Parking stall detection method based on ultrasonic radar

Abstract

The invention discloses a parking stall detection method based on an ultrasonic radar. The method comprises steps that A, the relative distance between a vehicle and a side obstacle can be detected through the ultrasonic radar in a driving process; B, minimum filtering processing on the detected relative distance data can be carried out; C, jump edge detection on the data after filtering processing is carried out; D, the suspected parking stall length is calculated according to the detected jump edge; and E, if the suspected parking stall length is consistent with the parking stall length, the suspected parking stall width is calculated, and obstacle detection can be carried out. Through the method, minimum filtering processing on the detected relative distance data is carried out, in combination with jump edge detection, the parking stall width and the parking stall length are calculated and corrected, accurate detection on parallel parking stalls and perpendicular parking stalls can be carried out in different modes, and the parking stall identification accuracy rate can reach up to 99%. The method can be widely applied to the parking stall detection field.

Description

technical field [0001] The invention relates to the field of parking space detection, in particular to a method for detecting parking spaces based on ultrasonic radar. Background technique [0002] Parking space detection is the premise of realizing automatic parking. When planning the trajectory of automatic parking, it is necessary to input some basic information of the parking space, mainly including: the length of the parking space, the width of the parking space, and the lateral distance. Up to now, most of the patents on parking space detection are for the detection of the parking space status of all parking spaces in similar parking lot scenes. The general method is to establish an active magnetic field on the target parking space, and use the mixed magnetic field formed by the active magnetic field and the earth’s magnetic field The magnetic change signal in the system judges the parking status of the parking space. Usually, it can only judge whether the parking spac...

AI Technical Summary

Problems solved by technology

This vision-based parking space detection method is sensitive to changes in lighting conditions and cannot be applied to night conditions

Scheme 2 (CN201510212103-Slanted Parking Space Detection Method-Application Disclosure), adopts the ultrasonic sensor installed on the side of the vehicle body to realize the detection of the slanted parking space, but does not discuss the filtering process of the ultrasonic data in detail, and the judgment condition of the parking space edge is too simple , but the method of calculating the length of the parking space by the distance does not consider the error caused by the vehicle body deviation to the detection of the length of the parking space in the process of traveling

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