Automatic parking path obstacle collision detection method, device and system

A technology for collision detection and automatic parking, which is applied in motor vehicles, control devices, control/regulation systems, etc., can solve the problems of low detection efficiency and difficult to meet, and achieve the effect of reducing requirements, being easy to implement, and improving computing efficiency.

Active Publication Date: 2018-02-09
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the collision detection in the currently commonly used automatic parking path planning method has the problem of low detection efficiency, which makes it difficult to meet the requirements of automatic parking path planning

Method used

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  • Automatic parking path obstacle collision detection method, device and system
  • Automatic parking path obstacle collision detection method, device and system
  • Automatic parking path obstacle collision detection method, device and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0069] A method for collision detection of obstacles in an automatic parking path, the method comprising the following steps:

[0070] Using the path profile, vehicle profile and obstacle profile, geometrically perform circular path obstacle collision detection and / or straight path obstacle collision detection;

[0071] Wherein, the path profile is a boundary profile formed by the vehicle traveling along the path from the start point pose to the end point pose, the path profile includes an arc-shaped path profile and / or a straight line path profile, and the vehicle profile is Polygon, the outline of the obstacle is a line segment.

[0072] Further as a preferred embodiment of the method of the present invention, the step of using the path profile, the vehicle profile and the obstacle profile to geometrically perform the collision detection of the arc-shaped path obstacle includes the following sub-steps:

[0073] Judging whether the obstacle meets the obvious non-collision co...

Embodiment 2

[0109] A device combining software and hardware corresponding to the above method, an automatic parking path obstacle collision detection device, the device includes:

[0110] Memory for storing various programs;

[0111] Processor, which loads the program and performs the following steps:

[0112] Using the path profile, vehicle profile and obstacle profile, geometrically perform circular path obstacle collision detection and / or straight path obstacle collision detection;

[0113] Wherein, the path profile is a boundary profile formed by the vehicle traveling along the path from the start point pose to the end point pose, the path profile includes an arc-shaped path profile and / or a straight line path profile, and the vehicle profile is Polygon, the outline of the obstacle is a line segment.

Embodiment 3

[0115] A soft system corresponding to the above method, an automatic parking path obstacle collision detection system, the system includes:

[0116] a collision detection module for geometrically performing circular path obstacle collision detection and / or straight path obstacle collision detection using path contours, vehicle contours and obstacle contours;

[0117] Wherein, the path profile is a boundary profile formed by the vehicle traveling along the path from the start point pose to the end point pose, the path profile includes an arc-shaped path profile and / or a straight line path profile, and the vehicle profile is Polygon, the outline of the obstacle is a line segment.

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Abstract

The invention discloses an automatic parking path obstacle collision detection method, device and system. The automatic parking path obstacle collision detection method comprises the step that arc-shaped path obstacle collision detection and/or straight line path obstacle collision detection are/is conducted through a geometric method by adopting a path outline, a vehicle outline and an obstacle outline. The automatic parking path obstacle collision detection system comprises a collision detection module used for conducting arc-shaped path obstacle collision detection and/or straight line pathobstacle collision detection through the geometric method by adopting the path outline, the vehicle outline and the obstacle outline. The automatic parking path obstacle collision detection device comprises a memory and a processor used for conducting arc-shaped path obstacle collision detection and/or straight line path obstacle collision detection through the geometric method by adopting the path outline, the vehicle outline and the obstacle outline. By using the automatic parking path obstacle collision detection method, device and system, the obstacle collision detection efficiency can beimproved, the steps can be simplified, and accuracy is high. The automatic parking path obstacle collision detection method, device and system serving as the automatic parking path obstacle collisiondetection scheme can be widely applied to the field of path planning.

Description

technical field [0001] The invention relates to automatic detection technology, in particular to a method, device and system for detecting obstacle collisions on a parking path during automatic parking. Background technique [0002] In recent years, with the continuous development of automobile intelligence, automatic parking technology has been widely researched and applied. Automatic parking technology can help people complete parking safely and reliably. It uses on-board sensors to detect available parking spaces, then plans an executable path, and then automatically controls the vehicle to follow the path to complete parking. It can be seen that path planning is a key part of automatic parking technology, and its basic requirements include: feasible path, safe and collision-free, simple and efficient algorithm. Among them, the above-mentioned safe and collision-free, simple and efficient algorithm is particularly important for the path planning algorithm. However, the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/095G01C21/20G05D1/02
CPCG05D1/0214G01C21/20B60W30/0956B60W50/0097B60W2554/00G05D2201/0213B62D15/0285B60W30/0953B60W30/06B60W2554/20B60W2554/80B60W40/02
Inventor 肖志光赖健明涂强陈盛军夏珩
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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