Full-autonomous parking method based on combined inertial navigation and ultrasonic radar

A parking method, ultrasonic technology, applied in the field of automatic driving, can solve the problems of slow vehicle speed, errors, and complicated methods, and achieve the effect of increasing speed and preventing accidents

CN111674391AInactive Publication Date: 2020-09-18KUNTAI VEHICLE SYST CHANGZHOU CO LTD +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2020-09-18
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a full-autonomous parking method based on combined inertial navigation and ultrasonic radar. The method comprises the following steps: collecting all lane information in a parking lot, and storing the lane information in a link table data format; collecting parking space information on two sides of a lane, and storing the parking space information in a node data format; combining all the lane information and the parking space information to form parking lot information data; monitoring the position of the vehicle on the lane through combined inertial navigation and ultrasonic radar configured on the vehicle, and controlling the vehicle to be driven to an idle parking space; and controlling the vehicle to be park automatically, detecting the occupied condition of theparking space in the parking process, and if the parking space is occupied, controlling the vehicle to continue to drive to the nearest idle parking space automatically and be parked automatically. The beneficial effects of the full-autonomous parking method are mainly reflected in that the automatic searching of an idle parking space can be searched through the parking lot information data, thevehicle driver does not need to search the idle parking space during parking to improve the automatic parking speed; information data and automatic driving are effectively combined, so that automaticparking is more efficient and safer.
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Description

technical field

[0001] The present invention relates to the technical field of automatic driving, in particular to a fully autonomous parking method based on combined inertial navigation and ultrasonic radar. Background technique

[0002] With the improvement of social and economic level, cars have become an indispensable means of transportation in people's lives, and cars have more and more functions. For example, more and more cars are equipped with a parking assist function to assist the driver in parking. The auxiliary parking function of the car is realized by means of the parking system. The parking system is a system composed of a series of sensors. For example, Chinese patent CN 108819938 A provides a parking system. The control unit of the car is based on the The data is acquired from the sensor, and the parking process is performed with the cooperation of the driver. For example, the driver needs to find a vacant parking space and park the car near the vacant park...

Examples

Embodiment Construction

[0040] The present invention will be described in detail below in conjunction with specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and structural, method, or functional changes made by those skilled in the art according to these embodiments are included within the protection scope of the present invention.

[0041] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed a...