CN114435345A - Automatic parking square column anti-collision method and system - Google Patents
Automatic parking square column anti-collision method and system Download PDFInfo
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- CN114435345A CN114435345A CN202210090827.0A CN202210090827A CN114435345A CN 114435345 A CN114435345 A CN 114435345A CN 202210090827 A CN202210090827 A CN 202210090827A CN 114435345 A CN114435345 A CN 114435345A
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000006073 displacement reaction Methods 0.000 claims description 20
- 230000002265 prevention Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 2
- 230000001186 cumulative effect Effects 0.000 claims 1
- 230000010354 integration Effects 0.000 abstract description 5
- 230000006386 memory function Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 14
- 238000004590 computer program Methods 0.000 description 11
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
Abstract
The invention relates to an anti-collision method and an anti-collision system for an automatic parking square column, wherein the anti-collision method comprises the following steps: in the process of backing a vehicle and warehousing, when an ultrasonic sensor at the rear end of the vehicle detects a square column, collecting the distance from the square column to the vehicle and constructing a virtual square column; planning an anti-collision path according to the position of the virtual square column, setting the orientation of the garage as an x-axis forward direction, and setting the direction which is vertical to the x-axis and close to the virtual square column as a y-axis forward direction, and calculating the turning angle of a driving steering wheel in the y-axis direction and the driving distance in the x-axis direction of the vehicle according to the planned path; the obstacle memory function is increased based on the limitation of arrangement of the ultrasonic sensor on the automobile body, and the problem that a rearview mirror is scraped in the automatic parking process of the automatic parking system based on integration of the ultrasonic sensor is solved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an anti-collision method and system for an automatic parking square column.
Background
The square column type obstacles are difficult problems which are urgently needed to be overcome by an automatic parking system in the market at present, are limited by the limitation of arrangement of an ultrasonic sensor on a vehicle body, and cannot be detected by the ultrasonic sensors around the vehicle in real time. Scraping easily occurs in the parking process, and property loss of customers is caused.
Disclosure of Invention
The invention provides an anti-collision method and system for an automatic parking square column, aiming at the technical problems in the prior art, the anti-collision method and system are used for increasing the obstacle memory function based on the limitation of arrangement of an ultrasonic sensor on a vehicle body, and solving the problem that a rearview mirror is scraped in the automatic parking process of an automatic parking system based on ultrasonic sensor integration.
According to a first aspect of the present invention, there is provided an automatic parking square column collision prevention method, comprising: step 1, in the process of backing a vehicle and warehousing, when an ultrasonic sensor at the rear end of the vehicle detects a square column, collecting the distance from the square column to the vehicle and constructing a virtual square column;
and 2, planning an anti-collision path according to the position of the virtual square column, setting the orientation of the garage as an x-axis forward direction, setting the direction which is vertical to the x-axis and close to the virtual square column as a y-axis forward direction, and calculating the turning angle of a driving steering wheel in the y-axis direction of the vehicle and the driving distance in the x-axis direction according to the planned path.
On the basis of the technical scheme, the invention can be improved as follows.
Optionally, the step 2 of planning the anti-collision path includes: and ensuring that the running distance of the vehicle in the positive direction of the y axis cannot exceed a set threshold value, wherein the set threshold value is determined according to the initial position of the vehicle and the position of the virtual square column.
Optionally, after the step 2, the method further includes:
step 3, after the vehicle runs to the target position at the R gear, judging the distance between the vehicle and the square column in the y-axis direction, and if the distance is greater than or equal to a set threshold value c, finishing the parking; and if the distance is smaller than the set threshold value c, adjusting the vehicle posture by considering the position of the virtual square column, switching the D gear, then advancing, and executing the step 1 again.
Optionally, the step 3 further includes, after the D range is switched and the vehicle travels forward: and setting a time period t1, calculating the accumulated displacement S of the vehicle in the X direction in each period, and deleting the virtual square column when the accumulated displacement S is larger than the coordinate difference of the ultrasonic sensor at the rear end of the vehicle in the X axis direction.
Optionally, the accumulated displacement S is calculated according to measurement values of a wheel speed sensor and a yaw angle sensor provided on the vehicle, and the calculation formula is as follows:
where Δ xi represents the displacement of the vehicle in the x direction in each cycle, Δ wheatpulse is the difference between the wheel speed sensors in each cycle, and Yawrate is the Yaw angle of the vehicle.
Optionally, step 2 further includes: and transmitting the planned driving steering wheel angle and the planned driving distance of the vehicle in the y-axis direction to a vehicle control system, transmitting the planned driving steering wheel angle and the planned driving distance of the vehicle in the x-axis direction to an actuator by the vehicle control system, and executing the steering wheel angle and the planned driving distance of the vehicle in the longitudinal direction by the actuator according to the output of the vehicle control system.
According to a second aspect of the present invention, there is provided an automatic parking square column collision prevention system, comprising: the collision avoidance system includes: the system comprises a sensing system, a decision planning system, a vehicle control system and an actuator;
the sensing system comprises an ultrasonic sensor, and in the process of backing a vehicle and warehousing, when the ultrasonic sensor at the rear end of the vehicle detects a square column, the distance from the square column to the vehicle is collected and a virtual square column is constructed;
the decision planning system is used for planning an anti-collision path according to the position of the virtual square column, setting the orientation of the garage as an x-axis forward direction, setting the direction which is perpendicular to the x-axis and close to the virtual square column as a y-axis forward direction, calculating the steering wheel corner and the driving distance of the vehicle in the y-axis direction according to the planned path, and transmitting the planned driving steering wheel corner and the planned driving distance of the vehicle in the x-axis direction to the vehicle control system;
the vehicle control system transmits to an actuator that executes a steering wheel angle and a longitudinal travel distance in accordance with an output of the vehicle control system.
Optionally, the sensing system further includes: a wheel speed pulse sensor and a yaw rate sensor.
According to a third aspect of the present invention, there is provided an electronic device, comprising a memory, and a processor, wherein the processor is configured to implement the steps of the automatic parking square collision prevention method when executing a computer management class program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer management-like program, which when executed by a processor, implements the steps of the automatic parking square collision prevention method.
According to the automatic parking square column anti-collision method, the automatic parking square column anti-collision system, the electronic device and the storage medium, the obstacle memory function is added based on the limitation of arrangement of the ultrasonic sensor on the vehicle body, the problem that automatic parking hits an obstacle when the obstacle is detected by ultrasonic waves in a vehicle blind area due to updating of the wave frequency of an ultrasonic method can be effectively solved, and the anti-collision capacity of the automatic parking system based on integration of the ultrasonic sensor is improved.
Drawings
FIG. 1 is a schematic view of an ultrasonic sensor and a square pillar during automatic parking according to the present invention;
fig. 2 is a structural diagram of an embodiment of a sensing system and a decision planning system in an automatic parking square column anti-collision system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a hardware structure of a possible electronic device provided in the present invention;
fig. 4 is a schematic diagram of a hardware structure of a possible computer-readable storage medium according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
The invention provides an anti-collision method for an automatic parking square column, which is based on an ultrasonic integrated automatic parking system. As shown in fig. 1, a schematic view of an automatic parking ultrasonic sensor and a square pillar according to the present invention is shown, and with reference to fig. 1, in an automatic parking process, when an ultrasonic sensor on a rear bumper of a vehicle detects that the square pillar falls backward, the vehicle needs to advance to adjust a position once because the vehicle cannot enter the position once. Because the ultrasonic sensors on the front guard and the rear guard of the vehicle at the current position can not detect the obstacles, the vehicle can be adjusted to the right front in the process of forward adjustment of the vehicle, and when the square column is relatively close to the parking space, the rearview mirror and the B column of the vehicle can scrape the square column.
The invention provides a method for preventing collision of square columns during automatic parking, which comprises the following steps:
And 2, planning an anti-collision path according to the position of the virtual square column, setting the orientation of the garage as the positive direction of an x axis, setting the direction which is vertical to the x axis and is close to the virtual square column as the positive direction of a y axis, and calculating the turning angle of a driving steering wheel in the y axis direction and the driving distance in the x axis direction of the vehicle according to the planned path.
According to the anti-collision method for the automatic parking square column, provided by the invention, the obstacle memory function is added based on the limitation of arrangement of the ultrasonic sensor on the vehicle body, and the problem that a rearview mirror is scraped in the automatic parking process of the automatic parking system based on ultrasonic sensor integration is solved.
Example 1
And 2, planning an anti-collision path according to the position of the virtual square column, setting the orientation of the garage as an x-axis forward direction, setting the direction which is vertical to the x-axis and close to the virtual square column as a y-axis forward direction, and calculating the turning angle of a driving steering wheel of the vehicle in the y-axis direction and the driving distance of the vehicle in the x-axis direction according to the planned path.
In a possible embodiment, the step 2 of planning the anti-collision path includes: and ensuring that the running distance of the vehicle in the positive direction of the y axis cannot exceed a set threshold value, wherein the set threshold value is determined according to the initial position of the vehicle and the position of the virtual square column, and the vehicle is prohibited from moving greatly along the positive direction of the y axis in the transverse direction.
In a possible embodiment, step 2 is further followed by:
step 3, after the vehicle runs to the target position at the R gear, judging the distance between the vehicle and the square column in the y-axis direction, and if the distance is greater than or equal to a set threshold value c, finishing the parking; if the distance is smaller than the set threshold value c, the vehicle posture is adjusted by considering the position of the virtual square column, the D gear is switched, and then the vehicle moves forwards, and the step 1 is executed again.
In a possible embodiment, after the forward driving after the D range is switched in step 3, the method further includes: and setting a time period t1, calculating the accumulated displacement S of the vehicle in the X direction in each period, and deleting the virtual square column when the accumulated displacement S is larger than the coordinate difference of the ultrasonic sensor at the rear end of the vehicle in the X axis direction.
In one possible embodiment, the accumulated displacement S is calculated from the measured values of the wheel speed sensor and the yaw angle sensor provided on the vehicle by the formula:
Δ xi ═ Δ WheelPulse cos (Δ Yaw), Δ Yaw ═ t1 Yawrate, where Δ xi represents the displacement of the vehicle in the x direction in each cycle, Δ WheelPulse is the difference between the wheel speed sensors in each cycle, and can be directly obtained from the input of the wheel speed sensors, and Yawrate is the Yaw angle of the vehicle and can be directly obtained from the Yaw angle sensors.
In a possible embodiment, step 2 further includes: the planned driving steering wheel angle and the planned driving distance in the y-axis direction of the vehicle are transmitted to a vehicle control system, the vehicle control system transmits the planned driving steering wheel angle and the planned driving distance in the x-axis direction of the vehicle to an actuator, and the actuator executes the steering wheel angle and the planned driving distance in the longitudinal direction according to the output of the vehicle control system to prevent the vehicle from being scratched.
Example 2
Embodiment 2 provided by the present invention is an embodiment of an automatic parking square column collision prevention system provided by the present invention, where the embodiment of the collision prevention system includes: sensing systems, decision planning systems, vehicle control systems (including lateral control and longitudinal control), and actuators; fig. 2 is a structural diagram of an embodiment of a sensing system and a decision planning system in an automatic parking square column anti-collision system according to an embodiment of the present invention, and it can be seen from fig. 2 that the sensing system includes an ultrasonic sensor, and when the ultrasonic sensor at the rear end of the vehicle detects a square column during the process of backing the vehicle into a garage, the distance from the square column to the vehicle is collected and a virtual square column is constructed.
In a possible embodiment, the sensing system further includes: a wheel speed pulse sensor and a yaw rate sensor.
The number of the ultrasonic sensors may be 12, the ultrasonic sensors are used to detect obstacles around the vehicle, and the wheel speed pulse sensor and the yaw rate sensor are used to calculate lateral displacement, longitudinal displacement, and yaw rate displacement of the vehicle.
And the decision planning system is used for planning an anti-collision path according to the position of the virtual square column, setting the orientation of the garage as the x-axis forward direction, setting the direction which is vertical to the x-axis and close to the virtual square column as the y-axis forward direction, calculating the steering wheel corner and the driving distance of the vehicle in the y-axis direction according to the planned path, and transmitting the planned driving steering wheel corner and the planned driving distance of the vehicle in the x-axis direction to the vehicle control system.
The decision planning system is used for deciding the motion trail of the vehicle in the automatic parking process, and when the sensor detects the motion trail of the vehicle behind the square column, the planned turning angle and the planned longitudinal driving distance of the vehicle transverse driving steering wheel are transmitted to the control system, and the control system transmits the planned turning angle and the planned longitudinal driving distance to the actuator.
When the distance is counted once per cycle t1 and the distance is less than the Y-direction coordinate difference S from R6 to S6 in n cycles, the travel time t1 in which the obstacle has memorized time S is n × t 2. The calculation method of S comprises the following steps:
Δ xi ═ Δ WheelPulse cos (Δ Yaw) —, Δ Yaw ═ t2 Yawrate, where Δ xi represents the displacement of the vehicle in the x direction per cycle, Δ WheelPulse is the difference of the wheel speed sensors per cycle, and can be directly obtained from the inputs of the wheel speed sensors, and Yawrate is the Yaw angle of the vehicle, and can be directly obtained from the Yaw angle sensors.
After the vehicle runs to the target position at the R gear, the decision planning module judges the distance between the vehicle and the square column in the y-axis direction, and if the distance is greater than or equal to a set threshold c, the parking is finished; if the distance is less than the set threshold value c, the vehicle posture is adjusted by considering the position of the virtual square column, and the vehicle moves forward after D gear is switched.
The decision planning module calculates the current running distance of the vehicle according to wheel speed pulse information and yaw angle information input by the wheel speed sensor information, sets a time period t1, calculates the accumulated displacement S of the vehicle in the X direction in each period, and deletes the virtual square column when the accumulated displacement S is larger than the coordinate difference of the ultrasonic sensor at the rear end of the vehicle in the X axis direction. The accumulated displacement S is calculated according to the measured values of a wheel speed sensor and a yaw angle sensor arranged on the vehicle, and the calculation formula is as follows:
Δ xi ═ Δ WheelPulse @ (Δ Yaw) and Δ Yaw ═ t1 Yawrate, where Δ xi represents the displacement of the vehicle in the x direction in each cycle, Δ WheelPulse is the difference between the wheel speed sensors in each cycle, and can be directly obtained from the input of the wheel speed sensors, and Yawrate is the Yaw angle of the vehicle, and can be directly obtained from the Yaw angle sensors.
The vehicle control system transmits the steering wheel angle and the longitudinal driving distance to the actuator, and the actuator executes the steering wheel angle and the longitudinal driving distance according to the output of the vehicle control system to prevent the vehicle from being scratched.
It can be understood that the automatic parking square column anti-collision system provided by the present invention corresponds to the automatic parking square column anti-collision methods provided by the foregoing embodiments, and the relevant technical features of the automatic parking square column anti-collision system may refer to the relevant technical features of the automatic parking square column anti-collision method, and are not described herein again.
Referring to fig. 3, fig. 3 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 3, an embodiment of the present invention provides an electronic device, which includes a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and executable on the processor 1320, where the processor 1320 executes the computer program 1311 to implement the following steps: in the process of backing and warehousing a vehicle, when an ultrasonic sensor at the rear end of the vehicle detects a square column, collecting the distance from the square column to the vehicle and constructing a virtual square column; and planning an anti-collision path according to the position of the virtual square column, setting the orientation of the garage as an x-axis forward direction, setting the direction which is vertical to the x-axis and close to the virtual square column as a y-axis forward direction, and calculating the rotation angle of a driving steering wheel in the y-axis direction of the vehicle and the driving distance in the x-axis direction according to the planned path.
Referring to fig. 4, fig. 4 is a schematic diagram of an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 4, the present embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored, which computer program 1411, when executed by a processor, implements the steps of: in the process of backing a vehicle and warehousing, when an ultrasonic sensor at the rear end of the vehicle detects a square column, collecting the distance from the square column to the vehicle and constructing a virtual square column; and planning an anti-collision path according to the position of the virtual square column, setting the orientation of the garage as an x-axis forward direction, setting the direction which is vertical to the x-axis and close to the virtual square column as a y-axis forward direction, and calculating the rotation angle of a driving steering wheel in the y-axis direction of the vehicle and the driving distance in the x-axis direction according to the planned path.
The automatic parking square column anti-collision method, the automatic parking square column anti-collision system, the electronic device and the storage medium provided by the embodiment of the invention can effectively solve the problem that automatic parking hits an obstacle when the obstacle is detected by ultrasonic waves in a vehicle blind area due to the update of the wave frequency of an ultrasonic wave method, and improve the anti-collision capability of an automatic parking system based on the integration of an ultrasonic sensor.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, 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 computer, 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.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An anti-collision method for an automatic parking square column is characterized by comprising the following steps:
step 1, in the process of backing a vehicle and warehousing, when an ultrasonic sensor at the rear end of the vehicle detects a square column, collecting the distance from the square column to the vehicle and constructing a virtual square column;
and 2, planning an anti-collision path according to the position of the virtual square column, setting the orientation of the garage as an x-axis forward direction, setting the direction which is vertical to the x-axis and close to the virtual square column as a y-axis forward direction, and calculating the turning angle of a driving steering wheel in the y-axis direction of the vehicle and the driving distance in the x-axis direction according to the planned path.
2. The collision avoidance method of claim 1, wherein the step 2 planning the collision avoidance path comprises: and ensuring that the running distance of the vehicle in the positive direction of the y axis cannot exceed a set threshold value, wherein the set threshold value is determined according to the initial position of the vehicle and the position of the virtual square column.
3. The collision avoidance method according to claim 1, wherein the step 2 is further followed by:
step 3, after the vehicle runs to the target position at the R gear, judging the distance between the vehicle and the square column in the y-axis direction, and if the distance is greater than or equal to a set threshold value c, finishing the parking; and if the distance is smaller than the set threshold value c, adjusting the vehicle posture by considering the position of the virtual square column, switching the D gear, then advancing, and executing the step 1 again.
4. The collision avoidance method according to claim 3, wherein the step 3 of shifting the D range, then moving forward, further comprises: and setting a time period t1, calculating the accumulated displacement S of the vehicle in the X direction in each period, and deleting the virtual square column when the accumulated displacement S is larger than the coordinate difference of the ultrasonic sensor at the rear end of the vehicle in the X axis direction.
5. The collision avoidance method according to claim 4, wherein the cumulative displacement S is calculated from measurement values of a wheel speed sensor and a yaw angle sensor provided on the vehicle by the formula:
where Δ xi represents the displacement of the vehicle in the x direction in each cycle, Δ wheatpulse is the difference between the wheel speed sensors in each cycle, and Yawrate is the Yaw angle of the vehicle.
6. The collision avoidance method of claim 4, wherein the step 2 further comprises: and transmitting the planned driving steering wheel angle and the planned driving distance of the vehicle in the y-axis direction to a vehicle control system, transmitting the planned driving steering wheel angle and the planned driving distance of the vehicle in the x-axis direction to an actuator by the vehicle control system, and executing the steering wheel angle and the planned driving distance of the vehicle in the longitudinal direction by the actuator according to the output of the vehicle control system.
7. An automatic parking square column collision avoidance system, comprising: the system comprises a sensing system, a decision planning system, a vehicle control system and an actuator;
the sensing system comprises an ultrasonic sensor, and in the process of backing a vehicle and warehousing, when the ultrasonic sensor at the rear end of the vehicle detects a square column, the distance from the square column to the vehicle is collected and a virtual square column is constructed;
the decision planning system is used for planning an anti-collision path according to the position of the virtual square column, setting the orientation of the garage as an x-axis forward direction, setting the direction which is perpendicular to the x-axis and close to the virtual square column as a y-axis forward direction, calculating the steering wheel corner and the driving distance of the vehicle in the y-axis direction according to the planned path, and transmitting the planned driving steering wheel corner and the planned driving distance of the vehicle in the x-axis direction to the vehicle control system;
the vehicle control system transmits to an actuator that executes a steering wheel angle and a longitudinal travel distance in accordance with an output of the vehicle control system.
8. An automatic parking square column anti-collision system is characterized in that the sensing system further comprises: a wheel speed pulse sensor and a yaw rate sensor.
9. An electronic device, comprising a memory, and a processor for implementing the steps of the automatic parking square collision prevention method according to any one of claims 1 to 6 when executing a computer management-like program stored in the memory.
10. A computer-readable storage medium, having stored thereon a computer management-like program, which when executed by a processor, performs the steps of the automated parking square collision prevention method according to any one of claims 1 to 6.
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