting whether an obstacle exists in the first parking space to determine whether to release the first parking space, specifically comprising:
if the position degree of the first parking space being the line parking space is higher than a preset position degree threshold, determining that the first parking space is the line parking space, and judging the type of the line parking space;
based on 360 look around cameras and ultrasonic radar, detect whether there is the barrier in the first parking stall:
if no obstacle is detected in the first parking space, releasing the first parking space;
and if the obstacle is detected in the first parking space, the first parking space is not released.
According to the automatic parking space error release prevention method, preferably, under the condition that the first parking space is determined to be the line parking space, the judging of the parking space type of the line parking space specifically comprises:
judging the type of the linear parking spaces according to the shape characteristics of the detected linear parking spaces, wherein the type of the linear parking spaces comprises vertical linear parking spaces, horizontal linear parking spaces or inclined linear parking spaces.
According to the automatic parking space error release prevention method, preferably, if the confidence that the first parking space is a linear parking space is lower than a preset confidence threshold, determining whether to release the corresponding parking space based on the consistency of the parking space types of the second parking space and the third parking space and whether there is an obstacle in the first parking space or the second parking space or the third parking space, specifically includes:
if the first parking space is a linear parking space and the confidence coefficient is lower than a preset confidence coefficient threshold value, judging the type of the linear parking space, judging whether other obstacles exist in the first parking space or not, and continuing to search the parking space;
if the detected parking space types of the second parking space and the third parking space are consistent with the parking space type of the first parking space, and no barrier exists in the first parking space, releasing the first parking space and the corresponding parking space type;
if the detected parking space types of the second parking space and the third parking space are inconsistent with the parking space type of the first parking space, or an obstacle is detected in the first parking space, the first parking space is not released, and the parking space type of the first parking space is recorded;
and if the detected parking space types of the second parking space and the third parking space are consistent with the parking space type of the first parking space, and no obstacle exists in the second parking space or the third parking space, releasing the second parking space or the third parking space and the corresponding parking space type.
In the above-mentioned method for preventing erroneous release of an automatic parking space, preferably, if the detected first available parking space is a space parking space, it is determined whether the first available parking space is preceded by a space parking space of the same type, so as to determine whether to release the first available parking space, including:
if the detected first available parking space is a space parking space, judging whether the first available parking space is in front of the same type of space parking space;
if at least two space parking spaces of the type exist, releasing a first available parking space and the corresponding parking space type;
if at least two space parking spaces of the type do not exist, the detection of the parking spaces is continued;
and if the type of the subsequently detected parking space is consistent with the type of the first available parking space, releasing the first available parking space and the corresponding type of the parking space.
In the above-mentioned method for preventing erroneous release of an automatic parking space, preferably, in the case that the detected first available parking space is a space parking space, the determining whether the first available parking space has a space parking space of the same type or not includes:
judging whether the same type of space parking spaces exist before the first available parking space based on the type size of the obstacle before the first available parking space;
if the sizes of the continuous multiple barriers are all larger than a preset size threshold, determining that the type of the first available parking space is a space parking space;
the type of the space parking space is judged according to the shape characteristics of the detected space parking space, and the type of the space parking space comprises a vertical space parking space, a horizontal space parking space or an inclined space parking space.
According to the automatic parking space error release prevention method, preferably, according to the consistency of the type of the subsequently detected parking space and the type of the first available parking space, determining whether to release the subsequently available parking space and the corresponding type of the parking space specifically includes:
in the parking space searching process, if the front continuous N parking spaces are vertical space parking spaces, the (N+1) th parking space is a horizontal space parking space or an inclined space parking space, and the parking space types of the (N+2) th parking space and the (N+3) th parking space are inconsistent with the parking space type of the (N+1) th parking space, determining the (N+1) th parking space as a misrelease parking space;
if the front continuous N parking spaces are vertical space parking spaces and the N+1th parking space is a horizontal space parking space or an inclined space parking space, and the type of the N+2th parking space or the N+3rd parking space is consistent with the type of the N+1th parking space, determining the N+1th parking space as an available parking space;
if no obstacle exists in the (N+1) th parking space, releasing the (N+1) th parking space based on the type of the parking space of the (N) th parking space in front, and determining the releasing position of the (N+1) th parking space based on the average position of the (N) th parking space in front;
if the widths of the N consecutive parking spaces in front are W meters, the width of the (n+1) th parking space is W meters, and the parking space position is adjacent to the (N) th parking space;
if space is still available after the (N+1) th parking space is released, sequentially releasing the (N+2) th parking space and the (N+3) th parking space;
and if the obstacle is detected after the N-th parking space, releasing the same type of parking space after the obstacle.
According to the automatic parking space error release prevention method, preferably, according to the consistency of the type of the subsequently detected parking space and the type of the first available parking space, determining whether to release the subsequently available parking space and the corresponding type of the parking space specifically includes:
in the parking space searching process, if the front continuous N parking spaces are horizontal space parking spaces or diagonal space parking spaces, the (n+1) th parking space is a vertical space parking space, and the parking space types of the (n+2) th parking space and the (n+3) th parking space are inconsistent with the parking space type of the (n+1) th parking space, determining the (n+1) th parking space as a misrelease parking space;
if the front continuous N parking spaces are horizontal space parking spaces or diagonal space parking spaces, the (N+1) th parking space is a vertical space parking space, and the type of the (N+2) th parking space or the (N+3) th parking space is consistent with the type of the (N+1) th parking space, determining the (N+1) th parking space as an available parking space;
if no obstacle exists in the (N+1) th parking space, releasing the (N+1) th parking space based on the type of the parking space of the (N) th parking space in front, and determining the releasing position of the (N+1) th parking space based on the average position of the (N) th parking space in front;
if the widths of the N consecutive parking spaces in front are W meters, the width of the (n+1) th parking space is W meters, and the parking space position is adjacent to the (N) th parking space;
if space is still available after the (N+1) th parking space is released, sequentially releasing the (N+2) th parking space and the (N+3) th parking space;
and if the obstacle is detected after the N-th parking space, releasing the same type of parking space after the obstacle.
The invention provides an automatic parking space anti-misoperation release method, which combines the position degree of a line parking space, whether barriers exist in the parking space and the type of the front and rear parking spaces to determine whether to release the parking space, and can solve the problems that a plurality of continuous vertical parking spaces appear in a parking space retrieval stage are mistakenly identified as horizontal parking spaces after an automatic parking system is started and the parking spaces are mistakenly released at part of road openings.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of an embodiment of an automatic parking space error release prevention method provided by the invention.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments should be construed as exemplary only and not limiting unless otherwise specifically stated.
"first", "second", as used in this disclosure: and similar words are not to be interpreted in any order, quantity, or importance, but rather are used to distinguish between different sections. The word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements. "upper", "lower", etc. are used merely to denote relative positional relationships, which may also change accordingly when the absolute position of the object to be described changes.
In this disclosure, when a particular element is described as being located between a first element and a second element, there may or may not be intervening elements between the particular element and the first element or the second element. When it is described that a specific component is connected to other components, the specific component may be directly connected to the other components without intervening components, or may be directly connected to the other components without intervening components.
All terms (including technical or scientific terms) used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification.
At present, parking space is mostly searched through a scheme of combining vision and ultrasonic waves, namely vision is used for detecting the space, an ultrasonic radar is used for detecting the space, and the parking space is combined through a certain strategy, so that the available empty parking space is finally output.
In the prior art, false alarm and missing report of available parking spaces often occur, namely, due to the fact that existence of a line parking space cannot be detected based on vision between two curbstones or shrubs, detection and release of the parking spaces are completely completed based on an ultrasonic radar, and when the ultrasonic radar detects that the distance between the two curbstones or the shrubs is larger than the width or length of the set parking space, the available parking space can be mistakenly considered as an effective parking space. In addition, when a plurality of continuous vertical line parking stalls are effective parking stalls, because the land line is unclear this moment, probably by the mistake discernment as horizontal parking stall.
As shown in fig. 1, in the actual implementation process, the method for preventing the automatic parking space from being released by mistake specifically includes the following steps:
and S1, searching the parking spaces around the vehicle.
Specifically, 360-degree looking cameras and ultrasonic radars mounted around the vehicle are utilized to search the parking spaces around the vehicle.
And S2, if the detected first parking space is a line parking space, judging the position degree of the first parking space as the line parking space.
Specifically, if the detected first parking space is a line parking space, judging the position degree of the first parking space as the line parking space based on a line parking space detection algorithm.
And S3, if the position degree of the first parking space being the line parking space is higher than a preset confidence degree threshold, determining that the first parking space is the line parking space, and detecting whether an obstacle exists in the first parking space to determine whether the first parking space is released.
In one embodiment of the method for preventing erroneous release of an automatic parking space according to the present invention, the step S3 may specifically include:
and S31, if the position degree of the first parking space being the line parking space is higher than the preset confidence degree threshold, determining that the first parking space is the line parking space, and judging the type of the line parking space.
Specifically, the type of the parking space of the line parking space is judged according to the shape characteristics of the detected line parking space, and the type of the parking space of the line parking space comprises a vertical line parking space, a horizontal line parking space or an inclined line parking space.
And step S32, detecting whether an obstacle exists in the first parking space based on the 360-degree looking-around camera and the ultrasonic radar.
And step S33, if no obstacle is detected in the first parking space, releasing the first parking space.
And step S34, if an obstacle is detected in the first parking space, the first parking space is not released.
And S4, if the position degree of the first parking space being the line parking space is lower than a preset confidence degree threshold, determining whether to release the corresponding parking space based on the consistency of the parking space types of the second parking space and the third parking space and the parking space type of the first parking space and whether an obstacle exists in the first parking space or the second parking space or the third parking space.
In one embodiment of the method for preventing erroneous release of an automatic parking space according to the present invention, the step S4 may specifically include:
and S41, if the first parking space is the linear parking space and the confidence coefficient is lower than the preset confidence coefficient threshold value, judging the parking space type of the linear parking space, judging whether other obstacles exist in the first parking space or not, and continuing to search the parking space.
Specifically, the type of the parking space of the line parking space is judged according to the shape characteristics of the detected line parking space, and the type of the parking space of the line parking space comprises a vertical line parking space, a horizontal line parking space or an inclined line parking space.
Step S42, if the detected parking space types of the second parking space and the third parking space are consistent with the parking space type of the first parking space, and no obstacle exists in the first parking space, the first parking space and the corresponding parking space type are released.
Step S43, if the detected parking space types of the second parking space and the third parking space are inconsistent with the parking space type of the first parking space, or an obstacle is detected in the first parking space, the first parking space is not released, and the parking space type of the first parking space is recorded.
And S44, if the detected parking space types of the second parking space and the third parking space are consistent with the parking space type of the first parking space, and no obstacle exists in the second parking space or the third parking space, releasing the second parking space or the third parking space and the corresponding parking space type.
And S5, if the detected first available parking space is a space parking space, judging whether the first available parking space has the same type of space parking space before so as to determine whether to release the first available parking space.
In one embodiment of the method for preventing erroneous release of an automatic parking space according to the present invention, the step S5 may specifically include:
and step S51, judging whether the first available parking space is the same as the first available parking space or not if the first available parking space is the space parking space.
In one embodiment of the automatic parking space anti-misplacement method of the present invention, in the case that the detected first available parking space is a space parking space, the step S51 may specifically include:
step S511, judging whether the same type of space parking space exists before the first available parking space based on the obstacle type size before the first available parking space.
In step S512, if the sizes of the continuous multiple obstacles are all greater than the preset size threshold, it is determined that the type of the first available parking space is the space parking space.
Step S513, judging the type of the space parking space according to the shape characteristics of the detected space parking space, wherein the type of the space parking space comprises a vertical space parking space, a horizontal space parking space or an inclined space parking space.
And step S52, if at least two space parking spaces of the type exist, releasing the first available parking space and the corresponding parking space type.
And step S53, if at least two space parking spaces of the type do not exist, the detection of the parking spaces is continued.
And S54, if the type of the subsequently detected parking space is consistent with the first available parking space, releasing the first available parking space and the corresponding parking space type.
And S6, determining whether to release the follow-up available parking space and the corresponding parking space type according to the consistency of the follow-up detected parking space type and the parking space type of the first available parking space.
In one embodiment of the method for preventing erroneous release of an automatic parking space according to the present invention, the step S6 may specifically include:
step S61, in the parking space searching process, if the front continuous N parking spaces are vertical space parking spaces, the (n+1) th parking space is a horizontal space parking space or an inclined space parking space, and the parking space types of the (n+2) th parking space and the (n+3) th parking space are inconsistent with the parking space type of the (n+1) th parking space, determining the (n+1) th parking space as a misrelease parking space.
Step S62, if the front continuous N parking spaces are vertical space parking spaces, and the N+1th parking space is a horizontal space parking space or an inclined space parking space, and the type of the N+2th parking space or the N+3rd parking space is consistent with the type of the N+1th parking space, determining the N+1th parking space as the available parking space.
And step 63, if no obstacle exists in the (N+1) th parking space, releasing the (N+1) th parking space based on the type of the parking space of the (N) th parking space in front, and determining the release position of the (N+1) th parking space based on the average position of the (N) th parking space.
Step S64, if the widths of the N consecutive parking spaces are W meters, the width of the (n+1) th parking space is W meters, and the parking space position is adjacent to the (N) th parking space.
And step S65, if space is still reserved after the (N+1) th parking space is released, the (N+2) th parking space and the (N+3) th parking space are sequentially released.
And step S66, if an obstacle is detected after the nth parking space, releasing the same type of parking space after the obstacle.
In another embodiment of the method for preventing erroneous release of an automatic parking space according to the present invention, the step S6 may specifically include:
step S61', in the process of parking space retrieval, if the front continuous N parking spaces are horizontal space parking spaces or diagonal space parking spaces, the N+1th parking space is a vertical space parking space, and the parking space types of the N+2th parking space and the N+3th parking space are inconsistent with the parking space type of the N+1th parking space, determining the N+1th parking space as a false release parking space.
Step S62', if the front continuous N parking spaces are horizontal space parking spaces or diagonal space parking spaces, the N+1th parking space is a vertical space parking space, and the type of the N+2th parking space or the N+3rd parking space is consistent with the type of the N+1th parking space, the N+1th parking space is determined to be an available parking space.
And step S63', if no obstacle exists in the (N+1) th parking space, releasing the (N+1) th parking space based on the type of the parking space of the (N) th parking space in front, and determining the releasing position of the (N+1) th parking space based on the average position of the (N) th parking space in front.
Step S64', if the widths of the N consecutive parking spaces are W meters, the width of the (n+1) th parking space is W meters, and the parking space position is adjacent to the (N) th parking space.
And step S65', if space is still reserved after the (N+1) th parking space is released, the (N+2) th parking space and the (N+3) th parking space are sequentially released.
And step S66', if an obstacle is detected after the Nth parking place, releasing the same type of parking place after the obstacle.
According to the automatic parking space error release prevention method provided by the embodiment of the invention, whether the parking space is released or not is determined by combining the position degree of the line parking space, whether barriers exist in the parking space and the type of the front and rear parking spaces, so that the problems that a plurality of continuous vertical parking spaces are erroneously identified as horizontal parking spaces and the parking spaces are erroneously released at partial road openings after an automatic parking system is started can be solved.
Thus, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that the foregoing embodiments may be modified and equivalents substituted for elements thereof without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (10)
1. An automatic parking space anti-misoperation release method is characterized by comprising the following steps:
searching the parking spaces around the vehicle;
if the detected first parking space is a line parking space, judging that the first parking space is the position degree of the line parking space;
if the position degree of the first parking space being the line parking space is higher than a preset position degree threshold, determining that the first parking space is the line parking space, and detecting whether an obstacle exists in the first parking space or not to determine whether the first parking space is released or not;
if the position degree of the first parking space being the line parking space is lower than a preset position degree threshold value, determining whether to release the corresponding parking space based on the consistency of the parking space types of the second parking space and the third parking space and the parking space type of the first parking space and whether an obstacle exists in the first parking space or the second parking space or the third parking space;
if the detected first available parking space is a space parking space, judging whether the first available parking space has the same type of space parking space before so as to determine whether to release the first available parking space;
and determining whether to release the subsequent available parking space and the corresponding parking space type according to the consistency of the type of the subsequent detected parking space and the type of the first available parking space.
2. The method for preventing erroneous release of an automatic parking space according to claim 1, wherein the retrieving of the parking space around the vehicle specifically comprises:
and searching the parking spaces around the vehicle by using the 360-degree looking camera and the ultrasonic radar which are arranged around the vehicle.
3. The method for preventing erroneous release of an automatic parking space according to claim 1, wherein if the detected first parking space is a linear parking space, determining a confidence level that the first parking space is a linear parking space comprises:
if the detected first parking space is the line parking space, judging the confidence that the first parking space is the line parking space based on a line parking space detection algorithm.
4. The method for preventing erroneous release of an automatic parking space according to claim 2, wherein if the degree of confidence that the first parking space is a linear parking space is higher than a preset confidence threshold, determining that the first parking space is a linear parking space, and detecting whether there is an obstacle in the first parking space to determine whether to release the first parking space, comprises:
if the position degree of the first parking space being the line parking space is higher than a preset position degree threshold, determining that the first parking space is the line parking space, and judging the type of the line parking space;
based on 360 look around cameras and ultrasonic radar, detect whether there is the barrier in the first parking stall:
if no obstacle is detected in the first parking space, releasing the first parking space;
and if the obstacle is detected in the first parking space, the first parking space is not released.
5. The method for preventing erroneous release of an automatic parking space according to claim 4, wherein, in the case of determining that the first parking space is a line parking space, the determining the type of the line parking space specifically includes:
judging the type of the linear parking spaces according to the shape characteristics of the detected linear parking spaces, wherein the type of the linear parking spaces comprises vertical linear parking spaces, horizontal linear parking spaces or inclined linear parking spaces.
6. The method for preventing erroneous release of an automatic parking space according to claim 1, wherein if the degree of confidence that the first parking space is a linear parking space is lower than a preset confidence threshold, determining whether to release the corresponding parking space based on the consistency of the parking space types of the second parking space and the third parking space with the parking space type of the first parking space and whether there is an obstacle in the first parking space or the second parking space or the third parking space, specifically includes:
if the first parking space is a linear parking space and the confidence coefficient is lower than a preset confidence coefficient threshold value, judging the type of the linear parking space, judging whether other obstacles exist in the first parking space or not, and continuing to search the parking space;
if the detected parking space types of the second parking space and the third parking space are consistent with the parking space type of the first parking space, and no barrier exists in the first parking space, releasing the first parking space and the corresponding parking space type;
if the detected parking space types of the second parking space and the third parking space are inconsistent with the parking space type of the first parking space, or an obstacle is detected in the first parking space, the first parking space is not released, and the parking space type of the first parking space is recorded;
and if the detected parking space types of the second parking space and the third parking space are consistent with the parking space type of the first parking space, and no obstacle exists in the second parking space or the third parking space, releasing the second parking space or the third parking space and the corresponding parking space type.
7. The method for preventing erroneous release of an automatic parking space according to claim 1, wherein if the detected first available parking space is a space parking space, determining whether a space parking space of the same type exists before the first available parking space to determine whether to release the first available parking space, comprises:
if the detected first available parking space is a space parking space, judging whether the first available parking space is in front of the same type of space parking space;
if at least two space parking spaces of the type exist, releasing a first available parking space and the corresponding parking space type;
if at least two space parking spaces of the type do not exist, the detection of the parking spaces is continued;
and if the type of the subsequently detected parking space is consistent with the type of the first available parking space, releasing the first available parking space and the corresponding type of the parking space.
8. The method for preventing erroneous release of an automatic parking space according to claim 7, wherein, in the case that the detected first available parking space is a space parking space, said determining whether the first available parking space is preceded by a space parking space of the same type, specifically comprises:
judging whether the same type of space parking spaces exist before the first available parking space based on the type size of the obstacle before the first available parking space;
if the sizes of the continuous multiple barriers are all larger than a preset size threshold, determining that the type of the first available parking space is a space parking space;
the type of the space parking space is judged according to the shape characteristics of the detected space parking space, and the type of the space parking space comprises a vertical space parking space, a horizontal space parking space or an inclined space parking space.
9. The method for preventing erroneous release of an automatic parking space according to claim 1, wherein determining whether to release the subsequent available parking space and the corresponding parking space type according to the consistency of the subsequently detected parking space type and the parking space type of the first available parking space specifically comprises:
in the parking space searching process, if the front continuous N parking spaces are vertical space parking spaces, the (N+1) th parking space is a horizontal space parking space or an inclined space parking space, and the parking space types of the (N+2) th parking space and the (N+3) th parking space are inconsistent with the parking space type of the (N+1) th parking space, determining the (N+1) th parking space as a misrelease parking space;
if the front continuous N parking spaces are vertical space parking spaces and the N+1th parking space is a horizontal space parking space or an inclined space parking space, and the type of the N+2th parking space or the N+3rd parking space is consistent with the type of the N+1th parking space, determining the N+1th parking space as an available parking space;
if no obstacle exists in the (N+1) th parking space, releasing the (N+1) th parking space based on the type of the parking space of the (N) th parking space in front, and determining the releasing position of the (N+1) th parking space based on the average position of the (N) th parking space in front;
if the widths of the N consecutive parking spaces in front are W meters, the width of the (n+1) th parking space is W meters, and the parking space position is adjacent to the (N) th parking space;
if space is still available after the (N+1) th parking space is released, sequentially releasing the (N+2) th parking space and the (N+3) th parking space;
and if the obstacle is detected after the N-th parking space, releasing the same type of parking space after the obstacle.
10. The method for preventing erroneous release of an automatic parking space according to claim 1, wherein determining whether to release the subsequent available parking space and the corresponding parking space type according to the consistency of the subsequently detected parking space type and the parking space type of the first available parking space specifically comprises:
in the parking space searching process, if the front continuous N parking spaces are horizontal space parking spaces or diagonal space parking spaces, the (n+1) th parking space is a vertical space parking space, and the parking space types of the (n+2) th parking space and the (n+3) th parking space are inconsistent with the parking space type of the (n+1) th parking space, determining the (n+1) th parking space as a misrelease parking space;
if the front continuous N parking spaces are horizontal space parking spaces or diagonal space parking spaces, the (N+1) th parking space is a vertical space parking space, and the type of the (N+2) th parking space or the (N+3) th parking space is consistent with the type of the (N+1) th parking space, determining the (N+1) th parking space as an available parking space;
if no obstacle exists in the (N+1) th parking space, releasing the (N+1) th parking space based on the type of the parking space of the (N) th parking space in front, and determining the releasing position of the (N+1) th parking space based on the average position of the (N) th parking space in front;
if the widths of the N consecutive parking spaces in front are W meters, the width of the (n+1) th parking space is W meters, and the parking space position is adjacent to the (N) th parking space;
if space is still available after the (N+1) th parking space is released, sequentially releasing the (N+2) th parking space and the (N+3) th parking space;
and if the obstacle is detected after the N-th parking space, releasing the same type of parking space after the obstacle.
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