CN114872689A - Parking space error release method based on environmental information - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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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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- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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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
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Abstract
The invention discloses a parking space false release method based on environmental information, and relates to the technical field of automatic parking. The invention comprises the following steps: step S1: searching the parking space, and calculating the direct echo information of the ultrasonic sensor at the side of the vehicle in real time; step S2: judging whether a vertical parking space or a parallel parking space can be formed according to the current echo information, and if the parking space exists, executing the step S3; if the parking space does not exist, continuing searching; step S3: filtering unreasonable parking place information through a parking place error release strategy; step S4: and outputting the parking space information, and recording the current parking space type. According to the invention, through the different characteristics of ultrasonic echo on vertical vehicles and parallel vehicles, the types of the vehicles forming the parking space are distinguished, the types of the parking spaces appearing in the previous driving distance are recorded, the types of the parking spaces are comprehensively judged, the safety risk of the existing market technical scheme is improved and avoided, and the subjective feeling of human-computer interaction of a driver is improved.
Description
Technical Field
The invention belongs to the technical field of automatic parking, and particularly relates to a parking stall error release method based on environmental information, which aims to solve the problem of stall error release in a scene with only space stalls.
Background
Increasingly complex parking environments, limited field of view, place greater demands on the driver. Along with the development of unmanned technology, the intelligent degree of the automobile is continuously improved, wherein the independent parking technology can reduce the difficulty of parking the automobile in the narrow space, and simultaneously improves the comfort and parking safety of the driver.
The automatic parking method comprises the steps of searching the surrounding environment of a vehicle through a sensor, searching for proper parking spaces among other parked vehicles or ground parking space marks (such as a parking space line and the like), automatically or manually determining a target parking space according to the selection of a driver, calculating an automatic parking track, and sending a transverse and longitudinal motion control command to guide the vehicle to park at a target parking position. The parking space detection and identification are the premise of parking, whether the parking space can be correctly released is an important factor influencing the master experience of a driver, and the parking space detection and identification is one of key technologies of automatic parking.
At present, parking space searching methods mainly comprise two schemes, one scheme is a pure ultrasonic scheme, and parking space size judgment is carried out only through echo information of an ultrasonic sensor. Secondly, fuse the parking stall scheme, acquire 360 panoramic pictures through the fish eye camera of vehicle whole body, through judging parking stall line angular point characteristic and draw vision parking stall information, then with the space parking stall information fusion that the ultrasonic wave drawed. Under the condition that no vehicle line exists or the vehicle line is shielded by an obstacle, the parking space is mainly kept by the ultrasonic waves.
For the ultrasonic parking space scheme, when a parking space is detected, a vehicle drives to the parking space at a certain speed in parallel: when the vehicle passes through the position where the No. 1 vehicle is parked, the ultrasonic sensor mounted on the side of the vehicle body starts to measure the lateral distance D between the vehicle and the No. 1 vehicle. When the vehicle passes through the upper edge of the No. 1 vehicle, the value measured by the ultrasonic sensor has a jump, and the moment is recorded. When the vehicle runs between the vehicle No. 1 and the vehicle No. 2, the depth D of the parking space is calculated. When the vehicle passes through the lower edge of the No. 2 vehicle, the value measured by the ultrasonic sensor jumps again, the current moment is recorded, and the final parking space length L is calculated. And analyzing the measured parking space length L and depth D, judging whether the parking space meets the basic parking requirement and judging the type of the parking space. The parking space searching process based on ultrasonic waves is shown in the attached figure 2 of the specification.
However, for the ultrasonic parking space scheme in the prior art, it is usually determined whether there is a parallel parking space or a vertical parking space by determining whether the length and the depth of the parking space satisfy the minimum value of the parallel parking space or the minimum value of the vertical parking space. For the parking scene in the upper figure, only one parallel parking space is released because the village is on the side road edge or wall. However, if no side obstacle exists, the parallel parking spaces and the vertical parking spaces can be released, as shown in the attached figure 3 in the specification. However, it is only desirable for the driver to release the parallel parking space.
In addition, the underground garage is usually vertical parking spaces, and a plurality of parking spaces are parked side by side, so that the ultrasonic scheme can release one vertical parking space and one parallel parking space. As shown in fig. 3 below. Although some schemes judge the type of the parking space by judging the length of the obstacle vehicles on the left side and the right side of the parking space so as to filter out one parking space, the scheme is not suitable for side-by-side vertical vehicles, the ultrasonic scheme senses the environment through echo information, for the scene shown in the attached figure 4 of the specification, the scheme can consider that the left obstacle and the right obstacle are parallel parking spaces, and the method can only be used for placing the parallel parking spaces.
Disclosure of Invention
The invention aims to provide a parking space false release method based on environmental information, which distinguishes the types of vehicles forming a parking space and records the types of parking spaces appearing in the previous driving distance through different characteristics of ultrasonic echoes on vertical vehicles and parallel vehicles, comprehensively judges the type of the parking space, and solves the problem of parking space release errors caused by inaccurate judgment of the types of the existing automatic parking spaces.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a parking space false release method based on environmental information, which comprises the following steps:
step S1: searching the parking space, and calculating the direct echo information of the ultrasonic sensor at the side of the vehicle in real time;
step S2: judging whether a vertical parking space or a parallel parking space can be formed according to the current echo information, and if the parking space exists, executing the step S3; if the parking space does not exist, continuing searching;
step S3: filtering unreasonable parking place information through a parking place error release strategy;
step S4: outputting parking space information and recording the current parking space type;
in step S3, the parking space mistaken release strategy includes the following steps:
step S31: determining the position of an echo point under a global coordinate system according to the installation position of the ultrasonic sensor on the vehicle body and echo information of the ultrasonic sensor, and obtaining the outline of the obstacle through fitting;
step S32: judging the existing parking spaces according to the obstacles on the two sides of the parking spaces, and if only parallel parking spaces exist, releasing the parallel parking spaces; if only the vertical parking space exists, releasing the vertical parking space; if the parking spaces are parallel and vertical, judging the types of obstacles on two sides of the parking spaces;
step S33: judging the types of obstacles on two sides of the parking space, and if the echo characteristics of the ultrasonic sensor after the vehicle sweeps over are stable, determining that the vehicle is a parallel vehicle; if the echo characteristics of the ultrasonic sensor have gaps after the vehicle sweeps, the vehicle is parallel and vertical;
step S34: calculating the parking space type proportion in the parking space memory module;
step S35: judging the type of the current parking space through weight calculation, and releasing the parking space;
step S36: and outputting the parking space information, and recording the parking space result through a parking space memory module.
As a preferable technical solution, in step S33, the types of obstacles on both sides of the parking space are determined by calculating an echo variance, where the echo variance is parallel vehicles within a certain threshold range, and is considered as vertical vehicles if the echo variance exceeds the threshold;
if the two sides of the parking space are Parallel vehicles, the parking space is considered as a Parallel parking space, the weight coefficient of the Parallel parking space is Parallel _ w1 which is equal to 1, and the weight coefficient of the vertical parking space is Cross _ w1 which is equal to 0;
if the obstacles on the two sides of the parking space are vertical vehicles, the parking space is considered as a vertical parking space, the weight coefficient of the vertical parking space is Cross _ w1 which is equal to 1, and the weight coefficient of the Parallel parking space is Parallel _ w1 which is equal to 0;
if the types of the obstacles on the left side and the right side are not consistent, the weight coefficient of the Parallel parking space is Parallel _ w1 which is 0.5, and the weight coefficient of the vertical parking space is Cross _ w1 which is 0.5.
As a preferred technical solution, in step S34, after the driver turns on the parking button and starts to search for a parking space, the parking space memory module is activated, and the parking space memory module memorizes the proportion of all released parking space types in the total released parking space.
As a preferable technical solution, in the step S35, weights parallell _ w1, parallell _ w2, Cross _ w1, and Cross _ w2 are calculated, and a flow of determining the current parking space type is as follows:
if the Parallel _ w2> is 0.8, the parking space is considered as a Parallel parking space;
if the Parallel _ w2 is greater than 0.2 and & Parallel _ w2<0.8 and & Parallel _ w1 is 1, the parking space is considered as a Parallel parking space;
if the Parallel _ w2 is greater than 0.5& & Parallel _ w2<0.8& & Parallel _ w1 is 0.5, the parking space is considered as a Parallel parking space;
otherwise, the parking space is a vertical parking space.
The invention has the following beneficial effects:
according to the invention, through the different characteristics of ultrasonic echo on vertical vehicles and parallel vehicles, the types of the vehicles forming the parking space are distinguished, the types of the parking spaces appearing in the previous driving distance are recorded, the types of the parking spaces are comprehensively judged, the safety risk of the existing market technical scheme is improved and avoided, and the subjective feeling of human-computer interaction of a driver is improved.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a parking space mis-release method based on environmental information according to the present invention;
FIG. 2 is a schematic diagram illustrating a parking space search process based on ultrasonic waves in the prior art;
FIG. 3 is a schematic view of a parallel ultrasonic parking space in the prior art;
FIG. 4 is a schematic view of a vertical ultrasonic parking space in the prior art;
FIG. 5 is a schematic diagram of obstacle fitting;
FIG. 6 is a schematic diagram of echo signatures of parallel vehicles;
FIG. 7 is a schematic illustration of echo signatures for side-by-side vehicles;
FIG. 8 is an echo signature for side-by-side vertical vehicles in the presence of noise.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention is a parking space mis-releasing method based on environmental information, including the following steps:
step S1: searching the parking space, and calculating the direct echo information of the ultrasonic sensor at the side of the vehicle in real time;
step S2: judging whether a vertical parking space or a parallel parking space can be formed according to the current echo information, and if the parking space exists, executing the step S3; if the parking space does not exist, continuing searching;
step S3: filtering unreasonable parking place information through a parking place error release strategy;
step S4: outputting parking space information and recording the current parking space type;
in step S3, the parking space mistaken release strategy includes the following steps:
as shown in fig. 5, step S31: determining the position of an echo point under a global coordinate system according to the installation position of the ultrasonic sensor on the vehicle body and echo information of the ultrasonic sensor, and obtaining the outline of the obstacle through fitting;
step S32: judging the existing parking spaces according to the obstacles on the two sides of the parking spaces, and if only parallel parking spaces exist, releasing the parallel parking spaces; if only the vertical parking space exists, releasing the vertical parking space; if the parking spaces are parallel and vertical, judging the types of obstacles on two sides of the parking spaces;
step S33: judging the types of the obstacles on the two sides of the parking space, wherein the side surfaces of the vehicle are relatively smooth, and if the echo characteristics of the ultrasonic sensor after the vehicle sweeps over are relatively stable, the vehicle is a parallel vehicle as shown in fig. 6; as shown in fig. 7, if the vehicles are vertical side by side, there is a certain limit between the vehicles, and the echo characteristics of the ultrasonic sensor after the vehicle sweeps away are more deviated from those of the parallel vehicles, the vehicles are vertical side by side;
the variance is used for describing the discrete degree, the types of obstacles on two sides of the parking space are judged by calculating the echo variance, the echo variance is parallel vehicles within a certain threshold range, and the vehicles are vertical vehicles when the echo variance exceeds the threshold. If the two sides of the parking space are Parallel vehicles, the parking space is considered as a Parallel parking space, the weight coefficient of the Parallel parking space is Parallel _ w1 which is equal to 1, and the weight coefficient of the vertical parking space is Cross _ w1 which is equal to 0; if the obstacles on the two sides of the parking space are vertical vehicles, the parking space is considered as a vertical parking space, the weight coefficient of the vertical parking space is Cross _ w1 which is equal to 1, and the weight coefficient of the Parallel parking space is Parallel _ w1 which is equal to 0; if the types of the obstacles on the left side and the right side are not consistent, the weight coefficient of the Parallel parking space is Parallel _ w1 which is 0.5, and the weight coefficient of the vertical parking space is Cross _ w1 which is 0.5.
Step S34: calculating the parking space type proportion in the parking space memory module;
due to the limitations of ultrasonic sensors, noise may occur during the measurement process. The echo characteristics of the parallel vehicles are more discrete and are identified as vertical vehicles; or the condition that the echo characteristics of the side-by-side vertical vehicles are less discrete and are identified as parallel vehicles occurs. As shown in fig. 8, for such a scenario, a parking space memory function is used.
When a driver starts a parking button and starts to search for a parking space, the parking space memory module is activated and memorizes the occupation ratio of all released parking space types in the total released parking space. If 10 parking spaces are searched, wherein 8 parking spaces are Parallel parking spaces, the Parallel _ w2 is 0.8, and the Cross _ w2 is 0.2; the parking space memory module only memorizes the newly searched 10 parking spaces.
Step S35: judging the type of the current parking space through weight calculation, and releasing the parking space;
and (4) integrating the weights of Parallel _ w1, Parallel _ w2, Cross _ w1 and Cross _ w2, judging the type of the current parking space, and releasing the parking space.
If the Parallel _ w2> is 0.8, the parking space is considered as a Parallel parking space;
if the Parallel _ w2 is greater than 0.2& & Parallel _ w2<0.8& & Parallel _ w1 ═ 1, the parking space is considered as a Parallel parking space;
if the Parallel _ w2 is greater than 0.5& & Parallel _ w2<0.8& & Parallel _ w1 is 0.5, the parking space is considered as a Parallel parking space;
otherwise, the parking space is a vertical parking space.
Step S36: and outputting the parking space information, and recording the parking space result through a parking space memory module.
Example one
An ultrasonic sensor is installed on a vehicle body, a receiver is arranged in the vehicle to receive echo information of the ultrasonic sensor, and the position of an echo point under a global coordinate system is determined;
because the length of the vehicle is far greater than the width of the vehicle, when the obstacle fitting is carried out, because the side surface of the vehicle is smooth, and a plurality of vehicles stop in parallel, gaps left among the vehicles are small, and a smooth area in the echo characteristic is long and stable; when a plurality of vehicles stop side by side, gaps left among the vehicles are small, and the echo characteristics of the smooth areas in the echo characteristics are short and are stable when the vehicles are not arranged in parallel.
The system adopts variance to describe the discrete degree, and judges the types of the obstacles on two sides of the parking space by calculating echo variance, wherein the echo variance is parallel vehicles within a certain threshold range, and the vehicles are vertical vehicles when the echo variance exceeds the threshold.
Example two
As shown in fig. 8, noise may occur during the measurement due to the limitation of the ultrasonic sensor. The echo characteristics of the existing parallel vehicles have large dispersion degree, and the existing parallel vehicles are identified as vertical vehicles; or the condition that the echo characteristics of the parallel vertical vehicles are less in discrete degree and are identified as parallel vehicles occurs;
under this scene, when automatic parking, adopt parking stall memory function: the parking method comprises the following steps that a driver starts a parking button, after a parking space is searched, a parking space memory module is activated, and the parking space memory module can memorize the occupation ratio of all released parking space types in a total released parking space; searching 10 parking spaces, wherein 8 parking spaces are Parallel parking spaces, so that parallell _ w2 is 0.8, and Cross _ w2 is 0.2; the parking space memory module only memorizes the newly searched 10 parking spaces.
And judging the weights Parallel _ w1, Parallel _ w2, Cross _ w1 and Cross _ w2, judging the type of the current parking space, and releasing the parking space.
If the Parallel _ w2> is 0.8, the parking space is considered as a Parallel parking space;
if the Parallel _ w2 is greater than 0.2& & Parallel _ w2<0.8& & Parallel _ w1 ═ 1, the parking space is considered as a Parallel parking space;
if the Parallel _ w2 is greater than 0.5& & Parallel _ w2<0.8& & Parallel _ w1 is 0.5, the parking space is considered as a Parallel parking space;
otherwise, the parking space is a vertical parking space.
And after the parking space information is output, recording the result of the secondary parking space through a parking space memory module.
It should be noted that, in the above system embodiment, each included unit is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
In addition, it is understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing associated hardware, and the corresponding program may be stored in a computer-readable storage medium.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (4)
1. A parking space false release method based on environmental information is characterized by comprising the following steps:
step S1: searching the parking space, and calculating the direct echo information of the ultrasonic sensor at the side of the vehicle in real time;
step S2: judging whether a vertical parking space or a parallel parking space can be formed according to the current echo information, and if the parking space exists, executing the step S3; if the parking space does not exist, continuing searching;
step S3: filtering unreasonable parking place information through a parking place error release strategy;
step S4: outputting parking space information and recording the current parking space type;
in step S3, the parking space mistaken release strategy includes the following steps:
step S31: determining the position of an echo point under a global coordinate system according to the installation position of the ultrasonic sensor on the vehicle body and echo information of the ultrasonic sensor, and obtaining the outline of the obstacle through fitting;
step S32: judging the existing parking spaces according to the obstacles on the two sides of the parking spaces, and if only parallel parking spaces exist, releasing the parallel parking spaces; if only the vertical parking space exists, releasing the vertical parking space; if the parking spaces are parallel and vertical, judging the types of obstacles on two sides of the parking spaces;
step S33: judging the types of obstacles on two sides of the parking space, and if the echo characteristics of the ultrasonic sensor after the vehicle sweeps over are stable, determining that the vehicle is a parallel vehicle; if the echo characteristics of the ultrasonic sensor have gaps after the vehicle sweeps, the vehicle is parallel and vertical;
step S34: calculating the parking space type proportion in the parking space memory module;
step S35: judging the type of the current parking space through weight calculation, and releasing the parking space;
step S36: and outputting the parking space information, and recording the parking space result through a parking space memory module.
2. A parking space false release method based on environmental information, according to claim 1, characterized in that in step S33, the calculated echo variance is used to judge the type of the obstacle on both sides of the parking space, the echo variance is parallel vehicle within a certain threshold range, and if it exceeds the threshold, it is considered as vertical vehicle;
if the two sides of the parking space are Parallel vehicles, the parking space is considered as a Parallel parking space, the weight coefficient of the Parallel parking space is Parallel _ w1 which is equal to 1, and the weight coefficient of the vertical parking space is Cross _ w1 which is equal to 0;
if the obstacles on the two sides of the parking space are vertical vehicles, the parking space is considered as a vertical parking space, the weight coefficient of the vertical parking space is Cross _ w1 which is equal to 1, and the weight coefficient of the Parallel parking space is Parallel _ w1 which is equal to 0;
if the types of the obstacles on the left side and the right side are not consistent, the weight coefficient of the Parallel parking space is Parallel _ w1 which is 0.5, and the weight coefficient of the vertical parking space is Cross _ w1 which is 0.5.
3. A parking space false release method based on environmental information as claimed in claim 1, wherein in step S34, when the driver starts to search for a parking space by turning on the parking button, the parking space memory module is activated, and the parking space memory module memorizes the proportion of all released parking space types in the total released parking space.
4. A parking space false release method based on environmental information as claimed in claim 1, wherein in step S35, weights parallell _ w1, parallell _ w2, Cross _ w1 and Cross _ w2 are calculated, and the procedure for determining the current space type is as follows:
if the Parallel _ w2> is 0.8, the parking space is considered as a Parallel parking space;
if the Parallel _ w2 is greater than 0.2 and & Parallel _ w2<0.8 and & Parallel _ w1 is 1, the parking space is considered as a Parallel parking space;
if the Parallel _ w2 is greater than 0.5& & Parallel _ w2<0.8& & Parallel _ w1 is 0.5, the parking space is considered as a Parallel parking space;
otherwise, the parking space is a vertical parking space.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115384518A (en) * | 2022-10-28 | 2022-11-25 | 杭州枕石智能科技有限公司 | Side parking space positioning method and device based on ultrasonic radar |
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| CN115384518A (en) * | 2022-10-28 | 2022-11-25 | 杭州枕石智能科技有限公司 | Side parking space positioning method and device based on ultrasonic radar |
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