Method for improving position precision of vehicle-mounted radar positioning side parking space angular point
A technology for locating the side and vehicle radar, which is applied in the directions of measuring devices, sound wave re-radiation, and utilization of re-radiation, etc., can solve the problems of missed detection and inaccurate detection of obstacle positions, and achieve the goal of improving positioning accuracy and success rate Effect
Active Publication Date: 2021-08-27
安徽域驰智能科技有限公司
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[0006] The purpose of the present invention is to provide a method for improving the position accuracy of vehicle-mounted radar positioning side parking corners, by grouping radar echo points in turn to calculate the fitting line segment, and calculating the distance between each segment fitting line segment and the vehicle moving direction The included angle, through the introduction of confidence calculation, obtains the accurate starting point position coordinates of the obstacle, which solves the problems of missed detection and inaccurate detection of obstacle positions in the existing automatic parking system when searching for side obstacles
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[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0035] In describing the present invention, it is to be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "surrounding" etc. Indicating orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a sp...
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The invention discloses a method for improving the position precision of a vehicle-mounted radar positioning side parking space angular point, and relates to the technical field of automatic parking. The method comprises the steps of constructing a global coordinate system, determining position coordinates of echo points, sequentially grouping the collected echo points, carrying out linear fitting processing to obtain a fitting line segment, adjusting according to an included angle between the fitting line segment and a vehicle moving direction, judging and calculating the confidence coefficient that a starting point of the fitting line segment is a starting point of an obstacle, and obtaining the position coordinates of the starting point of the obstacle by comparing the confidence coefficient with a threshold value. Radar echo points are sequentially grouped to calculate fitting line segments, the included angle between each fitting line segment and the vehicle moving direction is calculated, and accurate starting point position coordinates of the obstacle are obtained by introducing confidence coefficient calculation. The problems of missing detection and inaccurate obstacle position detection when an existing motor parking system searches for side obstacles are solved.
Description
technical field [0001] The invention belongs to the technical field of automatic parking, and in particular relates to a method for improving the position accuracy of vehicle-mounted radars to locate corners of side parking spaces. Background technique [0002] In the existing automatic parking system, the ultrasonic echo of the ultrasonic sensor will interfere during the use of the ultrasonic sensor. For example, the echo length becomes shorter at a certain moment, and a jump occurs at this time, which will affect the decision-making judgment and mistakenly believe that the obstacle appears. Or disappear. [0003] Such as figure 1 As shown, the schematic diagram of the echo change curve of the ultrasonic sensor that can accept continuous echo changes. Because the ultrasonic sensor itself has a beam angle, the echo distance of the ultrasonic sensor has gradually decreased before it actually reaches the boundary line of the side obstacle vehicle. This degree of reduction is...
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Login to View More IPC IPC(8): G01S15/06G01S15/931G01S7/539
CPCG01S15/06G01S15/931G01S7/539G01S2015/932
Inventor 张澄宇祖春胜张飞曹姜袁雁城
Owner 安徽域驰智能科技有限公司