CN110126818A - Automatic parking 3-D positioning method - Google Patents
Automatic parking 3-D positioning method Download PDFInfo
- Publication number
- CN110126818A CN110126818A CN201910385550.2A CN201910385550A CN110126818A CN 110126818 A CN110126818 A CN 110126818A CN 201910385550 A CN201910385550 A CN 201910385550A CN 110126818 A CN110126818 A CN 110126818A
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- vehicle
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- parking
- positioning
- automatic parking
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000004888 barrier function Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of automatic parking 3-D positioning method, S1, vehicle capture: field end laser radar scanning scene environment are mainly comprised the steps that, and capture vehicle to be positioned；S2, positioning: the model that the vehicle real-time matching to be positioned is moved along the parking path of planning realizes the positioning to vehicle to be positioned.It makes vehicle real-time matching model to be positioned to realize the positioning to vehicle by the way that the model moved along planning parking path is arranged, so that the speed of positioning is fast, and precision is high.
Description
Technical field
The present invention relates to autonomous driving vehicle technical field more particularly to a kind of automatic parking 3-D positioning methods.
Background technique
For many drivers, parallel parking is a kind of experience of pain, and big city parking space is limited, by vapour
Vehicle drives into narrow space and has become a required skill.Few the case where having stopped vehicle without taking some twists and turns, parking may
Traffic jam, neurolysis and bumper is caused to be hit curved.Thus automatic parking function is come into being, and automatic parking refers to automobile
Automatic parking enters position and does not need manual control, i.e. automatic parking can help driver's automatic stopping.Different automatic parking systems
System detects the object of motor vehicle environment using different methods, is typically realized and being installed additional on vehicle, such as:
Inductor is installed additional in automobile front/rear collision bumper surrounding, is made them that can both serve as transmitter, be can also act as receiver, these senses
It answers device that can send signal, can be reflected when signal encounters the barrier on vehicle body periphery, then, the computer on vehicle can utilize
Time needed for it receives signal determines the position of barrier；Some other system is then using the camera shooting being mounted on bumper
Head or radar detect barrier；Besides installing laser radar by end on the scene, pass through the positioning and perception of laser radar
Realize the automatic parking of vehicle, no matter however the automatic parking realized using what mode, be required to carry out accurately vehicle
Positioning is just able to achieve, thus in order to enable user obtains good usage experience in automatic parking, energy when needing automatic parking
It enough realizes the quick of vehicle and accurately positions.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of automatic parking 3-D positioning methods, plan road of parking by setting edge
The mobile model of diameter, and make vehicle real-time matching model to be positioned to realize the positioning to vehicle, so that the speed of positioning is fast, and
Precision is high.
To achieve the above object with some other purposes, the present invention adopts the following technical scheme:
A kind of automatic parking 3-D positioning method, mainly comprises the steps that
S1, vehicle capture: field end laser radar scanning scene environment, and capture vehicle to be positioned；
S2, positioning: the model that the vehicle real-time matching to be positioned is moved along the parking path of planning is realized to undetermined
The positioning of position vehicle.
Preferably, in the automatic parking 3-D positioning method, the midfield S1 end laser radar scanning field end ring border is simultaneously
Capture the method to parking vehicles are as follows:
The laser radar that S1-1, field end are laid scans field end ring border in real time；
It is S1-2, described to parking vehicles using being partitioned into environment of the environment sensing algorithm by field end radar scanning.
Preferably, in the automatic parking 3-D positioning method, the model is the vehicle being distributed in vehicle shape
Point cloud model.
Preferably, in the automatic parking 3-D positioning method, the model is preset model.
Preferably, in the automatic parking 3-D positioning method, the model is initial with the vehicle to be positioned
Position is the terminal for the parking path that starting point is gradually moved to the planning along the parking path of the planning.
The present invention is include at least the following beneficial effects:
In automatic parking 3-D positioning method of the invention, field end lay laser radar scanning scene environment with capture to
After positioning vehicle, the model that vehicle real-time matching to be positioned is moved along the parking path of planning, to realize to vehicle to be positioned
Positioning, by the setting of model, vehicle to be positioned is moved by target point of model always, so that determining vehicle to be positioned
Faster, precision is higher for bit rate, guarantees the fast and accurately realization of vehicle automatic parking.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Specific embodiment
It elaborates below to the present invention, to enable those of ordinary skill in the art refering to can be real accordingly after this specification
It applies.
A kind of automatic parking 3-D positioning method, mainly comprises the steps that
S1, vehicle capture: field end laser radar scanning scene environment, and capture vehicle to be positioned；
S2, positioning: the model that the vehicle real-time matching to be positioned is moved along the parking path of planning is realized to undetermined
The positioning of position vehicle.
In the above scheme, after vehicle starts automatic parking program after entering field end, the laser radar pair of field end laying
The scene environment at end is scanned in real time, then captured from the environment of scanning it is to be positioned, i.e., to the vehicle of automatic parking,
Think the model for being arranged on the parking path of vehicle planning and moving along the parking path, vehicle to be positioned is with the model
The automatic pool of vehicle is realized to realize the positioning to vehicle to be positioned for target point and the model real-time matching
Vehicle.
By the setting of model, vehicle to be positioned is moved by target point of model always, so as to vehicle to be positioned
Locating speed faster, precision is higher, guarantee vehicle automatic parking fast and accurately realization.
In one preferred embodiment, the method for the midfield S1 end laser radar scanning field end ring border and capture to parking vehicles are as follows:
The laser radar that S1-1, field end are laid scans field end ring border in real time；
It is S1-2, described to parking vehicles using being partitioned into environment of the environment sensing algorithm by field end radar scanning.
In the above scheme, the laser radar that field end is laid scans field end ring border in real time, utilizes environment sensing
Algorithm is partitioned into described to parking vehicles in the environment by field end radar scanning.
In one preferred embodiment, the model is the vehicle point cloud model being distributed in vehicle shape.
In the above scheme, by by model be set as in vehicle shape distribution vehicle point cloud model, formed vehicle with
Matching between vehicle, and keep invocation point cloud quantity few, so that locating speed is faster, precision is higher.
In one preferred embodiment, the model is preset model.
In the above scheme, model is preset model, and after the vehicle for automatic parking occur, model is corresponding to the vehicle
Planning parking path on moved, in order to the positioning of vehicle.
In one preferred embodiment, the model is starting point along the pool of the planning using the initial position of the vehicle to be positioned
Bus or train route diameter is gradually moved to the terminal of the parking path of the planning.
In the above scheme, model is starting point along the parking path of the planning using the initial position of the vehicle to be positioned
It is moved to the terminal of the parking path of the planning, gradually in order to which vehicle to be positioned is positioned by target point of model.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details.
Claims (5)
1. a kind of automatic parking 3-D positioning method, wherein mainly comprise the steps that
S1, vehicle capture: field end laser radar scanning scene environment, and capture vehicle to be positioned；
S2, positioning: the model that the vehicle real-time matching to be positioned is moved along the parking path of planning is realized to vehicle to be positioned
Positioning.
2. automatic parking 3-D positioning method as described in claim 1, wherein the midfield S1 end laser radar scanning field end ring border
And method of the capture to parking vehicles are as follows:
The laser radar that S1-1, field end are laid scans field end ring border in real time；
It is S1-2, described to parking vehicles using being partitioned into environment of the environment sensing algorithm by field end radar scanning.
3. automatic parking 3-D positioning method as described in claim 1, wherein the model is the vehicle being distributed in vehicle shape
Point cloud model.
4. automatic parking 3-D positioning method as described in claim 1, wherein the model is preset model.
5. automatic parking 3-D positioning method as described in claim 1, wherein the model is with the first of the vehicle to be positioned
Beginning position is the terminal for the parking path that starting point is gradually moved to the planning along the parking path of the planning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910385550.2A CN110126818A (en) | 2019-05-09 | 2019-05-09 | Automatic parking 3-D positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910385550.2A CN110126818A (en) | 2019-05-09 | 2019-05-09 | Automatic parking 3-D positioning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110126818A true CN110126818A (en) | 2019-08-16 |
Family
ID=67577002
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910385550.2A Pending CN110126818A (en) | 2019-05-09 | 2019-05-09 | Automatic parking 3-D positioning method |
Country Status (1)
| Country | Link |
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| CN (1) | CN110126818A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112990151A (en) * | 2021-05-10 | 2021-06-18 | 湖北亿咖通科技有限公司 | Precision detection method of obstacle detection module and electronic equipment |
Citations (6)
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|---|---|---|---|---|
| EP1870870A1 (en) * | 1999-06-25 | 2007-12-26 | Fujitsu Ten Limited | Vehicle drive assist system |
| CN108146424A (en) * | 2016-12-02 | 2018-06-12 | 比亚迪股份有限公司 | Automatic parking controlling of path thereof and control system and vehicle |
| CN108216215A (en) * | 2018-01-10 | 2018-06-29 | 维森软件技术（上海）有限公司 | A kind of method for assisting in parking |
| CN108725585A (en) * | 2017-04-14 | 2018-11-02 | 上海汽车集团股份有限公司 | The Trajectory Tracking Control method and device of vehicle autonomous parking |
| CN109403690A (en) * | 2018-09-20 | 2019-03-01 | 同济大学 | Automotive vehicle carries method, system and the application with transfer |
| CN109596140A (en) * | 2019-01-30 | 2019-04-09 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of vehicle positioning method, automatic Pilot control method and related system |
-
2019
- 2019-05-09 CN CN201910385550.2A patent/CN110126818A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1870870A1 (en) * | 1999-06-25 | 2007-12-26 | Fujitsu Ten Limited | Vehicle drive assist system |
| CN108146424A (en) * | 2016-12-02 | 2018-06-12 | 比亚迪股份有限公司 | Automatic parking controlling of path thereof and control system and vehicle |
| CN108725585A (en) * | 2017-04-14 | 2018-11-02 | 上海汽车集团股份有限公司 | The Trajectory Tracking Control method and device of vehicle autonomous parking |
| CN108216215A (en) * | 2018-01-10 | 2018-06-29 | 维森软件技术（上海）有限公司 | A kind of method for assisting in parking |
| CN109403690A (en) * | 2018-09-20 | 2019-03-01 | 同济大学 | Automotive vehicle carries method, system and the application with transfer |
| CN109596140A (en) * | 2019-01-30 | 2019-04-09 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of vehicle positioning method, automatic Pilot control method and related system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112990151A (en) * | 2021-05-10 | 2021-06-18 | 湖北亿咖通科技有限公司 | Precision detection method of obstacle detection module and electronic equipment |
| CN112990151B (en) * | 2021-05-10 | 2021-08-06 | 湖北亿咖通科技有限公司 | Precision detection method of obstacle detection module and electronic equipment |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190816 |
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| RJ01 | Rejection of invention patent application after publication |