Road surface detection-based parking assisting method, system and equipment, and storage medium

Abstract

The invention provides a road surface detection-based parking assisting method, system and equipment, and a storage medium. The method comprises the following steps: detecting the ground clearance ofan obstacle on a roadside and the distance between the obstacle and a vehicle body in the width direction based on an image sensor; when the image of the obstacle in the picture acquired by the imagesensor disappears from the lower side of the picture, acquiring the predicted distance between the obstacle and the vehicle body in the width direction according to traveling parameters, detecting thetransverse distance between the obstacle and the vehicle body, taking the least value of the predicted distance and the transverse distance as a predicted anti-collision distance, and acquiring the transverse opening degree distance between a vehicle door and the vehicle body in the width direction after the vehicle door is opened; judging whether the transverse opening degree distance is less than the predicted anti-collision distance, if so, rising the stroke to avoid the obstacle through a lifting type suspension; and according to the road surface detection-based parking assisting method,system and equipment, and the storage medium, the collision between the obstacle and the vehicle door is avoided by detecting the position relationship between the obstacle and the vehicle body and changing the height of a vehicle body lifting type suspension so as to protect the vehicle better.

Description

technical field [0001] The present invention relates to the field of automatic driving, in particular to a parking assistance method, system, device and storage medium based on road surface detection. Background technique [0002] Parking assist system is an important application of automobile active collision avoidance system in low speed and urban complex environment, and it is also an intelligent embodiment of automobile active collision avoidance system. The emergence of parking assistance systems has made parking easier and easier. Its development ranges from simple assistance to comprehensive fully automatic parking. Their purpose is to help you easily enter a crowded parking lot. The parking assist system detects the parking position through the camera installed on the body, ultrasonic sensor, and infrared sensor, draws a parking map, and dynamically plans the parking path in real time, guiding the car or directly controlling the steering wheel into the parking positi...

AI Technical Summary

Problems solved by technology

like Figures 1 to 3 As shown, when the car 1 approaches parking, if there is a lower obstacle 6 on the side of the road, the passengers in the car cannot see the obstacle 6 at this time. The existing parking radar can detect obstacles with a lower height. Inaccurate, easy to miss inspection, it may happen that when the door is opened, the door 5 hits the obstacle 6, and it is easy to damage the door 5

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