A vertical parking space update method based on ultrasonic information

Abstract

The present invention discloses a method for updating vertical parking spaces based on ultrasonic information, which relates to the technical field of automatic parking. The present invention includes the following steps: obtaining information on surrounding obstacles of the vehicle itself; performing coordinate system conversion on the coordinates of the activated obstacles to convert the obstacle information in the vehicle coordinate system into obstacle information in the parking coordinate system; dividing the region of interest of the parking space according to the initial parking space information; generating new parking space information based on the obstacles in the region of interest; completing the update of the vertical parking space and outputting the parking space information. During the parking process, the present invention updates the components of the vertical parking space, the types of left and right obstacles, the corner coordinates, and the parking direction through the ultrasonic sensors around the vehicle body, provides an accurate parking space information for subsequent path planning, improves the parking pose, and further improves and avoids the safety risks of existing market technical solutions, thereby improving the success rate of parking.

Description

Technical Field

[0001] The present invention belongs to the technical field of braking and parking, and particularly relates to a method for updating a vertical parking space based on ultrasonic information. Background Technique

[0002] With the development of driverless technology, the degree of vehicle intelligence has been continuously improved. Among them, the automatic parking technology can reduce the difficulty for drivers when parking in a narrow space, and at the same time improve the driver's comfort and parking safety. The automatic parking searches the surrounding environment of the vehicle through sensors, finds appropriate parking spaces between other parked vehicles or ground parking space markings (such as parking space lines, etc.), and automatically or manually determines the target parking space according to the driver's selection, calculates the automatic parking trajectory, and sends lateral and longitudinal motion control commands to guide the vehicle to park at the target parking position. The accuracy of parking space detection is an important prerequisite for affecting the final parking pose and is one of the key technologies of automatic parking.

[0003] However, at present, the determination of the parking space is mainly based on the ultrasonic sensing system to identify the parking space in the space and the obstacle information around the parking space, and then it is judged whether a parking space can be formed. If there is a parking space, the driver is reminded to stop. The driver selects the parking space to start parking, as shown in the accompanying drawings of the specification Figure 2 as shown.

[0004] Currently, for the update of the vertical parking space, only the parking space category is updated. This update method mainly parks according to the initially detected parking space information, and the actuator performs path tracking according to the planned trajectory. During the subsequent process, the parking space is no longer updated or only the parking space type is updated. However, in the actual parking process, due to the functional limitations such as the detection range, sensitivity, and missed detection rate of the sensor and the deficiencies of the perception and positioning algorithm, the positioning error of the initial parking space may be relatively large, and the surrounding environment information of the parking space may also change during the parking process and the influence of the positioning error, so that the initially planned path cannot continue to be applicable to the current parking environment, resulting in a poor final parking pose or even parking failure. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for updating a vertical parking space based on ultrasonic information, which updates the constituent elements of the parking space, the types of left and right obstacles, the corner coordinates, and the parking direction according to the ultrasonic sensors around the vehicle body during the parking process, and solves the problem of poor existing parking space positioning, resulting in a poor parking pose.

[0006] To solve the above technical problems, the present invention is realized through the following technical solutions:

[0007] The present invention is a method for updating a vertical parking space based on ultrasonic information, including the following steps:

[0008] Step S1: When the vehicle starts to select a parking space, activate the parking space update module and obtain the information of surrounding obstacles around the vehicle according to the ultrasonic sensor.

[0009] Step S2: Determine whether the obstacle information meets the basic requirements for parking space update; if the update condition is met, activate the obstacle; otherwise, do not consider using the obstacle for parking space update.

[0010] Step S3: Perform coordinate system conversion on the coordinates of the activated obstacle, and convert the obstacle information in the vehicle coordinate system to the obstacle information in the parking coordinate system.

[0011] Step S4: Divide the region of interest of the parking space according to the initial parking space information, and divide the parking space obstacle interval into four regions: ROI2ndH, ROI2ndV, ROI1stV, and ROI1stH.

[0012] Step S5: Determine whether the obstacle is within the region of interest. If it is completely outside the region of interest, do not consider using the obstacle information for update; if part or all of it is within the region of interest, update with the obstacle part within the region of interest.

[0013] Step S6: Generate new parking space information based on the obstacles within the region of interest.

[0014] Step S7: The vertical parking space update is completed, and the parking space information is output.

[0015] As a preferred technical solution, in the step S1, the ultrasonic sensor obtains the information of surrounding obstacles around the vehicle, takes the corner point of the parking space as the origin of the coordinate system, takes the direction parallel to the width of the parking space as the X-axis, and takes the direction parallel to the length of the parking space as the Y-axis to establish the parking coordinate system XOY.

[0016] As a preferred technical solution, in the step S2, the basic requirements for parking space update include that the ID of the obstacle is not 0 and the length of the obstacle is greater than the set length threshold of 20 cm.

[0017] As a preferred technical solution, in the step S3, if the coordinate of the origin of the vehicle coordinate system X'OY' in the parking coordinate system XOY is (a, b), then the coordinate of the point in the vehicle coordinate system X'OY' in the parking coordinate system XOY is:

[0018]

[0019] The coordinate origin of the parking coordinate system XOY has coordinates (a′, b′) in the vehicle coordinate system X′OY′, that is, (-a·cosθ - b·sinθ, a·sinθ - b·cosθ). Then the coordinates of the points in the parking coordinate system XOY in the vehicle coordinate system X′OY′ are:

[0020]

[0021] As a preferred technical solution, in step S5, to determine whether the obstacle is within the region of interest, it is divided into three cases: completely within the region of interest, partially within the region of interest, and completely outside the region of interest.

[0022] As a preferred technical solution, in step S6, when the obstacle generates new parking space information,

[0023] When in the stage of parking into the garage, during the movement stage, according to the obstacle information obtained by the side radar, update the X and Y coordinates of the parking space corner point 2nd; when the vehicle approaches the left obstacle, according to the obstacle information obtained by the rear ultrasonic radar, update the X coordinate of the corner point 1st and the obstacle type of the 1st.

[0024] When half of the vehicle body has entered the perpendicular parking space, according to the obstacle information obtained from the echo information of the left and right ultrasonic radars, update the coordinates of the 1st point of the perpendicular parking space, the X coordinate of the 2nd point, and the obstacle type.

[0025] When the vehicle is in the in-garage adjustment stage, update the parking space direction.

[0026] As a preferred technical solution, when the vehicle is making in-garage adjustments, if there are obstacles on both sides, then update the parking space direction according to the average value of the directions of the obstacles on both sides; if there is an obstacle on only one side, then update the parking space direction according to the direction of the single-sided obstacle.

[0027] The present invention has the following beneficial effects:

[0028] During the parking process of the present invention, through the ultrasonic sensors around the vehicle body, update the components of the perpendicular parking space, the obstacle types on the left and right, the corner point coordinates, and the parking direction, providing an accurate parking space information for subsequent path planning, improving the parking pose, and further improving and avoiding the safety risks of existing market technical solutions, and increasing the success rate of parking.

[0029] Of course, it is not necessary for any product implementing the present invention to achieve all of the above advantages simultaneously. Description of the Drawings

[0030] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0031] Figure 1 It is a flowchart of a vertical parking space update method based on ultrasonic information of the present invention;

[0032] Figure 2 It is a schematic diagram of the process of searching for a parking space in a vertical parking space in the prior art;

[0033] Figure 3 It is a schematic diagram of coordinate transformation of obstacle coordinates;

[0034] Figure 4 It is a schematic diagram of the region of interest of the parking space;

[0035] Figure 5 It is a schematic diagram of corner point update in the stage of parking into the garage;

[0036] Figure 6 It is a schematic diagram of parking space information update in the stage of in-garage adjustment;

[0037] Figure 7 It is a schematic diagram of unilateral obstacle parking space direction update when the vehicle is adjusting in the garage;

[0038] Figure 8 It is a schematic diagram of bilateral obstacle parking space direction update when the vehicle is adjusting in the garage. Specific embodiments

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0040] Please refer to Figure 1 As shown, the present invention is a vertical parking space update method based on ultrasonic information, including the following steps:

[0041] Step S1: When the vehicle starts to select parking, activate the parking space update module, and obtain the information of surrounding obstacles around the vehicle according to the ultrasonic sensor;

[0042] Step S2: Determine whether the obstacle information meets the basic requirements for parking space update; if the update condition is met, activate the obstacle; otherwise, do not consider using the obstacle for parking space update;

[0043] Step S3: Perform coordinate system conversion on the activated obstacle coordinates to convert the obstacle information in the vehicle coordinate system into obstacle information in the parking coordinate system;

[0044] Step S4: Divide the region of interest of the parking space according to the initial parking space information, and divide the parking space obstacle interval into four regions: ROI2ndH, ROI2ndV, ROI1stV, and ROI1stH; Please refer to Figure 4 As shown, the four regions of ROI2ndH, ROI2ndV, ROI1stV, and ROI1stH respectively correspond to the region on the right side of the opening end of the parking space in the horizontal direction and the width direction of the parking space, the right border region of the parking space, the left border region of the parking space, and the region on the left side of the opening end of the parking space in the horizontal direction and the width direction of the parking space; Among them, the ROI1stH region is not drawn in Figure 4 it;

[0045] Step S5: Determine whether the obstacle is within the region of interest. If it is completely outside the region of interest, do not consider using the obstacle information for update; If part or all of it is within the region of interest, update it with the obstacle part within the region of interest;

[0046] Step S6: Generate new parking space information based on the obstacles within the region of interest;

[0047] Step S7: The update of the vertical parking space is completed, and the parking space information is output.

[0048] In Step S1, the ultrasonic sensor obtains the surrounding obstacle information of the vehicle itself. Taking the corner point of the parking space as the origin of the coordinate system, with the direction parallel to the width direction of the parking space as the X-axis and the direction parallel to the length direction of the parking space as the Y-axis, a parking coordinate system XOY is established.

[0049] In Step S2, the basic requirements for parking space update include that the ID of the obstacle is not 0 and the length of the obstacle is greater than the set length threshold of 20 cm.

[0050] Please refer to Figure 3 As shown, in Step S3, if the coordinate of the origin of the vehicle coordinate system X'OY' in the parking coordinate system XOY is (a, b), then the coordinate of the point in the vehicle coordinate system X'OY' in the parking coordinate system XOY is:

[0051]

[0052] If the coordinate of the origin of the parking coordinate system XOY in the vehicle coordinate system X'OY' is (a', b'), that is, (-a·cosθ - b·sinθ, a·sinθ - b·cosθ), then the coordinate of the point in the parking coordinate system XOY in the vehicle coordinate system X'OY' is:

[0053]

[0054] In step S5, it is judged whether the obstacle is within the region of interest, which is divided into three cases: completely within the region of interest, partially within the region of interest, and completely outside the region of interest.

[0055] In step S6, the obstacle generates new parking space information, and the update of the parking space information is divided into multiple stages. The specific embodiments corresponding to each stage are as follows.

[0056] Embodiment 1

[0057] As Figure 5 shown, when in the stage of parking into the garage, during the movement stage, according to the obstacle information obtained by the side radar, the X and Y coordinates of the parking space corner point 2nd are updated; when the vehicle approaches the left obstacle, according to the obstacle information obtained by the rear ultrasonic radar, the X coordinate of the corner point 1st and the obstacle type of the 1st are updated. Figure 5 The dotted line in

[0058] is the initial parking space, and the solid line is the updated parking space.

[0059] As Figure 6 shown, when half of the vehicle body has entered the vertical parking space, according to the obstacle information obtained from the echo information of the left and right ultrasonic radars, the coordinates of the 1st point of the vertical parking space, the X coordinate of the 2nd point, and the obstacle type are updated.

[0060] Embodiment 2

[0061] As Figure 7 shown, when the vehicle is adjusting in the garage and there are obstacles on both sides, the parking space direction is updated according to the average value of the directions of the obstacles on both sides.

[0062] Embodiment 3

[0063] As Figure 8 shown, when the vehicle is adjusting in the garage and there is an obstacle on only one side, the parking space direction is updated according to the direction of the single-side obstacle.

[0064] It should be noted that in the above system embodiments, the various units included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0065] In addition, those of ordinary skill in the art can understand that all or part of the steps in implementing the methods of the above embodiments can be completed by instructing relevant hardware through a program, and the corresponding program can be stored in a computer-readable storage medium.

[0066] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A vertical parking space update method based on ultrasonic information, characterized in that It includes the following steps: Step S1: When the vehicle starts to select parking, activate the parking space update module and obtain the information of surrounding obstacles around the vehicle according to the ultrasonic sensor; Step S2: Determine whether the obstacle information meets the basic requirements for parking space update; if the update condition is met, activate the obstacle; Otherwise, do not consider using this obstacle for parking space update; Step S3: Perform coordinate system conversion on the coordinates of the activated obstacle, and convert the obstacle information in the vehicle coordinate system into the obstacle information in the parking coordinate system; Step S4: Divide the region of interest of the parking space according to the initial parking space information, and divide the parking space obstacle interval into four regions: ROI2ndH, ROI2ndV, ROI1stV, and ROI1stH; Step S5: Determine whether the obstacle is within the region of interest. If it is completely outside the region of interest, do not consider using this obstacle information for update; If part or all of it is within the region of interest, update it with the part of the obstacle within the region of interest; Step S6: Generate new parking space information based on the obstacles within the region of interest; Step S7: After the vertical parking space update is completed, output the parking space information; In step S6, when the obstacle generates new parking space information, When in the stage of parking into the garage and in the moving stage, update the X and Y coordinates of the parking space corner point 2nd according to the obstacle information obtained by the side radar; when the vehicle approaches the left obstacle, update the X coordinate of the corner point 1st and the obstacle type of the 1st according to the obstacle information obtained by the rear ultrasonic radar; When half of the vehicle body has entered the vertical parking space, update the coordinates of the 1st point of the vertical parking space, the X coordinate of the 2nd point, and the obstacle type according to the obstacle information obtained from the echo information of the left and right ultrasonic radars; When the vehicle is in the in-garage adjustment stage, update the parking space direction; When the vehicle is adjusting in the garage, when there are obstacles on both sides, update the parking space direction according to the average value of the directions of the obstacles on both sides; when there is only an obstacle on one side, update the parking space direction according to the direction of the obstacle on one side.

2. The vertical parking space update method based on ultrasonic information according to claim 1, wherein, In step S1, the ultrasonic sensor obtains the information of surrounding obstacles around the vehicle, takes the corner point that forms the parking space as the origin of the coordinate system, takes the direction parallel to the width of the parking space as the X axis, and takes the direction parallel to the length of the parking space as the Y axis to establish the parking coordinate system XOY.

3. A vertical parking space update method based on ultrasonic information according to claim 1, characterized in that In step S2, the basic requirements for parking space update include that the ID of the obstacle is not 0 and the length of the obstacle is greater than the set length threshold of 20 cm.

4. A method for updating a vertical parking space based on ultrasonic information according to claim 1, characterized in that In step S5, when determining whether the obstacle is within the region of interest, it is divided into being completely within the region of interest, partially within the region of interest, and completely outside the region of interest.

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