vertical parking method

Abstract

The present invention relates to a vertical parking method, comprising step 1, when the coordinate information of a preset position of the vehicle close to the first corner is located on the initial reference line or close to the initial reference line Initially perpendicular to the side of the parking space, and when the ultrasonic sensor at the first car corner detects an obstacle, locate the obstacle and perform step 2; step 2, calculate the coordinates of the point O where the obstacle is most likely to be in contact with the vehicle information, according to the coordinate information of the outer boundary of the point O, the first vehicle angle and the initial vertical parking space, calculate the coordinate information of the outer boundary of the target vertical parking space; and step 3, according to the coordinate information of the outer boundary of the target vertical parking space The information continues with automatic or semi-automatic parking. The vertical parking method of the present invention can eliminate the estimation error of the original parking space and improve the accuracy of parking the vehicle into the space.

Description

technical field [0001] The invention relates to a parking method, in particular to a vertical parking method. Background technique [0002] With the development of intelligent driving technology, the research and development of automatic parking technology is also developing rapidly. For example, the patent application number is 201810031452.4, and the application date is January 12, 2018. The invention patent application "autonomous parking of vehicles in vertical parking spaces" Just disclose a kind of automatic parking technology. Most of the existing motor vehicles are equipped with ultrasonic sensors for obstacle detection, helping drivers eliminate blind spots and blurred vision, and improving driving safety. Because ultrasonic sensors are economical and multifunctional, most existing automatic parking technologies use ultrasonic waves for automatic parking space search. However, limited by the characteristics of the ultrasonic sensor itself and the strong dependence...

AI Technical Summary

Problems solved by technology

However, limited by the characteristics of the ultrasonic sensor itself and the strong dependence of sound wave propagation on the surrounding environment, when using ultrasonic waves to search for parking spaces, a large error in parking space position estimation will often occur, and at the same time superimposed vehicle positioning may cause deviation from the parking preset trajectory error, which greatly reduces the success rate of parking in place under complex working conditions

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