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Method and device for correcting parking space contour, vehicle and storage medium

A parking space and contour technology, applied in the field of parking, can solve problems such as reducing the success rate of vehicles parked in the parking space, and achieve the effect of improving the accuracy rate

Active Publication Date: 2019-11-22
GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In practice, it is found that the parking process of the vehicle often has the situation of tilting to the parking space, and when the vehicle is moving tilted to the obstacle, there is an error between the position of the obstacle measured by the radar and the actual position of the obstacle, resulting in There is a deviation between the parking space contour determined by radar and the actual parking space contour, which reduces the success rate of parking the vehicle into the parking space

Method used

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  • Method and device for correcting parking space contour, vehicle and storage medium
  • Method and device for correcting parking space contour, vehicle and storage medium
  • Method and device for correcting parking space contour, vehicle and storage medium

Examples

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Embodiment 1

[0059] see figure 2 , figure 2 It is a schematic flow chart of a method for modifying the outline of a parking space disclosed in an embodiment of the present invention. Such as figure 2 As shown, the method for correcting the contour of the parking space may include the following steps.

[0060] 201. After the vehicle uses the radar to scan the parking space to obtain the first contour of the parking space, based on the first contour of the parking space and the corner point of the first contour of the parking space, determine several boundaries on the axis corresponding to the vehicle pose point.

[0061] The embodiment of the present invention can be implemented by the on-board computer system on the vehicle. Specifically, the on-board computer system can include a correction device for the contour of the parking space. In addition, the embodiment of the present invention can also be implemented by other control systems / equipment. The implementation of the present inv...

Embodiment 2

[0072] see image 3 , image 3 It is a schematic flowchart of another method for modifying the outline of a parking space disclosed in the embodiment of the present invention. Such as image 3 As shown, the method for correcting the contour of the parking space may include the following steps.

[0073] 301. If the first contour of the parking space obtained by scanning the parking space with radar is a preset shape, the vehicle determines the corner point of the first contour of the parking space.

[0074] In the embodiment of the present invention, the preset shape includes an outer edge extending outward at right angles to the longitudinal edge of the parking space, and the corner point is the intersection point of the longitudinal edge and the outer edge.

[0075] For example, see Figure 8 , Figure 8It is a modified example diagram of the scanning point when the vehicle is located before the first demarcation point disclosed in the embodiment of the present invention...

Embodiment 3

[0119] see Figure 4 , Figure 4 It is a structural schematic diagram of a correction device for a parking space contour disclosed in an embodiment of the present invention. The correction device of the parking space contour is applied to the vehicle, so that the vehicle can perform Figure 2 ~ Figure 3 A correction method for any parking space contour. Such as Figure 4 As shown, the correction device for the contour of the parking space may include:

[0120] The first determining unit 401 is configured to obtain the first contour of the parking space by scanning the parking space with radar, and based on the first contour of the parking space and the corner point of the first contour of the parking space, in the position corresponding to the vehicle pose Determine several dividing points on the axis;

[0121] The correction unit 402 is used to correct the scanning points scanned in real time according to the real-time position of the vehicle on the axis, the correction ...

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Abstract

An embodiment of the present invention relates to the technical field of parking and discloses a method and device for correcting a parking space contour, a vehicle and a storage medium. The method comprises a step of determining several demarcation points on an axis corresponding to a vehicle posture based on a first contour of a parking space and a corner point of the first contour of the parking space after scanning the parking space with a radar to obtain the first parking space contour, a step of correcting a scan point obtained by real-time scan according to a real-time position of the vehicle on the axis ,a correction direction corresponding to the real-time position, the first contour of the parking space, the corner point and the axis to obtain corrected target parking space contour points, and a step of obtained a corrected parking space second contour according to the multiple corrected target parking space contour points. By implementing the embodiment of the present invention, the more accurate parking space contour can be obtained, and therefore, the accuracy of parking the vehicle in the parking space can be improved.

Description

technical field [0001] The invention relates to the technical field of parking, in particular to a method and device for correcting the outline of a parking space, a vehicle, and a storage medium. Background technique [0002] At present, during the parking process of the vehicle, the radar installed on the vehicle can be used to detect obstacles around the vehicle and determine the location information of the obstacles, so as to determine the outline of the parking space and assist the vehicle to park in the parking space. In practice, it is found that the parking process of the vehicle often has the situation of tilting to the parking space, and when the vehicle is moving tilted to the obstacle, there is an error between the position of the obstacle measured by the radar and the actual position of the obstacle, resulting in There is a deviation between the contour of the parking space determined by the radar and the contour of the actual parking space, thereby reducing the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/89G01S7/40
CPCG01S13/89G01S7/40
Inventor 蓝鸿翔张雪飞蒋少峰
Owner GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD