CN109581389A - A kind of method and apparatus identifying parking space boundary - Google Patents
A kind of method and apparatus identifying parking space boundary Download PDFInfo
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- CN109581389A CN109581389A CN201710898270.2A CN201710898270A CN109581389A CN 109581389 A CN109581389 A CN 109581389A CN 201710898270 A CN201710898270 A CN 201710898270A CN 109581389 A CN109581389 A CN 109581389A
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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
- G01S15/88—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
- G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
- G01S2015/935—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space
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- Acoustics & Sound (AREA)
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- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
The invention discloses a kind of methods for identifying parking space boundary.This method comprises: being located at the lateral barrier marginal position of vehicle by ultrasonic sensor repeated detection, multiple barrier edge metering points are obtained；The trip point to mutate with separation between vehicles is identified from multiple barrier edge metering points, and is chosen to preceding 3 barriers edge metering point of parking stall outside direction since trip point, respectively as far-end measuring point, intermediate measurement point and proximal measurement point；The three frontier juncture systems based on the first right angled triangle, the second right angled triangle and third right angled triangle, determine the boundary point of parking space.Wherein, first right angled triangle, the second right angled triangle and third right angled triangle and thirdly side side length, it is determined by the position of far-end measuring point, intermediate measurement point, proximal measurement point and barrier corner points, and the position of boundary point is associated with the position of barrier corner points.In addition, the invention also discloses a kind of devices for identifying parking space boundary.
Description
Technical field
The present invention relates to field of vehicle control, more particularly to a kind of method and apparatus for identifying parking space boundary.
Background technique
Currently, automatic parking technology has been widely applied in many vehicles as a kind of intelligent driving technology.It is right
For the automated parking system of vehicle, it can be realized and available parking space is positioned, to the traveling for the process of parking
Track carries out planning and carries out the functions such as tracing and monitoring during vehicle parking.It is understood that due to the process of parking
The planning of driving trace and the vehicle monitoring during parking are all based on the parking space that orients to realize, therefore, pool
The positioning accuracy of vehicle parking stall, during directly affecting the order of accuarcy for the process driving trace of parking cooked up and parking
The order of accuarcy of vehicle monitoring, to influence whether automatic parking can successfully be realized.As it can be seen that how parking space is accurately positioned
It is particularly critical.
Existing automatic parking technology can position parking space by ultrasonic sensor.In vehicle driving mistake
The ultrasonic sensor of Cheng Zhong, vehicular sideview are able to detect that the distance between barrier and vehicle.When ultrasonic sensor is examined
There is the trip point increased suddenly in the distance measured, then the trip point can be identified as a boundary of parking space.Later, when
There is the trip point reduced suddenly in the distance that ultrasonic sensor detects, then the trip point can be identified as the another of parking space
A boundary.Therefore, the position between the two trip points is identified as parking space.
But inventor has found that ultrasonic sensor detects after vehicle driving crosses the boundary of parking space
The distance arrived often and the distance between non-vehicle and barrier, that is, the Obstacle Position that ultrasonic sensor detects is simultaneously
Non-real Obstacle Position, therefore, the trip point that ultrasonic sensor detects are frequently not the boundary of parking space, thus
Lead to not that parking space is accurately positioned out.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of method and apparatus for identifying parking space boundary, so that
Obtaining parking space boundary can be accurately identified, to improve the identification accuracy of parking space.
In a first aspect, in order to solve the above technical problems, the embodiment of the invention provides a kind of methods, comprising:
Compared with prior art, the embodiment of the present invention has the advantage that
In embodiments of the present invention, it is contemplated that ultrasonic sensor detects the characteristic of barrier by ultrasonic reflections, right
For the trip point at ultrasonic sensor detection barrier edge, several barriers of trip point are closed in the outside direction of parking stall
Edge metering point is to be based on this obtained from reflecting ultrasonic wave as barrier corner in fact, is examined by ultrasonic sensor
It surveys on the basis of the trip point at barrier edge, is made with closing on 3 barrier edge metering points of trip point in the outside direction of parking stall
For reference, multiple right angled triangles are formed by these three barrier edge metering points and barrier corner points, it is multiple by this
Three frontier juncture systems of right angled triangle can determine the boundary point of parking space.As it can be seen that relative to by trip point directly as pool
The boundary point of vehicle parking stall, the embodiment of the present invention can more accurately identify pool by further correcting on the basis of trip point
Vehicle parking stall boundary, to improve the identification accuracy of parking space.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in invention, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the example effect schematic diagram that a kind of supersonic sensing detects barrier edge for parking space；
Fig. 2 is system framework schematic diagram involved in an application scenarios in a kind of embodiment of the present invention
Fig. 3 is a kind of flow diagram for the method for identifying parking space boundary in the embodiment of the present invention；
Fig. 4 is the illustrative diagram of a type of trip point in the embodiment of the present invention；
Fig. 5 is the illustrative diagram of a type of trip point in the embodiment of the present invention；
Fig. 6 is a kind of illustrative diagram of boundary point calculation in the embodiment of the present invention；
Fig. 7 is the illustrative diagram of the parking space of three types in the embodiment of the present invention；
Fig. 8 is a kind of structural schematic diagram for the device for identifying parking space boundary in the embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only this
Invention a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
Applicant has found after study, in the prior art, passes through detection obstacle due to not accounting for ultrasonic sensor
Object reflects ultrasonic wave to detect the characteristic of barrier, for the trip point at ultrasonic sensor detection barrier edge, directly will
Trip point identifies themselves as the boundary point of parking space.But in fact, closing on several obstacles of trip point in the outside direction of parking stall
Object edge metering point, often obstacles borders are oblique reflect ultrasonic wave obtained from, and not ultrasonic listening is anti-forward
It penetrates obtained from ultrasonic wave, therefore, trip point is not often the real boundary point of parking space.For example, shown in Fig. 1 shows
In example, the boundary point of the parking space that the prior art is identified is point 102 and point 103, but actually parking space is real
Boundary point is point 101 and point 104, and is not point 102 and point 103.
To solve the above-mentioned problems, in embodiments of the present invention, it is contemplated that ultrasonic sensor is examined by ultrasonic reflections
The characteristic for surveying barrier is closed in the outside direction of parking stall for the trip point at ultrasonic sensor detection barrier edge
Several barrier edge metering points of trip point are to be based on this obtained from reflecting ultrasonic wave as barrier corner in fact,
On the basis of the trip point for detecting barrier edge by ultrasonic sensor, to close on 3 of trip point in the outside direction of parking stall
Barrier edge metering point forms multiple right angles by these three barrier edge metering points and barrier corner points as reference
Triangle can determine the boundary point of parking space by three frontier juncture systems of this multiple right angled triangle.As it can be seen that relative to will
Trip point is directly as the boundary point of parking space, and the embodiment of the present invention on the basis of trip point by further correcting, energy
It is enough more accurately to identify parking space boundary, to improve the identification accuracy of parking space.For example, shown in Fig. 1 shows
In example, the boundary point of the parking space identified through the embodiment of the present invention is point 101 and point 104.
For example, one of the scene of the embodiment of the present invention, can be applied in system as shown in Figure 2.It is at this
In system, automated parking system 202 is provided in vehicle 201, vehicle 201 it is lateral on be also equipped with ultrasonic sensor
203.Ultrasonic sensor 203 be able to detect that 301 side of vehicle to barrier marginal position.Automated parking system 202 can be with
It interacts with ultrasonic sensor 203, is detected for example, automated parking system 202 can be obtained by ultrasonic sensor 203
The barrier marginal position arrived.When automated parking system 302 is responsive to the triggering command of parking stall identification, pass through supersonic sensing
301 repeated detection of device is located at the lateral barrier marginal position of vehicle, obtains multiple barrier edge metering points.Then, automatically
Parking system 302 can identify the jump to mutate with the separation between vehicles from the multiple barrier edge metering point
Height, and preceding 3 barriers edge metering point since the trip point to parking stall outside direction can be chosen, respectively as phase
For the far-end measuring point of the trip point, intermediate measurement point and proximal measurement point.Subsequently, automated parking system 302 can be with
The three frontier juncture systems based on the first right angled triangle, the second right angled triangle and third right angled triangle, determine parking space 304
First boundary point.Wherein, the three of the first right angled triangle, the second right angled triangle and third right angled triangle and three while while
It is long, it is determined by the position of far-end measuring point, intermediate measurement point, proximal measurement point and barrier corner points, and the first boundary
The position of point is associated with the position of barrier corner points.
It should be noted that above-mentioned application scenarios are merely for convenience of understanding the present invention and showing, embodiment party of the invention
Formula is unrestricted in this regard.On the contrary, embodiments of the present invention can be applied to applicable any scene.
With reference to the accompanying drawing, the various non-limiting embodiments that the present invention will be described in detail.
Illustrative methods
Referring to Fig. 3, a kind of flow diagram for the method for identifying parking space boundary in the embodiment of the present invention is shown.?
In the present embodiment, the method for example be may comprise steps of:
301, the lateral barrier marginal position of vehicle is located at by ultrasonic sensor repeated detection, obtains multiple obstacles
Object edge metering point.
When specific implementation, when automatic parking function is opened, what automated parking system can be positioned in response to parking space
Triggering command is opened the ultrasonic sensor barrier marginal position lateral to vehicle and is detected.As vehicle is along parking
The outside of parking stall travels, and ultrasonic sensor can be with the barrier marginal position at repeated detection current vehicle position, to obtain
To multiple barrier edge metering points.
It is understood that since ultrasonic sensor is the sensor of a measurement distance, i.e. ultrasonic sensor energy
The distance between the current location of vehicle when enough detecting barrier marginal position and detection, therefore, barrier edge metering point
Position can be determined by the current location of vehicle when distance and detection that ultrasonic sensor detects.That is,
Indicate that any one point in the multiple barrier edge metering point, the target measurement point can pass through with target measurement point
Current vehicle location determines that the current vehicle location expression detects the target measurement point when institute with current measurement distance
The position that vehicle is in is stated, the current detection distance indicates that the ultrasonic sensor detects the target measurement point when institute
The distance of measurement.
In the present embodiment, various positions point can embody position in the form of coordinate.For example, vehicle can be existed
Start some position present before detecting barrier marginal position as initial position, coordinate origin can be set described
On initial position.At this point, current vehicle location above-mentioned can pass through vehicle phase during detecting barrier marginal position
The operating range of initial position is determined with driving direction.Specifically, current vehicle location can be counted by following formula
It calculates:
Wherein, current vehicle location when i-th detects is represented by (Xi, Yi, θi), △ SiIt indicates when i-th detects
The distance between vehicle location when vehicle location and (i-1)-th detection, ωiVehicle location when indicating i-th detection is opposite
The driving direction of vehicle location when (i-1)-th detection, △ t indicate the time difference between the detection twice of front and back.It is understood that
, △ SiAnd ωiIt can be determined by the signal of the signal of wheel speed sensors, the signal of steering wheel and heading sensor.
In the present embodiment, on the basis of using the initial position as coordinate origin, the axis of abscissas of coordinate system and
Axis of ordinates can length direction based on parking space and wide direction be configured.For example, if vehicle along parking space length
Direction running finds parking space, then the length direction of parking space is the axis of abscissas direction of coordinate system, parking space
Wide direction is the axis of ordinates direction of coordinate system.For another example, it parks if vehicle is travelled along the wide direction of parking space to find
Parking stall, then the wide direction of parking space is the axis of abscissas direction of coordinate system, and the length direction of parking space is reference axis
Axis of ordinates direction.
302, the jump to mutate with the separation between vehicles is identified from the multiple barrier edge metering point
Point.
When specific implementation, with the traveling of vehicle, automated parking system can be surveyed singly at acquired disturbance object edge
Amount point.For the barrier edge metering point currently obtained, if the barrier edge metering point between vehicle at a distance from
It is mutated for the barrier edge metering point of its previous acquisition, then the barrier edge metering point can be by
Determine into trip point, that is to say, that the trip point indicate barrier edge between vehicle at a distance from the barrier that mutates
Marginal position.
As an example, trip point can be identified by way of coordinate slope.Specifically, for currently to be known
For other barrier edge metering point, the barrier edge of the barrier edge metering point with one before it acquisition is judged
Whether the absolute value of the coordinate slope between measurement point is more than preset slope threshold value, if then by the barrier edge metering point
It is identified as trip point.That is, the coordinate of the trip point and the previous barrier edge metering point of the trip point is oblique
The absolute value of rate is more than slope threshold value.
303, it chooses since the trip point to preceding 3 barriers edge metering point of parking stall outside direction, respectively as
Relative to the far-end measuring point of the trip point, intermediate measurement point and proximal measurement point；Wherein, the obstacle of the parking stall outside direction
Object edge metering point is closer apart from the vehicle relative to the trip point.
In the present embodiment, what the parking stall outside direction indicated is to be directed toward parking space from the front region of parking space
Lateral front region direction.
It is understood that since trip point is there are two types of different types, distal end selected by different types of trip point
Measurement point, intermediate measurement point and proximal measurement point are also different.
A kind of type of trip point is that vehicle drives towards the front of parking space from the side of parking space to front, this
When, trip point between vehicle at a distance from increase suddenly for its previous barrier edge metering point, that is, jump
Point indicates that distance increases suddenly, as shown in Figure 4.In the case where trip point indicates that distance increases suddenly, far-end measuring point, centre
Measurement point and proximal measurement point are the three barrier edge metering points obtained before trip point.Example as shown in Figure 4 is jumped
Height is point 401, and proximal measurement point is point 402, and intermediate measurement point is point 403, and far-end measuring point is point 404, and direction 405 indicates
Parking stall outside direction.
The type of another trip point is, vehicle drives towards the side of parking space to front immediately ahead of parking space,
At this point, trip point between vehicle at a distance from reduce suddenly for its previous barrier edge metering point, that is, jump
Variable-point representation distance reduces suddenly, as shown in Figure 5.Trip point indicate distance suddenly reduce in the case where, far-end measuring point, in
Between measurement point and proximal measurement point be the three barrier edge metering points obtained after trip point.Example as shown in Figure 5,
Trip point is point 501, and proximal measurement point is point 502, and intermediate measurement point is point 503, and far-end measuring point is point 504,505 table of direction
Show parking stall outside direction.
304, it based on three frontier juncture systems of the first right angled triangle, the second right angled triangle and third right angled triangle, determines
The first boundary point of parking space.
It is understood that first right angled triangle, second right angled triangle, the third right angled triangle
It can be constructed by aforementioned distal measurement point, aforementioned intermediate measurement point, aforementioned proximal measurement point and barrier corner points,
The side length on respective three side of three can also by aforementioned distal measurement point, aforementioned intermediate measurement point, aforementioned proximal measurement point with
And the positions of barrier corner points indicates.
On the one hand, the position of barrier corner points, the position of far-end measuring point, the position of intermediate measurement point and proximal measurement
Point position may be respectively used for determine the position of intended reference point, the position of distal reference point, middle reference point position and
The position of proximal end reference point.Specifically, the intended reference point, distal reference point, middle reference point and described close
End reference point is respectively positioned on axis of abscissas, and the intended reference point has identical abscissa with the barrier corner points, described
Distal reference point has identical abscissa with the far-end measuring point, and the middle reference point and the intermediate measurement point have phase
Same abscissa, the proximal end reference point have identical abscissa with the proximal measurement point.
On the other hand, barrier corner points, intended reference point, distal reference point, middle reference point and proximal end reference point can
To be constituted the first right angled triangle, the second right angled triangle and third right angled triangle for approximation.Specifically, with the target
Three vertex of reference point, barrier corner points and distal reference point as triangle, may be constructed the first right angled triangle；With
The intended reference point, the barrier corner points and middle reference point are three vertex of triangle, and it is straight to may be constructed second
Angle triangle；It, can be with using the intended reference point, the barrier corner points and proximal end reference point as three vertex of triangle
Constitute third right angled triangle.
In another aspect, the position of barrier corner points, the position of far-end measuring point, the position of intermediate measurement point, proximal end survey
Measure the position of the position put, the position of intended reference point, the position of distal reference point, the position of middle reference point and proximal end reference point
Set the three side side lengths and third right angle trigonometry of three Bian Bianchang, the second right angled triangle that can be used to indicate that the first right angled triangle
Three Bian Bianchang of shape.Specifically, in first right angled triangle, the side length of bevel edge can be the barrier corner points
Ordinate, the side length of one right-angle side can determine by the ordinate of the intended reference point, another right-angle side
Side length can be first distance, and the first distance is the distance between the intended reference point and the distal reference point.?
In second right angled triangle, the side length of bevel edge can be the ordinate of the barrier corner points, one right-angle side
Side length can determine that the side length of another right-angle side can be second distance, institute by the ordinate of the intended reference point
Stating second distance is the distance between the intended reference point and the middle reference point.In the third right angled triangle,
The side length of its bevel edge can be the ordinate of the barrier corner points, and the side length of one right-angle side can be joined by the target
The ordinate of examination point determines that the side length of another right-angle side can be second distance, and the second distance is target ginseng
The distance between examination point and the proximal end reference point.
It is understood that since far-end measuring point, intermediate measurement point and proximal measurement point are ultrasonic waves on barrier side
Reflect and measure at angle, therefore, far-end measuring point, intermediate measurement point, proximal measurement point ordinate actually distinguish table
What is shown is far-end measuring point, intermediate measurement point, proximal measurement point respectively at a distance from barrier edge, therefore, far-end measuring
Point, intermediate measurement point, proximal measurement point ordinate be determined for the first right angled triangle, the second right angle trigonometry respectively
Shape, the bevel edge side length of third right angled triangle.
It should be noted that the corner for considering barrier in some cases is a radiused corners, in some embodiment party
In formula, the barrier corner points may be set in the center point of the radiused corners, at this point, the side of above three right angled triangle
Length can also be related with the radius of the radiused corners, and the radius of the radiused corners can be referred to as barrier corner radius.Specifically
Ground, in first right angled triangle, the side length of bevel edge can be ordinate and the barrier side of the far-end measuring point
The sum of angular radius, the side length of one right-angle side can for the first boundary point ordinate and barrier corner radius it
With.In second right angled triangle, the side length of bevel edge can be ordinate and the barrier side of the intermediate measurement point
The sum of angular radius, the side length of one right-angle side can for the first boundary point ordinate and barrier corner radius it
With.In the third right angled triangle, the side length of bevel edge can be ordinate and the barrier side of the proximal measurement point
The sum of angular radius, the side length of one right-angle side can for the first boundary point ordinate and barrier corner radius it
With.
It is understood that the position of the first boundary point of parking space is associated with the position of barrier corner points, also
It is to say, the position of barrier corner points is determined for the position of first boundary point.Aforementioned first right angled triangle, second again
Three frontier juncture systems of right angled triangle and third right angled triangle are determined for barrier corner points, therefore aforementioned first right angle three
Three frontier juncture systems of angular, the second right angled triangle and third right angled triangle can be used for determining the position of first boundary point.
It should be noted that the corner for considering barrier in some cases is a radiused corners, in some embodiment party
In formula, the position of first boundary point can be determined according to the position of intended reference point with barrier corner radius.Specifically, if
Aforementioned trip point indicates that distance increases suddenly, and the abscissa of first boundary point can be the abscissa and barrier of intended reference point
The ordinate of the sum of corner radius, first boundary point can be the ordinate and barrier corner radius of the barrier corner points
Difference.If aforementioned trip point indicates that distance reduces suddenly, the abscissa of first boundary point can be the abscissa of intended reference point
And the difference of barrier corner radius, the ordinate of first boundary point can be the ordinate and barrier of the barrier corner points
The difference of corner radius.
In a specific Sample Scenario, as shown in fig. 6, A indicates barrier corner points, B indicates far-end measuring point, C
Indicate intermediate measurement point, D indicates that proximal measurement point, E indicate that intended reference point, F indicate that distal reference point, G indicate middle reference
Point, H indicate proximal end reference point, and I indicates that trip point, Q indicate first boundary point, and r indicates the calibrating parameters in combination with practical situation
The barrier corner radius of input, y1 indicate far-end measuring point to the detection range of barrier, and y2 indicates intermediate measurement point to barrier
Hinder the detection range of object, y3 indicate proximal measurement point to the detection range of barrier, reference point F, G, H B, C corresponding with measurement point,
The horizontal axis coordinate of D is identical, and can be calculated by vehicle parameter, and the abscissa is respectively Xf、Xg、Xh.X0 indicates target
Point arrives the distance of distal reference point, is unknown solution parameter, x1 indicate the measurement between distal reference point and middle reference point away from
Indicate the measurement distance between middle reference point and proximal end reference point from, x2, then the sum of x0 and x1 are second distance, x0, x1 and
The sum of x2 is third distance.Three approximate right angles are constituted according to three reference points, intended reference point and obstacles borders vertex
Triangle solves equation, calculates x0.
Equation 1:(y3+r)2-(x0+x1+x2)2=(y2+r)2-(x0+x1)2
Equation 2:(y3+r)2-(x0+x1+x2)2=(y1+r)2-x02
Equation 2:(y2+r)2-(x0+x1)2=(y1+r)2-x02
By solving above-mentioned equation 1,2 and 3, respective x0 value is obtained, then average
It can be concluded that the abscissa positions of first boundary point
In some cases, the side of parking space may not have barrier, and the side of vehicle never barrier is close
The case where parking space, parking stall Class1 as shown in Figure 7.In this case, automated parking system can start to position
Whether have the barrier of short distance, if the current location that can determine vehicle without if if vehicle is determined when parking space laterally
Be in the parking stall that can be used for parking, then can be using the current location as a boundary of parking space, and parking space
Another boundary can be identified by above-mentioned 301~305, wherein corresponding another boundary is to indicate that distance subtracts suddenly
Small trip point.Specifically, if the trip point indicates that distance reduces suddenly, before identifying the trip point, this implementation
Example can also include: the barrier edge metering point detected when obtaining ultrasonic sensor described in the vehicle launch, as
First measurement point undetermined；Determining the vehicle laterally by the position of the described first measurement point undetermined whether there is the barrier of short distance
Hinder object；If the barrier of short distance is laterally not present in the vehicle, the described first measurement point undetermined is determined as the vehicle of parking
The second boundary point of position.Determining second boundary point and then entrance 301~305.
In addition in some cases, the side of parking space may not have barrier, and vehicle is flanked from have barrier one
The case where side of not barrier is driven towards again in the nearly parking space, parking stall type 2 as shown in Figure 7.In this case, certainly
Dynamic parking system can be after recognizing a boundary of parking space by 301~305, if the boundary corresponds to expression
It is the trip point for indicating distance and increasing suddenly, then can determines whether occurred when the length of parking stall reaches certain distance threshold value
Trip point, if can determine another boundary of position at the distance threshold as parking space without if.Specifically,
If the trip point indicates the trip point that distance increases suddenly, after determining the first boundary point by 301~305,
The present embodiment can also include: undetermined as second using the currently detected barrier edge metering o'clock of the ultrasonic sensor
Measurement point determines first boundary if trip point is not present between the first boundary point and second measurement point undetermined
Whether the distance between point and the described second measurement point undetermined are more than length threshold；If the first boundary point with described second to
The distance between measurement point is determined more than length threshold, and the described first measurement point undetermined is determined as to the second side of the parking space
Boundary's point.Wherein, the length threshold can for example be determined by the length of the vehicle, as length threshold can be 1.6 times of vehicle
Length.
In addition in some cases, the two sides of parking space may have barrier, and vehicle is flanked from have barrier one
The case where other side of barrier is driven towards again in the nearly parking space, parking stall type 3 as shown in Figure 7.In this case, certainly
The boundary that dynamic parking system can first recognize parking space by 301~306, then as the traveling of vehicle, automatically
Another boundary that parking system can recognize parking space by 301~306 again.
It can be used in conjunction in the identification method of some embodiments, above-mentioned several parking space boundaries.For example,
Whether automated parking system can determine vehicle laterally when starting and positioning parking space the barrier of short distance, if not having
Have, it can be using the barrier edge metering point detected at this time as first boundary point of parking space, with vehicle if having
Traveling continue to test barrier edge metering point, to identify first boundary of parking space by 301~305
Point.After detecting first boundary point, during detecting barrier edge metering point with vehicle driving, if
Apart from first boundary point no more than the trip point for detecting barrier edge metering point in the case where length threshold, then pass through 301
~305 identify second boundary point of parking space, if not yet in the case where reaching length threshold apart from first boundary point
The trip point for detecting barrier edge metering point, then detect in the case where reaching length threshold apart from first boundary point
Second boundary point of the barrier edge metering point as parking space.
In embodiments of the present invention, it is contemplated that ultrasonic sensor detects the characteristic of barrier by ultrasonic reflections, right
For the trip point at ultrasonic sensor detection barrier edge, several barriers of trip point are closed in the outside direction of parking stall
Edge metering point is to be based on this obtained from reflecting ultrasonic wave as barrier corner in fact, is examined by ultrasonic sensor
It surveys on the basis of the trip point at barrier edge, is made with closing on 3 barrier edge metering points of trip point in the outside direction of parking stall
For reference, multiple right angled triangles are formed by these three barrier edge metering points and barrier corner points, it is multiple by this
Three frontier juncture systems of right angled triangle can determine the boundary point of parking space.As it can be seen that relative to by trip point directly as pool
The boundary point of vehicle parking stall, the embodiment of the present invention can more accurately identify pool by further correcting on the basis of trip point
Vehicle parking stall boundary, to improve the identification accuracy of parking space.
Example devices
Referring to Fig. 8, a kind of structural schematic diagram for the device for identifying parking space boundary in the embodiment of the present invention is shown.?
In the present embodiment, described device for example may include:
Detection unit 801, for being located at the lateral barrier marginal position of vehicle by ultrasonic sensor repeated detection,
Obtain multiple barrier edge metering points；
Recognition unit 802 is sent out for identifying from the multiple barrier edge metering point with the separation between vehicles
The trip point of raw mutation；
Selection unit 803, for choosing preceding 3 barrier edge meterings since the trip point to parking stall outside direction
Point, respectively as far-end measuring point, intermediate measurement point and the proximal measurement point relative to the trip point；Wherein, the parking stall
The barrier edge metering point of outside direction is closer apart from the vehicle relative to the trip point；
First determination unit 804, for being based on the first right angled triangle, the second right angled triangle and third right angled triangle
Three frontier juncture systems, determine determine parking space first boundary point；
Wherein, three vertex of first right angled triangle are intended reference point, barrier corner points and distal reference
Point, three vertex of second right angled triangle are the intended reference point, the barrier corner points and middle reference point,
Three vertex of the third right angled triangle are the intended reference point, the barrier corner points and proximal end reference point, institute
Stating intended reference point has identical abscissa with the barrier corner points, and the distal reference point and the far-end measuring point have
There is identical abscissa, the middle reference point and the intermediate measurement point have identical abscissa, the proximal end reference point and institute
Proximal end reference point is stated with identical abscissa, the intended reference point, distal reference point, middle reference point and described
Proximal end reference point is respectively positioned on axis of abscissas, and the position of the first boundary point is associated with the position of the barrier corner points；
In first right angled triangle, the side length of bevel edge is determined by the ordinate of the far-end measuring point, and one straight
The side length of the arm of angle is the ordinate of the barrier corner points, the side length of another right-angle side is first distance, described first away from
From for the distance between the intended reference point and the distal reference point；
In second right angled triangle, the side length of bevel edge is determined by the ordinate of the intermediate measurement point, and one straight
The side length of the arm of angle is the ordinate of the barrier corner points, the side length of another right-angle side is second distance, described second away from
From for the distance between the intended reference point and the middle reference point；
In the third right angled triangle, the side length of bevel edge is determined by the ordinate of the proximal measurement point, and one straight
The side length of the arm of angle is the ordinate of the barrier corner points, the side length of another right-angle side is second distance, described second away from
From for the distance between the intended reference point and the proximal end reference point.
Optionally,
In first right angled triangle, the side length of bevel edge is ordinate and the barrier corner of the far-end measuring point
The sum of radius, the side length of a right-angle side are the sum of ordinate and barrier corner radius of the first boundary point；
In second right angled triangle, the side length of bevel edge is ordinate and the barrier corner of the intermediate measurement point
The sum of radius, the side length of a right-angle side are the sum of ordinate and barrier corner radius of the first boundary point；
In the third right angled triangle, the side length of bevel edge is ordinate and the barrier corner of the proximal measurement point
The sum of radius, the side length of a right-angle side are the sum of ordinate and barrier corner radius of the first boundary point.
Optionally,
The ordinate of the first boundary point be the barrier corner points ordinate and barrier corner radius difference,
The abscissa of the first boundary point is determined by the abscissa and barrier corner radius of the intended reference point.
Optionally,
The absolute value of the trip point and the coordinate slope of the previous barrier edge metering point of the trip point is more than
Slope threshold value.
Optionally,
Any one point in the multiple barrier edge metering point, the target measurement point are indicated with target measurement point
It is determined by current vehicle location with current measurement distance, the current vehicle location expression detects the target measurement point
The position that Shi Suoshu vehicle is in, the current detection distance indicate that the ultrasonic sensor detects the target measurement point
When measured distance.
Optionally, the current vehicle location is true relative to the operating range and driving direction of initial position by vehicle
Fixed, the initial position is coordinate origin.
Optionally, if the trip point indicates that distance reduces suddenly, the trip point is identified in the recognition unit 802
Before, further includes:
Acquiring unit, the barrier edge metering detected when for obtaining ultrasonic sensor described in the vehicle launch
Point, as the first measurement point undetermined；
Second determination unit whether there is for determining the vehicle laterally by the position of the described first measurement point undetermined
The barrier of short distance；
Third determination unit, if the barrier of short distance is laterally not present for the vehicle, by the described first survey undetermined
Amount point is determined as the second boundary point of the parking space.
Optionally, if the trip point indicates the trip point that distance reduces suddenly, institute is determined in the first determination unit 804
After stating first boundary point, further includes:
4th determination unit, for using the currently detected barrier edge metering o'clock of the ultrasonic sensor as
Two measurement points undetermined determine described the if trip point is not present between the first boundary point and second measurement point undetermined
Whether the distance between one boundary point and the described second measurement point undetermined are more than length threshold；
5th determination unit, if being more than length for the distance between the first boundary point and the described second measurement point undetermined
Threshold value is spent, the described first measurement point undetermined is determined as to the second boundary point of the parking space.
Optionally, the length threshold is determined by the length of the vehicle.
In embodiments of the present invention, it is contemplated that ultrasonic sensor detects the characteristic of barrier by ultrasonic reflections, right
For the trip point at ultrasonic sensor detection barrier edge, several barriers of trip point are closed in the outside direction of parking stall
Edge metering point is to be based on this obtained from reflecting ultrasonic wave as barrier corner in fact, is examined by ultrasonic sensor
It surveys on the basis of the trip point at barrier edge, is made with closing on 3 barrier edge metering points of trip point in the outside direction of parking stall
For reference, multiple right angled triangles are formed by these three barrier edge metering points and barrier corner points, it is multiple by this
Three frontier juncture systems of right angled triangle can determine the boundary point of parking space.As it can be seen that relative to by trip point directly as pool
The boundary point of vehicle parking stall, the embodiment of the present invention can more accurately identify pool by further correcting on the basis of trip point
Vehicle parking stall boundary, to improve the identification accuracy of parking space.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.The terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.System embodiment described above is only schematical, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not
In the case where making the creative labor, it can understand and implement.
The above is only the specific embodiment of the application, it is noted that for the ordinary skill people of the art
For member, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as the protection scope of the application.
Claims (10)
1. a kind of method for identifying parking space boundary characterized by comprising
It is located at the lateral barrier marginal position of vehicle by ultrasonic sensor repeated detection, obtains multiple barrier edges and survey
Amount point；
The trip point to mutate with the separation between vehicles is identified from the multiple barrier edge metering point, and is chosen
To preceding 3 barriers edge metering point of parking stall outside direction since the trip point, respectively as relative to the trip point
Far-end measuring point, intermediate measurement point and proximal measurement point；Wherein, the barrier edge metering point of the parking stall outside direction is opposite
It is closer apart from the vehicle in the trip point；
The three frontier juncture systems based on the first right angled triangle, the second right angled triangle and third right angled triangle, determine parking space
First boundary point；
Wherein, three vertex of first right angled triangle are intended reference point, barrier corner points and distal reference point, institute
State the second right angled triangle three vertex be the intended reference point, the barrier corner points and middle reference point, it is described
Three vertex of third right angled triangle are the intended reference point, the barrier corner points and proximal end reference point, the mesh
Marking reference point has identical abscissa with the barrier corner points, and the distal reference point has phase with the far-end measuring point
Same abscissa, the middle reference point and the intermediate measurement point have an identical abscissa, the proximal end reference point and described close
Hold reference point that there is identical abscissa, the intended reference point, distal reference point, middle reference point and the proximal end
Reference point is respectively positioned on axis of abscissas, and the position of the first boundary point is associated with the position of the barrier corner points；
In first right angled triangle, the side length of bevel edge is determined by the ordinate of the far-end measuring point, a right-angle side
Side length be the barrier corner points ordinate, the side length of another right-angle side is first distance, and the first distance is
The distance between the intended reference point and the distal reference point；
In second right angled triangle, the side length of bevel edge is determined by the ordinate of the intermediate measurement point, a right-angle side
Side length be the barrier corner points ordinate, the side length of another right-angle side is second distance, and the second distance is
The distance between the intended reference point and the middle reference point；
In the third right angled triangle, the side length of bevel edge is determined by the ordinate of the proximal measurement point, a right-angle side
Side length be the barrier corner points ordinate, the side length of another right-angle side is second distance, and the second distance is
The distance between the intended reference point and the proximal end reference point.
2. the method according to claim 1, wherein
In first right angled triangle, the side length of bevel edge is the ordinate and barrier corner radius of the far-end measuring point
The sum of, the side length of a right-angle side is the sum of ordinate and barrier corner radius of the first boundary point；
In second right angled triangle, the side length of bevel edge is the ordinate and barrier corner radius of the intermediate measurement point
The sum of, the side length of a right-angle side is the sum of ordinate and barrier corner radius of the first boundary point；
In the third right angled triangle, the side length of bevel edge is the ordinate and barrier corner radius of the proximal measurement point
The sum of, the side length of a right-angle side is the sum of ordinate and barrier corner radius of the first boundary point.
3. the method according to claim 1, wherein
The ordinate of the first boundary point be the barrier corner points ordinate and barrier corner radius difference, it is described
The abscissa of first boundary point is determined by the abscissa and barrier corner radius of the intended reference point.
4. the method according to claim 1, wherein
The absolute value of the coordinate slope of the previous barrier edge metering point of the trip point and the trip point is more than slope
Threshold value.
5. the method according to claim 1, wherein
Indicate that any one point in the multiple barrier edge metering point, the target measurement point pass through with target measurement point
Current vehicle location determines that the current vehicle location expression detects the target measurement point when institute with current measurement distance
The position that vehicle is in is stated, the current detection distance indicates that the ultrasonic sensor detects the target measurement point when institute
The distance of measurement.
6. according to the method described in claim 5, it is characterized in that, the current vehicle location is by vehicle relative to initial bit
The operating range and driving direction set determine that the initial position is coordinate origin.
7. the method according to claim 1, wherein knowing if the trip point indicates that distance reduces suddenly
Before the not described trip point, further includes:
The barrier edge metering point detected when obtaining ultrasonic sensor described in the vehicle launch, as the first survey undetermined
Amount point；
Determining the vehicle laterally by the position of the described first measurement point undetermined whether there is the barrier of short distance；
If the barrier of short distance is laterally not present in the vehicle, the described first measurement point undetermined is determined as the parking space
Second boundary point.
8. the method according to claim 1, wherein if the trip point indicates the jump that distance reduces suddenly
Point, then after determining the first boundary point, further includes:
The barrier edge metering o'clock currently detected using the ultrasonic sensor as the second measurement point undetermined, if described
Trip point is not present between one boundary point and second measurement point undetermined, determines the first boundary point and described second undetermined
Whether the distance between measurement point is more than length threshold；
If the distance between the first boundary point and the described second measurement point undetermined are more than length threshold, undetermined by described first
Measurement point is determined as the second boundary point of the parking space.
9. according to the method described in claim 8, it is characterized in that, the length threshold is determined by the length of the vehicle.
10. a kind of device for identifying parking space boundary characterized by comprising
Detection unit obtains more for being located at the lateral barrier marginal position of vehicle by ultrasonic sensor repeated detection
A barrier edge metering point；
Recognition unit, for being identified from the multiple barrier edge metering point and separation between vehicles mutation
Trip point；
Selection unit, for choosing preceding 3 barriers edge metering point since the trip point to parking stall outside direction, respectively
As far-end measuring point, intermediate measurement point and the proximal measurement point relative to the trip point；Wherein, the parking stall outside direction
Barrier edge metering point is closer apart from the vehicle relative to the trip point；
First determination unit, for three sides based on the first right angled triangle, the second right angled triangle and third right angled triangle
Relationship determines the first boundary point of parking space；
Wherein, three vertex of first right angled triangle are intended reference point, barrier corner points and distal reference point, institute
State the second right angled triangle three vertex be the intended reference point, the barrier corner points and middle reference point, it is described
Three vertex of third right angled triangle are the intended reference point, the barrier corner points and proximal end reference point, the mesh
Marking reference point has identical abscissa with the barrier corner points, and the distal reference point has phase with the far-end measuring point
Same abscissa, the middle reference point and the intermediate measurement point have an identical abscissa, the proximal end reference point and described close
Hold reference point that there is identical abscissa, the intended reference point, distal reference point, middle reference point and the proximal end
Reference point is respectively positioned on axis of abscissas, and the position of the first boundary point is associated with the position of the barrier corner points；
In first right angled triangle, the side length of bevel edge is determined by the ordinate of the far-end measuring point, a right-angle side
Side length be that the ordinates of the barrier corner points determines, the side length of another right-angle side is first distance, described first away from
From for the distance between the intended reference point and the distal reference point；
In second right angled triangle, the side length of bevel edge is determined by the ordinate of the intermediate measurement point, a right-angle side
Side length determine that the side length of another right-angle side is second distance by the ordinate of the barrier corner points, described second away from
From for the distance between the intended reference point and the middle reference point；
In the third right angled triangle, the side length of bevel edge is determined by the ordinate of the proximal measurement point, a right-angle side
Side length determine that the side length of another right-angle side is second distance by the ordinate of the barrier corner points, described second away from
From for the distance between the intended reference point and the proximal end reference point.
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| CN114056324A (en) * | 2021-10-29 | 2022-02-18 | 惠州华阳通用智慧车载***开发有限公司 | Parking space identification method and system based on data fusion |
| CN114056324B (en) * | 2021-10-29 | 2024-05-07 | 惠州华阳通用智慧车载***开发有限公司 | Parking space recognition method and system based on data fusion |
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