Automatic parking method based on fusion of vision and ultrasonic perception
An automatic parking and ultrasonic technology, applied in the direction of control devices, etc., can solve the problems of trajectory prediction of moving obstacles, failure to achieve obstacle avoidance effect, and affect the smooth completion of automatic parking, so as to improve robustness and obstacle avoidance reliability effect
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[0069] Embodiment: The automatic parking method of this embodiment based on the fusion of vision and ultrasonic perception can complete the parking space search in a specific scene and complete the automatic parking operation according to the parking space selected by the user, based on the system hardware architecture Such as figure 1 As shown, it mainly includes a 360° surround view system, an ultrasonic radar system, an automatic parking controller, a vision coprocessor, and an actuator. Among them, the surround view system contains a total of 4 fisheye cameras, each camera has a horizontal field of view angle of 180°, which is transmitted to the vision coprocessor (which can be integrated with the automatic parking controller) through the HD-CVI protocol (or LVDS) After processing, the relevant information (including visual parking space, target parking space and driving area) is sent to the automatic parking controller. The ultrasonic radar system includes a total of 12 u...
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