CN115372996A - Automatic parking precision verification method and system - Google Patents

Automatic parking precision verification method and system Download PDF

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Publication number
CN115372996A
CN115372996A CN202211164592.1A CN202211164592A CN115372996A CN 115372996 A CN115372996 A CN 115372996A CN 202211164592 A CN202211164592 A CN 202211164592A CN 115372996 A CN115372996 A CN 115372996A
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CN
China
Prior art keywords
vehicle
parking
parking space
laser radar
outline
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
Application number
CN202211164592.1A
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Chinese (zh)
Inventor
杨俊辉
彭剑
李一鸣
刘少栋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shangzhilian Testing Technology Shanghai Co ltd
Shanghai Intelligent and Connected Vehicle R&D Center Co Ltd
Original Assignee
Shanghai Intelligent and Connected Vehicle R&D Center Co Ltd
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Publication date
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Priority to CN202211164592.1A priority Critical patent/CN115372996A/en
Publication of CN115372996A publication Critical patent/CN115372996A/en
Pending legal-status Critical Current

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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes

Abstract

The invention provides an automatic parking precision verification method and system, which comprises the following steps: a parking space coordinate obtaining step: acquiring the relative position of a calibration object placed at the designated position of the parking space, and acquiring the relative coordinate and the outline of the parking space; a vehicle coordinate obtaining step: sending a signal to a calibration object by using a sensor, acquiring a relative position of the vehicle based on the calibration object, and calculating a relative coordinate and a profile of the vehicle by matching with profile parameters of the vehicle; parking deviation calculation step: and calculating the deviation of the vehicle pose and the parking space pose to obtain the distance deviation and angle deviation information between the vehicle outline and the parking space outline. The invention realizes the high-precision automatic parking precision verification function, can adapt to the precision verification of various parking stall shapes, such as vertical garage parking stalls, lateral parking stalls and oblique parking stalls, solves the limitation of the use environment of the automatic parking precision verification system, reduces the operation cost of automatic parking precision verification and provides an excellent verification scheme for the function development work of automatic parking.

Description

Automatic parking precision verification method and system
Technical Field
The invention relates to the technical field of automatic driving tests, in particular to an automatic parking precision verification method and system.
Background
With the continuous progress of intelligent driving technology, automatic parking systems are increasingly applied to automobiles. In order to improve the accuracy of the automatic parking performance of the automobile, a plurality of sets of GPS/RTK antenna modules are generally respectively installed on a vehicle to be tested and a reference vehicle when the automobile completes automatic parking, and the automatic parking accuracy of the vehicle to be tested is obtained through obtaining the position information of the vehicle to be tested and the reference vehicle and analyzing.
At present, the method for verifying the automatic driving and parking precision cannot acquire the phase position of the vehicle to be detected and the parking space, and can only roughly judge the automatic parking precision through the relative position of the vehicle to be detected and the reference vehicle, so that the precision is low, as shown in fig. 1. Two reference vehicles are required to be provided as position references, and a plurality of groups of GPS/RTK antenna modules, communication antennas and other devices are required, so that the cost is high. The GPS/RTK equipment has higher requirements on the use environment and cannot normally work in an open and shielded environment such as a ground depot.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic parking precision verification method and an automatic parking precision verification system.
The automatic parking precision verification method provided by the invention comprises the following steps:
a parking space coordinate obtaining step: acquiring the relative position of a calibration object placed at the designated position of the parking space, and acquiring the relative coordinate and the outline of the parking space;
a vehicle coordinate obtaining step: sending a signal to a calibration object by using a sensor, acquiring a relative position of the vehicle based on the calibration object, and calculating a relative coordinate and a profile of the vehicle by matching with profile parameters of the vehicle;
parking deviation calculation step: and calculating the deviation of the vehicle pose and the parking space pose to obtain the distance deviation and angle deviation information between the vehicle outline and the parking space outline.
Preferably, the parking space coordinate and contour acquisition includes the following steps:
step S1.1: placing the laser radar at a fixed point position at a set distance in front of the parking space, turning on the laser radar, and connecting the laser radar with an upper computer;
step S1.2: the calibration objects are sequentially placed at the designated positions of the parking spaces, the coordinates of all the calibration objects are obtained through the laser radar, and the relative coordinates and the outline of the parking spaces are calculated according to the coordinates.
Preferably, the laser radar is placed at the following positions: the laser radar is arranged at a distance of 2.5-3.5 meters in front of the center line of the parking space, the laser radar is arranged on the bracket, and the ground clearance of the laser radar is 0.3-1.2 meters.
Preferably, the vehicle coordinate acquisition includes the steps of:
step S2.1: acquiring length data and width data of a vehicle to be detected, and inputting the data into an upper computer;
step S2.2: when a vehicle to be detected drives into the parking space, the laser radar is started to scan the vehicle body to obtain the contour point cloud of the corner of the vehicle, and the overall contour and the relative coordinates of the vehicle are obtained through the point cloud algorithm and the length and width parameters of the vehicle.
Preferably, the distance deviation information includes: the minimum distance between the vehicle head outline and the front vehicle line and the minimum distance between the vehicle body side outline and the side vehicle line; the angular deviation information includes: the included angle between the central line of the vehicle and the central line of the parking space.
The invention provides an automatic parking precision verification system, which comprises the following modules:
the parking space coordinate acquisition module: acquiring the relative position of a calibration object placed at the designated position of the parking space, and acquiring the relative coordinate and the outline of the parking space;
a vehicle coordinate acquisition module: sending a signal to a calibration object by using a sensor, acquiring a relative position of the vehicle based on the calibration object, and calculating a relative coordinate and a profile of the vehicle by matching with profile parameters of the vehicle;
a parking deviation calculation module: and calculating the deviation of the vehicle pose and the parking space pose to obtain the distance deviation and angle deviation information between the vehicle outline and the parking space outline.
Preferably, the parking space coordinate acquiring module includes the following sub-modules:
module M1.1: placing the laser radar at a fixed point position at a set distance in front of the parking space, turning on the laser radar, and connecting the laser radar with an upper computer;
module M1.2: the calibration objects are sequentially placed at the designated positions of the parking spaces, the coordinates of all the calibration objects are obtained through the laser radar, and the relative coordinates and the outline of the parking spaces are calculated according to the coordinates.
Preferably, the placement positions of the laser radar are as follows: the laser radar is arranged at a position with a distance of 2.5-3.5 meters just in front of the center line of the parking space, the laser radar is arranged on the support, and the ground clearance of the laser radar is 0.3-1.2 meters.
Preferably, the vehicle coordinate acquisition module includes the following sub-modules:
module M2.1: acquiring length data and width data of a vehicle to be detected, and inputting the data into an upper computer;
module M2.2: when a vehicle to be detected drives into the parking space, the laser radar is started to scan the vehicle body to obtain the contour point cloud of the corner of the vehicle, and the overall contour and the relative coordinates of the vehicle are obtained through the point cloud algorithm and the length and width parameters of the vehicle.
Preferably, the distance deviation information includes: the minimum distance between the vehicle head outline and the front vehicle line and the minimum distance between the vehicle body side outline and the side vehicle line; the angular deviation information includes: the included angle between the central line of the vehicle and the central line of the parking space.
Compared with the prior art, the invention has the following beneficial effects:
the invention realizes the function of verifying the precision of the automatic parking with high precision and solves the problem of over low precision in the prior art. The method can adapt to the precision verification of various parking spaces, such as vertical garage parking spaces, lateral parking spaces and oblique parking spaces, solves the limitation of the use environment of the automatic parking precision verification system, reduces the operation cost of automatic parking precision verification, and provides an excellent verification scheme for the function development work of automatic parking.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a parking accuracy verification method in the prior art;
FIG. 2 is a flow chart of an automatic parking accuracy verification method of the present invention;
FIG. 3 is a schematic diagram of data acquisition in the automatic parking accuracy verification method of the present invention;
FIG. 4 is a schematic view of a target placement according to the present invention;
FIG. 5 is a schematic view of the present invention after the vehicle is parked in a parking space.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the present invention.
Example 1:
the invention discloses an automatic parking precision verification method, which comprises the following steps:
a parking space coordinate obtaining step: acquiring the relative position of a calibration object placed at the designated position of the parking space, and acquiring the relative coordinate and the outline of the parking space; the specific steps are as follows:
placing the laser radar at a fixed point at a set distance in front of the parking space, turning on the laser radar, and connecting the laser radar with an upper computer. The laser radar is placed on a tripod with adjustable height (generally about 0.3 m), and then the laser radar and the tripod are placed on a fixed point in front of the parking space, wherein the distance between the laser radar and the parking space is about 3 m, and the included angle between the laser radar and the center line of the parking space is about 45+/-5 degrees.
The calibration objects are sequentially placed at the designated positions of the parking spaces, the coordinates of all the calibration objects are obtained through the laser radar, and the relative coordinates and the outline of the parking spaces are calculated according to the coordinates. And after the calculation is finished, parking is started, and the detected vehicle is parked in the garage.
A vehicle coordinate acquisition step: the method comprises the following steps of sending signals to a calibration object by using a sensor, acquiring the relative position of a vehicle based on the calibration object, and calculating the relative coordinate and the profile of the vehicle by matching with the profile parameters of the vehicle, wherein the method specifically comprises the following steps:
acquiring length data and width data of the vehicle to be measured, inputting the data into an upper computer, and obtaining the data through automatic measurement or customer supply;
after the vehicle to be detected enters the parking space, a laser radar (a laser radar with a single line or more than one line beam) is started to scan the vehicle body to obtain a contour point cloud of the corner of the vehicle, and the overall contour and the relative coordinates of the vehicle are obtained through a point cloud algorithm and the length and width parameters of the vehicle;
a parking deviation calculation step: and calculating the deviation of the vehicle pose and the parking space pose to obtain the distance deviation and angle deviation information between the vehicle outline and the parking space outline. The relative position parameters of the vehicle frames and the parking spaces are obtained through conversion between the two frames, and the relative position parameters comprise an included angle, the minimum distance from the vehicle head outline to the front vehicle line, the minimum distance from the vehicle body side outline to the side vehicle line and the like.
Furthermore, the parking result can be scored by inputting a related evaluation formula of the test standard.
Example 2:
example 2 is a preferred example of example 1, and the present invention will be described in more detail.
Those skilled in the art can understand that the automatic parking precision verification method provided by the present invention is applied to a specific embodiment of an automatic parking precision verification system, that is, the automatic parking precision verification system can be implemented by executing a step flow of the automatic parking precision verification method.
An automatic parking precision verification system is characterized by comprising the following modules:
the parking space coordinate acquisition module: obtain the relative position of placing the calibration object at the parking stall assigned position, obtain the relative coordinate and the profile of parking stall, specifically include:
module M1.1: placing a laser radar on a fixed point position at a set distance in front of a parking space, turning on the laser radar, and connecting the laser radar with an upper computer; the laser radar is placed at the following positions: the laser radar is arranged at a distance of 2.5-3.5 meters in front of the center line of the parking space, the laser radar is arranged on the bracket, and the ground clearance of the laser radar is 0.3-1.2 meters.
Module M1.2: the method comprises the steps of sequentially placing calibration objects at the appointed positions of the parking spaces, obtaining the coordinates of all the calibration objects through the laser radar, and calculating the relative coordinates and the outlines of the parking spaces according to the coordinates.
A vehicle coordinate acquisition module: the method comprises the following steps of sending signals to a calibration object by using a sensor, acquiring the relative position of a vehicle based on the calibration object, and calculating the relative coordinate and the profile of the vehicle by matching with the profile parameters of the vehicle, wherein the method specifically comprises the following steps:
module M2.1: acquiring length data and width data of a vehicle to be detected, and inputting the data into an upper computer;
module M2.2: when a vehicle to be detected drives into a parking space, a laser radar is started to scan the vehicle body to obtain a contour point cloud of the corner of the vehicle, and the overall contour and relative coordinates of the vehicle are obtained through a point cloud algorithm and length and width parameters of the vehicle;
a parking deviation calculation module: and calculating the deviation of the vehicle pose and the parking space pose to obtain the distance deviation and angle deviation information between the vehicle profile and the parking space profile. The minimum distance between the vehicle head outline and the front vehicle line and the minimum distance between the vehicle body side outline and the side vehicle line; the angular deviation information includes: the included angle between the central line of the vehicle and the central line of the parking space.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the present invention can be regarded as a hardware component, and the devices, modules and units included therein for implementing various functions can also be regarded as structures within the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (10)

1. An automatic parking precision verification method is characterized by comprising the following steps:
a parking space coordinate obtaining step: acquiring the relative position of a calibration object placed at the designated position of the parking space, and acquiring the relative coordinate and the outline of the parking space;
a vehicle coordinate obtaining step: sending a signal to a calibration object by using a sensor, acquiring a relative position of the vehicle based on the calibration object, and calculating a relative coordinate and a profile of the vehicle by matching with profile parameters of the vehicle;
parking deviation calculation step: and calculating the deviation of the vehicle pose and the parking space pose to obtain the distance deviation and angle deviation information between the vehicle outline and the parking space outline.
2. The automatic parking accuracy verification method according to claim 1, characterized in that: the parking space coordinate and contour acquisition method comprises the following steps:
step S1.1: placing the laser radar at a fixed point position at a set distance in front of the parking space, turning on the laser radar, and connecting the laser radar with an upper computer;
step S1.2: the calibration objects are sequentially placed at the designated positions of the parking spaces, the coordinates of all the calibration objects are obtained through the laser radar, and the relative coordinates and the outline of the parking spaces are calculated according to the coordinates.
3. The automatic parking accuracy verification method according to claim 1, characterized in that: the laser radar is placed at the following positions: the laser radar is arranged at a distance of 2.5-3.5 meters in front of the center line of the parking space, the laser radar is arranged on the bracket, and the ground clearance of the laser radar is 0.3-1.2 meters.
4. The automatic parking accuracy verification method according to claim 1, characterized in that: the vehicle coordinate acquisition includes the steps of:
step S2.1: acquiring length data and width data of a vehicle to be detected, and inputting the data into an upper computer;
step S2.2: when a vehicle to be detected drives into the parking space, the laser radar is started to scan the vehicle body to obtain the contour point cloud of the vehicle corner, and the overall contour and the relative coordinates of the vehicle are obtained through the point cloud algorithm and the length and width parameters of the vehicle.
5. The automatic parking accuracy verification method according to claim 1, characterized in that: the distance deviation information includes: the minimum distance between the vehicle head outline and the front vehicle line and the minimum distance between the vehicle body side outline and the side vehicle line; the angular deviation information includes: the included angle of the center line of the vehicle and the center line of the parking space.
6. An automatic parking precision verification system is characterized by comprising the following modules:
the parking space coordinate acquisition module: acquiring the relative position of a calibration object placed at the designated position of the parking space, and acquiring the relative coordinate and the outline of the parking space;
a vehicle coordinate acquisition module: sending a signal to a calibration object by using a sensor, acquiring a relative position of the vehicle based on the calibration object, and calculating a relative coordinate and a profile of the vehicle by matching with profile parameters of the vehicle;
a parking deviation calculation module: and calculating the deviation of the vehicle pose and the parking space pose to obtain the distance deviation and angle deviation information between the vehicle outline and the parking space outline.
7. The automatic parking accuracy verification system according to claim 6, characterized in that: the parking space coordinate acquisition module comprises the following sub-modules:
module M1.1: placing the laser radar at a fixed point position at a set distance in front of the parking space, turning on the laser radar, and connecting the laser radar with an upper computer;
module M1.2: the calibration objects are sequentially placed at the designated positions of the parking spaces, the coordinates of all the calibration objects are obtained through the laser radar, and the relative coordinates and the outline of the parking spaces are calculated according to the coordinates.
8. The automatic parking accuracy verification system according to claim 6, characterized in that: the laser radar is placed at the following positions: the laser radar is arranged at a distance of 2.5-3.5 meters in front of the center line of the parking space, the laser radar is arranged on the bracket, and the ground clearance of the laser radar is 0.3-1.2 meters.
9. The automatic parking accuracy verification system according to claim 6, characterized in that: the vehicle coordinate acquisition module comprises the following sub-modules:
module M2.1: acquiring length data and width data of a vehicle to be detected, and inputting the data into an upper computer;
module M2.2: when a vehicle to be detected drives into the parking space, the laser radar is started to scan the vehicle body to obtain the contour point cloud of the corner of the vehicle, and the overall contour and the relative coordinates of the vehicle are obtained through the point cloud algorithm and the length and width parameters of the vehicle.
10. The automatic parking accuracy verification system according to claim 6, characterized in that: the distance deviation information includes: the minimum distance between the vehicle head outline and the front vehicle line and the minimum distance between the vehicle body side outline and the side vehicle line; the angular deviation information includes: the included angle of the center line of the vehicle and the center line of the parking space.
CN202211164592.1A 2022-09-23 2022-09-23 Automatic parking precision verification method and system Pending CN115372996A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211164592.1A CN115372996A (en) 2022-09-23 2022-09-23 Automatic parking precision verification method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211164592.1A CN115372996A (en) 2022-09-23 2022-09-23 Automatic parking precision verification method and system

Publications (1)

Publication Number Publication Date
CN115372996A true CN115372996A (en) 2022-11-22

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Application Number Title Priority Date Filing Date
CN202211164592.1A Pending CN115372996A (en) 2022-09-23 2022-09-23 Automatic parking precision verification method and system

Country Status (1)

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