A parking space heading adjustment method for vertical parking spaces based on ultrasonic waves

Abstract

The invention relates to a parking space heading adjustment method suitable for ultrasonic vertical parking spaces, which includes obtaining the initial coordinates of the target parking space and vehicle pose information, calculating the coordinates of the midpoint of the vehicle tail and the minimum value of the detection distance on the left and right sides of the vehicle, and according to the vehicle tail The coordinates of the midpoint and the initial coordinates of the target parking space determine the depth relationship between the vehicle and the target parking space; and the definite coordinates of the target parking space are calculated for the situation that the vehicle is located inside and outside the target parking space. During the parking process of the vehicle, the method can judge the position and posture of the vehicle according to the edge conditions of obstacles on one side or both sides, and at the same time accurately locate the target parking space, reducing the parking space detection caused by the ultrasonic characteristics when the vehicle is self-positioning Errors, improve the success rate of parking, avoid the risk of scratches and collisions, and at the same time, improve user experience.

Description

technical field [0001] The invention relates to the technical field of automatic parking, in particular to an ultrasonic-based method for adjusting the direction of a parking space in a vertical parking space. Background technique [0002] At present, the mainstream automatic parking products on the market are all developed based on pure ultrasonic waves. Ultrasound is widely used because of its low cost and wide applicability. However, in the face of unused scene environments, when using ultrasonic sensors to search for parking spaces, due to the underlying characteristics of the ultrasonic sensors, the target parking space errors are not the same, and at the same time, the vehicle self-positioning error is incorporated, resulting in the target parking space. Therefore, it is difficult to obtain accurate target parking space information, and finally it is impossible to effectively complete the parking space. [0003] At the same time, there is also the problem of ignoring...

AI Technical Summary

Problems solved by technology

However, in the face of unused scene environments, when using ultrasonic sensors to search for parking spaces, due to the underlying characteristics of the ultrasonic sensors, the target parking space errors are not the same, and at the same time, the vehicle self-positioning error is incorporated, resulting in the target parking space. Therefore, it is difficult to obtain accurate target parking space information, and finally it is impossible to effectively complete the parking space.

[0003] At the same time, there is also the problem of ignoring the angle information only based on the obstacle distance information detected by ultrasonic detection on both sides or one side of the target parking space. Therefore, it is difficult to achieve the desired effect when adjusting the parking space, and may even cause parking failure; while the target parking space Most of the skew is caused by the angle of the vehicle's self-positioning. Facing different working conditions, the difference is obvious.

Therefore, within the acceptable range of the deviation of the target parking space, if the angle error is large, it may also cause unreasonable parking or the possibility of failure.

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