CN114572223A - Ultrasonic radar obstacle parking space sensing system and method - Google Patents
Ultrasonic radar obstacle parking space sensing system and method Download PDFInfo
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Abstract
An ultrasonic radar obstacle parking space sensing system comprises an ultrasonic radar module and a vehicle control unit; the vehicle control unit comprises a radar signal processing module, an automobile mobile computing module, a sensor position computing module, a point cloud computing module, a parking space position computing module, a point cloud data storage module and a control module. The method comprises the steps of controlling an ultrasonic radar module to send ultrasonic signals, calculating coordinates H (t) of a barrier relative to an automobile coordinate system, calculating coordinate values HP (t) of the barrier relative to a calculation origin P (0) according to the coordinates H (t) of the barrier relative to the automobile coordinate system, the automobile position P (t) and the attitude change angle beta (t), forming point cloud data, and determining the length and the width of a parking space. The parking space detection method and the parking space detection system can realize relatively accurate parking space detection based on a low-cost hardware system.
Description
Technical Field
The application belongs to the technical field of automobile control, and particularly relates to the technical field of in-loop simulation testing of an automatic driving automobile.
Background
Referring to fig. 1, the vehicle-mounted ultrasonic radar is mainly classified into two categories, i.e., UPA and APA. The UPA is a short-range ultrasonic wave, is mainly installed at the front part and the rear part of a vehicle body, has the detection range of 25 cm-2.5 m, and is more accurate due to the large detection distance, the small Doppler effect and the small temperature interference. The APA is a remote ultrasonic sensor, is mainly used for the side surface of a vehicle body, has the detection range of 35 cm-5 m, and can cover a parking space. The directivity is strong, the propagation performance of the probe wave is superior to that of the UPA, and the probe wave is not easily interfered by other APAs and UPAs. Of course, the farther the detection distance, the larger the detection error.
By utilizing the detection of the parking garage position of the vehicle-mounted ultrasonic radar, the automatic parking function needs to go through two stages: 1. identifying a library position; 2. backing and warehousing;
when the automobile slowly passes through the garage position, the relationship between the detection distance returned by the APA sensor at the right front of the automobile and the time is approximately as shown in figure 2, the approximate length of the garage position can be obtained by integrating the automobile speed from the time t1 to the time t2, and if the automobile is approximately considered to be running at a constant speed, the automobile speed is directly multiplied by (t 2-t 1). And when the detected length exceeds the shortest length required by the vehicle to park, the current space is considered to have a parking space.
Similarly, the APA in the back side direction can generate a similar signal curve for secondary verification of the library position.
The research objects of the parking space perception problem are usually obstacle parking spaces, line parking spaces and the like. In the field of automatic driving, parking spaces are estimated or predicted more accurately. The parking space perception is needed to play a role.
There are generally two methods for acquiring parking spaces: 1) the method has the advantages that the traditional algorithm is utilized to obtain target point cloud information through an ultrasonic sensor and a vehicle sensor, and target orientation information is obtained through point cloud processing, and the method has the defect that if target shape information is incomplete or detection errors are large, estimated orientation results are possibly very poor; 2) the neural network algorithm utilizing deep learning is to establish the neural network of deep learning of the obstacle parking space, and the weight of the neural network is corrected by collecting a large number of samples. However, this method requires a large number of samples, and poor selection of the model may affect the accuracy of the obstacle parking space and may require high requirements for environments such as embedded memories.
Disclosure of Invention
The invention provides a detection system, which can obtain target point cloud information through an ultrasonic sensor and a vehicle sensor and realize relatively accurate parking space detection based on a low-cost hardware system.
An ultrasonic radar obstacle parking space sensing system comprises an ultrasonic radar module and a vehicle control unit; the vehicle control unit comprises a radar signal processing module, an automobile movement calculation module, a sensor position calculation module, a point cloud calculation module, a parking space position calculation module, a point cloud data storage module and a control module; the control module obtains the automobile moving distance D in unit time T and the attitude change angle theta (T) in unit time T, calculates the attitude change angle beta (T) relative to the calculation origin P (0), and calculates the automobile position P (T) relative to the calculation origin P (0); controlling an ultrasonic radar module to send an ultrasonic signal, obtaining the distance L (n) between an ultrasonic detection obstacle and a probe of the obstacle, the installation position C (m) and the ultrasonic detection angle K (n) of the ultrasonic radar, and calculating the coordinate H (t) of the obstacle relative to an automobile coordinate system; calculating a coordinate value HP (t) of the obstacle relative to a calculation origin P (0) according to the coordinate H (t) of the obstacle relative to an automobile coordinate system, the automobile position P (t), the attitude change angle beta (t), and storing a historical coordinate value HP (t) to form point cloud data; and analyzing the point cloud data to determine the closest distance and the farthest distance between the vehicle and the obstacle, and determining the length and the width of the parking space according to the closest distance, the farthest distance and the attribute and the contour of the obstacle coordinate.
The ultrasonic radar module may include an APA ultrasonic radar module and a UPA ultrasonic radar module.
The vehicle control unit may further include a parking space position compensation calculation module and a vehicle speed measurement module, wherein the control module records a vehicle speed at a time when the ultrasonic signal is sent, and the parking space position compensation calculation module compensates the width or the length of the parking space according to the vehicle speed.
Obtaining the moving distance D of the automobile in unit time T and the attitude change angle theta (T), calculating the attitude change angle beta (T) relative to the calculation origin P (0), and calculating the automobile position P (T) relative to the calculation origin P (0);
X_P(t)=X_P(t-1)+ D*cos(θ(t))，
y _ P (t) = Y _ P (t-1) + D × sin (θ (t)), and the historical attitude change angle θ (t) is accumulated to obtain an attitude change angle β (t) with respect to the calculation origin P (0).
The ultrasonic detection system can be used for detecting the distance L (n) between the obstacle and the probe by the ultrasonic of the obstacle, wherein the abscissa X _ L (n) and the ordinate Y _ L (n) are respectively; the abscissa X _ h (t) and the ordinate Y _ h (t) of the obstacle relative to the coordinates h (t) of the vehicle coordinate system;
X_H(t)=X_C(m)+ L(n)*cos(K(n))，
Y_H(t)=Y_C(m)+ L(n)*sin(K(n))。
the distance B (t) from the obstacle to the origin of the automobile coordinate system is equal to the square value of the sum of squares of X _ H (t) and Y _ C (n), and the angle A (t) of the obstacle relative to the automobile coordinate system is calculated; a (t) = arccos (X _ h (t)/b (t)), an off-angle b (t) = a- β (t) of the obstacle from the X-axis of the coordinate system of the origin P (0), an abscissa X _ hp (n) of the coordinate value hp (t), an ordinate Y _ hp (n),
X_HP(n)=X_P(n)+B(t)sin(B(t))，
Y_HP(n)=Y_P(n)+B(t)cos(B(t))。
a method for sensing a parking space with an ultrasonic radar obstacle comprises the following steps,
step 10: setting a coordinate system of the automobile relative to an original point P (0) and an initial automobile body attitude angle theta (0);
step 20: recording an initial position and an initial body attitude angle theta (0) of the automobile;
step 30: obtaining the automobile moving distance D in unit time T and the attitude change angle theta (T) in unit time T, calculating the attitude change angle beta (T) relative to the calculation origin P (0), and calculating the automobile position P (T) relative to the calculation origin P (0);
step 40: controlling an ultrasonic radar to send an ultrasonic signal, obtaining the distance L (n) between an ultrasonic detection obstacle and a probe of the obstacle, the installation position C (n) and the ultrasonic detection angle K (n) of the ultrasonic radar, and calculating the coordinate H (t) of the obstacle relative to an automobile coordinate system;
step 50: calculating a coordinate value HP (t) of the obstacle relative to a calculation origin P (0) according to the coordinate H (t) of the obstacle relative to an automobile coordinate system, the automobile position P (t), the attitude change angle beta (t), and storing a historical coordinate value HP (t) to form point cloud data;
step 60: and analyzing the point cloud data to determine the closest distance and the farthest distance between the vehicle and the obstacle, and determining the length and the width of the parking space according to the closest distance, the farthest distance and the attribute and the contour of the obstacle coordinate.
The ultrasonic radar obstacle space sensing method according to claim 7,
step 70: and recording the speed of the vehicle at the moment of sending the ultrasonic signal, and compensating the width or length of the parking space according to the speed of the vehicle.
In step 30, the moving distance D of the vehicle and the attitude change angle θ (T) in the unit time T are obtained, the attitude change angle β (T) with respect to the calculation origin P (0) is calculated, and the vehicle position P (T) with respect to the calculation origin P (0) is calculated;
X_P(t)=X_P(t)+ D*cos(θ(t))，
y _ P (t) = Y _ P (t) + D × sin (θ (t)), and the historical attitude change angle θ (t) is accumulated to obtain the attitude change angle β (t) with respect to the calculation origin P (0).
In step 40, the distance l (n) between the obstacle and the probe is detected by the ultrasonic wave of the obstacle, and the probe is relative to the abscissa X _ c (m) and the ordinate Y _ c (m) of the automobile coordinate system; the abscissa X _ h (t) and the ordinate Y _ h (t) of the obstacle relative to the coordinates h (t) of the vehicle coordinate system;
X_H(t)=X_C(m)+ L(n)*cos(K(n))，
Y_H(t)=Y_C(m)+ L(n)*sin(K(n))。
in step 50, calculating an angle a (t) of the obstacle with respect to the vehicle coordinate system, wherein the distance b (t) is equal to a squared value of a sum of squares of X _ h (t) and Y _ c (n); a (t) = arccos (X _ h (t)/b (t)), deviation angle b (t) = a- β (t) of obstacle from X axis of coordinate system of origin P (0), abscissa X _ hp (n) of coordinate value hp (t), ordinate Y _ hp (n),
X_HP(n)=X_P(n)+B(t)sin(B(t))，
Y_HP(n)=Y_P(n)+B(t)cos(B(t))。
the beneficial effects of the technical scheme in the application are that: by calculating the moving distance D of the automobile in unit time and the attitude change angle theta (T) in unit time T, the moving distance and the attitude change of the automobile can be calculated in a simple calculation mode, and an integral calculation effect is formed; the compensation data is a three-dimensional array tested in a standard environment, and can supplement the testing precision of the boundary catastrophe points; the vehicle motion can be simplified into two conditions, namely rotation as shown in figure 7 and linear motion as shown in figure 8, and the position change of the central point of the rear wheel of the vehicle can be calculated by using a formula.
Drawings
FIG. 1 is a schematic diagram of the radar coverage effect of a vehicle-mounted ultrasonic radar;
FIG. 2 is a schematic diagram of the signal versus time of a vehicle-mounted ultrasonic radar detecting a standard side position garage;
FIG. 3 is a functional block diagram of an ultrasonic radar obstacle parking space sensing system;
FIG. 4 is a functional block diagram of an ultrasonic radar obstacle parking space sensing system;
FIG. 5 is a functional block diagram of an ultrasonic radar obstacle parking space sensing system;
FIG. 6 is a simplified block diagram of the motion of a vehicle per unit time;
FIG. 7 is a simplified block diagram of the motion of a vehicle per unit time;
FIG. 8 is a schematic diagram of the parking space sensing technology of the ultrasonic radar obstacle;
FIG. 9 is a schematic view of point cloud data sensed and detected by an ultrasonic radar obstacle parking space;
fig. 10 is a flow chart of a method for sensing a parking space by using an ultrasonic radar obstacle.
Detailed Description
The present disclosure is described in further detail below with reference to the attached drawings. It should be noted that the following description is of the preferred embodiments of the present invention and should not be construed as limiting the invention in any way. The description of the preferred embodiments of the present invention is made only as an illustration of the general principles of the invention.
As shown in fig. 3, the ultrasonic radar obstacle parking space sensing system is characterized by comprising an ultrasonic radar module and a vehicle control unit;
the vehicle control unit comprises a radar signal processing module, an automobile movement calculation module, a sensor position calculation module, a point cloud calculation module, a parking space position calculation module, a point cloud data storage module and a control module;
the control module controls the automobile movement calculation module to obtain the automobile movement distance D in unit time T and the attitude change angle theta (T) in unit time T, calculates the attitude change angle beta (T) relative to the calculation origin P (0), and calculates the automobile position P (T) relative to the calculation origin P (0);
the control module controls the ultrasonic radar module to send ultrasonic signals, the sensor position calculation module obtains the distance L (n) between the ultrasonic detection barrier and the probe of the barrier, the installation position C (m) and the ultrasonic detection angle K (n) of the ultrasonic radar, and calculates the coordinate H (t) of the barrier relative to the automobile coordinate system;
the point cloud computing module computes a coordinate value HP (t) of the obstacle relative to a computing origin P (0) according to a coordinate H (t) of the obstacle relative to an automobile coordinate system, an automobile position P (t) and an attitude change angle beta (t), saves a historical coordinate value HP (t) and forms point cloud data;
the parking space position calculation module analyzes the point cloud data to determine the closest distance and the farthest distance between the vehicle and the obstacle, and determines the length and the width of the parking space according to the closest distance, the farthest distance and the attribute and the outline of the obstacle coordinate.
By calculating the moving distance D of the automobile in unit time and the attitude change angle theta (T) in unit time T, the moving distance and attitude change of the automobile can be calculated in a simple calculation mode, and an integral calculation effect is formed.
As shown in fig. 4, the ultrasonic radar module may include an APA ultrasonic radar module and a UPA ultrasonic radar module.
As shown in fig. 5, the vehicle control unit may further include a parking space position compensation calculating module and a vehicle speed measuring module, wherein the control module records a vehicle speed at a time when the ultrasonic signal is sent, and the parking space position compensation calculating module compensates the width or the length of the parking space according to the vehicle speed.
As shown in fig. 9, the compensation data is stored in the parking space position compensation calculation module, and the compensation data is a three-dimensional array tested in a standard environment, which can supplement the test precision of the boundary mutation point:
wherein:
Obtaining the moving distance D of the automobile in unit time T and the attitude change angle theta (T), calculating the attitude change angle beta (T) relative to the calculation origin P (0), and calculating the automobile position P (T) relative to the calculation origin P (0);
X_P(t)=X_P(t-1)+ D*cos(θ(t))，
y _ P (t) = Y _ P (t-1) + D × sin (θ (t)), and the historical attitude change angles θ (t) are accumulated to obtain the attitude change angle β (t) from the calculation origin P (0).
In fig. 6 or fig. 7, the calculation is performed in unit time, the movement of the automobile can be simplified into two conditions, for example, the rotation in fig. 7 and the linear movement in fig. 8, and the position change of the central point of the rear wheel of the automobile can be calculated by the formula.
As shown in fig. 8, at the nth time instant, the distance between the ultrasonic detection obstacle of the obstacle and the ultrasonic radar probe is l (n), and the probe is relative to the abscissa X _ c (m) and the ordinate Y _ c (m) of the automobile coordinate system; the abscissa X _ h (t) and the ordinate Y _ h (t) of the obstacle relative to the coordinates h (t) of the vehicle coordinate system;
X_H(t)=X_C(m)+ L(n)*cos(K(n))，
Y_H(t)=Y_C(m)+ L(n)*sin(K(n))。
the coordinates of the probe relative to the center point of the rear wheel of the automobile are fixed, different ultrasonic radar probes are selected, the coordinate values are different, and different coordinate values are selected according to different ultrasonic radars m. The ultrasonic detection angle k (m) is also a fixed value according to the ultrasonic radar. L (n) is the distance of the detected obstacle at different times.
As shown in fig. 8, the distance b (t) from the obstacle to the origin of the vehicle coordinate system, the distance b (t) being equal to the squared value of the sum of the squares of X _ h (t) and Y _ c (n), the angle a (t) of the obstacle to the vehicle coordinate system is calculated; a (t) = arccos (X _ h (t)/b (t)), deviation angle b (t) = a- β (t) of obstacle from X axis of coordinate system of origin P (0), abscissa X _ hp (n) of coordinate value hp (t), ordinate Y _ hp (n),
X_HP(n)=X_P(n)+B(t)sin(B(t))，
Y_HP(n)=Y_P(n)+B(t)cos(B(t))。
as shown in fig. 10, a method for sensing a parking space by using an ultrasonic radar obstacle includes,
step 10: setting a coordinate system of the automobile relative to an original point P (0) and an initial automobile body attitude angle theta (0);
step 20: recording an initial position and an initial body attitude angle theta (0) of the automobile;
and step 30: obtaining the automobile moving distance D in unit time T and the attitude change angle theta (T) in unit time T, calculating the attitude change angle beta (T) relative to the calculation origin P (0), and calculating the automobile position P (T) relative to the calculation origin P (0);
step 40: controlling an ultrasonic radar to send an ultrasonic signal, obtaining the distance L (n) between an ultrasonic detection obstacle and a probe of the obstacle, the installation position C (n) and the ultrasonic detection angle K (n) of the ultrasonic radar, and calculating the coordinate H (t) of the obstacle relative to an automobile coordinate system;
step 50: calculating a coordinate value HP (t) of the obstacle relative to a calculation origin P (0) according to the coordinate H (t) of the obstacle relative to an automobile coordinate system, the automobile position P (t), the attitude change angle beta (t), and storing a historical coordinate value HP (t) to form point cloud data;
step 60: and analyzing the point cloud data to determine the closest distance and the farthest distance between the vehicle and the obstacle, and determining the length and the width of the parking space according to the closest distance, the farthest distance and the attribute and the contour of the obstacle coordinate.
It may be a combination of the following,
step 70: and recording the speed of the vehicle at the moment of sending the ultrasonic signal, and compensating the width or length of the parking space according to the speed of the vehicle.
Step 30, obtaining the automobile moving distance D in unit time T and the attitude change angle theta (T), calculating the attitude change angle beta (T) relative to the calculation origin P (0), and calculating the automobile position P (T) relative to the calculation origin P (0);
X_P(t)=X_P(t)+ D*cos(θ(t))，
y _ P (t) = Y _ P (t) + D × sin (θ (t)), and the historical attitude change angle θ (t) is accumulated to obtain the attitude change angle β (t) with respect to the calculation origin P (0).
In step 40, the distance L (n) between the obstacle and the probe is detected by ultrasonic waves of the obstacle, and the probe corresponds to the X _ C (m) and Y _ C (m) of the abscissa of the automobile coordinate system; the abscissa X _ h (t) and the ordinate Y _ h (t) of the obstacle relative to the coordinates h (t) of the vehicle coordinate system;
X_H(t)=X_C(m)+ L(n)*cos(K(n))，
Y_H(t)=Y_C(m)+ L(n)*sin(K(n))。
in step 50, calculating an angle A (t) of the obstacle relative to the automobile coordinate system, wherein the distance B (t) is equal to a square value of a square sum of X _ H (t) and Y _ C (n); a (t) = arccos (X _ h (t)/b (t)), deviation angle b (t) = a- β (t) of obstacle from X axis of coordinate system of origin P (0), abscissa X _ hp (n) of coordinate value hp (t), ordinate Y _ hp (n),
X_HP(n)=X_P(n)+B(t)sin(B(t))，
Y_HP(n)=Y_P(n)+B(t)cos(B(t))。
by means of the mathematical principles of fig. 6, 7, 8, different specific calculation formulas are possible.
While the invention has been illustrated and described in terms of a preferred embodiment and several alternatives, the invention is not limited by the specific description in this specification. Other additional alternative or equivalent components may also be used in the practice of the present invention.
Claims (11)
1. An ultrasonic radar obstacle parking space sensing system is characterized by comprising an ultrasonic radar module and a vehicle control unit;
the vehicle control unit comprises a radar signal processing module, an automobile movement calculation module, a sensor position calculation module, a point cloud calculation module, a parking space position calculation module, a point cloud data storage module and a control module;
the control module obtains the automobile moving distance D in unit time T and the attitude change angle theta (T) in unit time T, calculates the attitude change angle beta (T) relative to the calculation origin P (0), and calculates the automobile position P (T) relative to the calculation origin P (0);
controlling an ultrasonic radar module to send an ultrasonic signal, obtaining the distance L (n) between an ultrasonic detection obstacle and a probe of the obstacle, the installation position C (m) and the ultrasonic detection angle K (n) of the ultrasonic radar, and calculating the coordinate H (t) of the obstacle relative to an automobile coordinate system;
calculating a coordinate value HP (t) of the obstacle relative to a calculation origin P (0) according to the coordinate H (t) of the obstacle relative to an automobile coordinate system, the automobile position P (t), the attitude change angle beta (t), and storing a historical coordinate value HP (t) to form point cloud data;
and analyzing the point cloud data to determine the closest distance and the farthest distance between the vehicle and the obstacle, and determining the length and the width of the parking space according to the closest distance, the farthest distance and the attribute and the contour of the obstacle coordinate.
2. The ultrasonic radar obstacle space sensing system of claim 1, wherein the ultrasonic radar modules comprise an APA ultrasonic radar module and a UPA ultrasonic radar module.
3. The ultrasonic radar obstacle parking space sensing system according to claim 1, wherein the vehicle control unit further comprises a parking space position compensation calculation module and a vehicle speed measurement module, the control module records a vehicle speed at a moment when the ultrasonic signal is sent, and the parking space position compensation calculation module compensates for the width or the length of the parking space according to the vehicle speed.
4. The system according to claim 1, wherein the vehicle moving distance D and the attitude change angle θ (T) are obtained in a unit time T, the attitude change angle β (T) with respect to the calculation origin P (0) is calculated, and the vehicle position P (T) with respect to the calculation origin P (0) is calculated;
X_P(t)=X_P(t-1)+ D*cos(θ(t))，
y _ P (t) = Y _ P (t-1) + D × sin (θ (t)), and the historical attitude change angle θ (t) is accumulated to obtain an attitude change angle β (t) with respect to the calculation origin P (0).
5. The ultrasonic radar obstacle space sensing system of claim 4, wherein the ultrasonic detection obstacle-to-probe distance L (n) of the obstacle is X _ L (n) in abscissa and Y _ L (n) in ordinate; the abscissa X _ h (t) and the ordinate Y _ h (t) of the obstacle relative to the coordinates h (t) of the vehicle coordinate system;
X_H(t)=X_C(m)+ L(n)*cos(K(n))，
Y_H(t)=Y_C(m)+ L(n)*sin(K(n))。
6. the sodar obstacle space sensing system of claim 4, wherein the distance B (t) of the obstacle to the origin of the vehicle coordinate system, the distance B (t) being equal to the squared sum of X _ H (t) and Y _ C (n), the angle A (t) of the obstacle to the vehicle coordinate system is calculated; a (t) = arccos (X _ h (t)/b (t)), deviation angle b (t) = a- β (t) of obstacle from X axis of coordinate system of origin P (0), abscissa X _ hp (n) of coordinate value hp (t), ordinate Y _ hp (n),
X_HP(n)=X_P(n)+B(t)sin(B(t))，
Y_HP(n)=Y_P(n)+B(t)cos(B(t))。
7. a method for sensing a parking space by using an ultrasonic radar barrier is characterized in that,
step 10: setting a coordinate system of the automobile relative to an original point P (0) and an initial automobile body attitude angle theta (0);
step 20: recording an initial position and an initial body attitude angle theta (0) of the automobile;
step 30: obtaining the automobile moving distance D in unit time T and the attitude change angle theta (T) in unit time T, calculating the attitude change angle beta (T) relative to the calculation origin P (0), and calculating the automobile position P (T) relative to the calculation origin P (0);
step 40: controlling an ultrasonic radar to send an ultrasonic signal, obtaining the distance L (n) between an ultrasonic detection obstacle and a probe of the obstacle, the installation position C (n) and the ultrasonic detection angle K (n) of the ultrasonic radar, and calculating the coordinate H (t) of the obstacle relative to an automobile coordinate system;
step 50: calculating a coordinate value HP (t) of the obstacle relative to a calculation origin P (0) according to the coordinate H (t) of the obstacle relative to an automobile coordinate system, the automobile position P (t), the attitude change angle beta (t), and storing a historical coordinate value HP (t) to form point cloud data;
step 60: and analyzing the point cloud data to determine the closest distance and the farthest distance between the vehicle and the obstacle, and determining the length and the width of the parking space according to the closest distance, the farthest distance and the attribute and the contour of the obstacle coordinate.
8. The ultrasonic radar obstacle space sensing method according to claim 7,
step 70: and recording the speed of the vehicle at the moment of sending the ultrasonic signal, and compensating the width or length of the parking space according to the speed of the vehicle.
9. The method according to claim 7, wherein in step 30, the moving distance D of the vehicle and the attitude change angle θ (T) are obtained in a unit time T, the attitude change angle β (T) with respect to the calculation origin P (0) is calculated, and the vehicle position P (T) with respect to the calculation origin P (0) is calculated;
X_P(t)=X_P(t)+ D*cos(θ(t))，
y _ P (t) = Y _ P (t) + D × sin (θ (t)), and the historical attitude change angle θ (t) is accumulated to obtain the attitude change angle β (t) with respect to the calculation origin P (0).
10. The method for sensing the parking space by the ultrasonic radar obstacle according to claim 7, wherein in the step 40, the distance L (n) between the obstacle and the probe is detected by the ultrasonic wave of the obstacle, and the probe is relative to the abscissa X _ C (m) and the ordinate Y _ C (m) of the automobile coordinate system; the abscissa X _ h (t) and the ordinate Y _ h (t) of the obstacle relative to the coordinates h (t) of the vehicle coordinate system;
X_H(t)=X_C(m)+ L(n)*cos(K(n))，
Y_H(t)=Y_C(m)+ L(n)*sin(K(n))。
11. the method according to claim 7, wherein in step 50, the distance B (t) from the obstacle to the origin of the vehicle coordinate system, the distance B (t) being equal to the square of the sum of the squares of X _ H (t) and Y _ C (n), and the angle A (t) of the obstacle to the vehicle coordinate system is calculated; a (t) = arccos (X _ h (t)/b (t)), deviation angle b (t) = a- β (t) of obstacle from X axis of coordinate system of origin P (0), abscissa X _ hp (n) of coordinate value hp (t), ordinate Y _ hp (n),
X_HP(n)=X_P(n)+B(t)sin(B(t))，
Y_HP(n)=Y_P(n)+B(t)cos(B(t))。
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