Automatic parking space tracking method

Abstract

The invention relates to an automatic parking space tracking method. The automatic parking space tracking method comprises the steps of obtaining parking space information, wherein the parking space information comprises absolute coordinates and directions of a parking space; obtaining vehicle position information, wherein the vehicle position information comprises the absolute coordinates and heading angles of the vehicle; establishing a relative coordinate system between the parking space and the vehicle by taking the absolute coordinate of the vehicle as an original point, and acquiring therelative coordinate of the parking space; and planning a parking path according to the relative coordinates of the parking space, detecting whether obstacles exist or not in the automatic parking process, if yes, stopping parking of the vehicle and reversely driving for a preset distance, otherwise, finishing the automatic parking process according to the parking path. According to the automaticparking space tracking method, the obstacles can be detected through the change of the acceleration of the vehicle in the parking process, various parameters of the obstacles are further obtained through a 360-degree panoramic system, and different responses are made according to different properties of different obstacles, so that the intelligence of the automatic parking process is improved, andthe trouble caused by frequent replacement of the parking paths is avoided.

Description

technical field [0001] The invention relates to a parking space tracking method, in particular to an automatic parking space tracking method capable of automatically detecting obstacles. Background technique [0002] With the vigorous development of the automobile industry, people's attention to the functionality and completeness of automobiles is not only limited to the power performance and comfort of the past, but also the safety assistance performance has also taken advantage of the opportunity to stand on the automobile stage. Among them, the automatic parking system is a driving assistance system function that has been sought after by everyone in recent years, and the intelligence of automatic parking has played an increasingly important role. At present, the common automatic parking systems include 360° panorama automatic parking system and ultrasonic automatic parking system, but no matter what kind of automatic parking system needs a relative parking space coordinat...

AI Technical Summary

Problems solved by technology

At present, the common tracking methods of parking spaces are realized through the triangular conversion of parking spaces. This tracking method has low accuracy and has certain systematic errors, which is not conducive to the accurate completion of the vehicle parking process.

The most important thing is that neither the 360° panoramic automatic parking system nor the ultrasonic automatic parking system can effectively deal with the obstacles encountered in the parking process. Re-plan the parking path when there is an obstacle. This method of detecting obstacles and dealing with them is not only inefficient and poor in comfort, but also has an impact on the vehicle engine, which is not conducive to prolonging the service life of the engine.

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