Automatic parking high-precision evaluation method based on wavelet transform denoising

Abstract

The invention discloses an automatic parking high-precision evaluation method based on wavelet transform denoising, and the method needs to install a set of high-performance integrated navigation system on a tested vehicle to collect and evaluate the required vehicle motion parameters, and also needs to measure the vehicle size, the parking space size and other basic parameter information. In addition, for measuring yaw velocity and lateral acceleration data with large noise, a wavelet transform denoising method is adopted to improve the measurement precision. Quantitative evaluation is performed on the completion degree and process stability of automatic parking, including the included angle between the longitudinal axis of the vehicle and the inner side line of the parking space, the distance between the front end and the rear end of the side edge of the vehicle and the parking side line when parking is completed, and the distance between the tail of the vehicle and the rear parking space line. The method is irrelevant to the implementation principle and technology of automatic parking, evaluation is carried out from the perspective of a third party, and the evaluation result is accurate and reliable.

Description

technical field [0001] The invention relates to an evaluation method for automatic parking applications, in particular to a high-precision evaluation method for automatic parking based on wavelet transform denoising, which belongs to the field of intelligent driving evaluation. Background technique [0002] According to the definition of "Vehicle Driving Automation Classification" officially implemented on January 1, 2021, driving automation is divided into six levels from level 0 to level 5. For driving automation levels above level 3, it is stipulated that autonomous vehicles (Autonomous Vehicles) have automatic Driving function; in automatic driving, automatic parking (AP, Automatic Parking) is a typical application applied to actual traffic scenarios. When the self-driving car is parked, it should meet certain safety regulations when driving to the parking space; after the car stops completely, it should also meet certain standards. The "Automatic Parking System Perform...

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Problems solved by technology

[0003] However, there is not yet a unified and complete evaluation method or evaluation equipment for the above-mentioned quantitative requirements. The purpose of the method of the present invention is to provide an evaluation method for the above-mentioned applications.

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