Automatic parking method based on single rear-view camera and multiple radars

Abstract

The invention discloses an automatic parking method based on a single rear-view camera and multiple radars, and the design concept of the automatic parking method is as follows: a plurality of radars on a vehicle side detect a suspected parking space and a single rear-view camera captures an image of a line drawn by the suspected parking space, and the detection results of the radars and the single rear-view camera are cooperatively considered to obtain a target parking space. Visual verification can be performed on the detected unique undetermined parking space result, the two undetermined parking space results detected at the same area position can be fused, and in the subsequent process of parking in the target parking space, real-time positioning and parking route planning are performed on the vehicle by using the images continuously acquired by the rear-view camera, therefore, accurate matching of parking spaces and accurate parking operation are realized. The automatic parking function of the vehicle is achieved based on the single rear-view camera and the multiple radars, the parking effect equal to that of an existing four-way all-around camera and 12 ultrasonic radars can be achieved, and therefore the vehicle cost is remarkably reduced.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to an automatic parking method based on a single rear-view camera and multiple radars. Background technique [0002] With the advent of automobile intelligence, more and more intelligent products are applied to vehicles, such as automatic emergency system (AEB), lane keeping system (ACC), automatic parking system (APA), etc., the arrival of automobile intelligence, It brings convenience to human travel and improves the safety of vehicles, but the prerequisite for the realization of vehicle intelligent functions is to obtain vehicle surrounding information based on on-board sensors, so that the more intelligent vehicles require more sensors, resulting in While improving the intelligence of the vehicle, it also increases the cost of a single vehicle. For example, the automatic parking system is based on four surround-view cameras and 12 ultrasonic radars to detect obstacle...

AI Technical Summary

Problems solved by technology

[0004] In view of the above, the present invention aims to provide an automatic parking method based on a single rear-view camera and multiple radars, so as to solve the problem that the aforementioned automatic parking function and low cost cannot be balanced

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