An automatic parking method for preventing accidental release of parking spaces

Abstract

The present invention belongs to the technical field of automatic parking, and particularly relates to a method for preventing accidental release of parking spaces in automatic parking. It mainly detects spatial parking spaces and visual parking spaces based on ultrasonic radars and surround-view cameras. When detecting a spatial parking space, it decides whether to release this parking space according to the proportion of the type of this parking space and the type of the previously released parking space, or the self-vehicle positioning when detecting this parking space, or the release situation of the parking spaces before and after detecting this parking space. This solution can guide the driver to park in compliant parking spaces in the parking lot, avoid unnecessary fines, scratches, traffic jams and other phenomena, and at the same time improve the driving experience of the driver.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic parking, and particularly relates to a method for preventing accidental release of parking spaces during automatic parking. Background Art

[0002] With the continuous increase in the number of motor vehicles, the parking space resources in cities are becoming increasingly tense, and the parking spaces are becoming increasingly narrow, and the problem of difficult parking is gradually becoming prominent. With the improvement of vehicle intelligence and the development of autonomous driving technology, the automatic parking system is precisely to solve the problem of difficult parking in narrow parking spaces, and at the same time can also improve the driving experience and comfort of drivers.

[0003] When the vehicle condition meets the enabling conditions and the vehicle speed is lower than a certain threshold, the automatic parking system actuates and enters the vehicle search stage. It senses the surrounding environment through vehicle body sensors (such as ultrasonic radars and surround view cameras), finds a suitable parking space and releases it to the in-vehicle display screen. After the driver manually determines the target parking space, the system enters the parking-in stage. In this stage, the system will automatically calculate the parking trajectory and the target parking point, and send commands to the longitudinal and lateral control modules to guide the vehicle to accurately and safely park in the target parking space. Whether it can correctly identify and release the detected parking space is one of the key technologies of automatic parking, and it is also an important factor affecting the driver's subjective driving experience.

[0004] Currently, the search for parking spaces mainly relies on 12 ultrasonic radars and 4 surround view fisheye cameras installed around the vehicle body.

[0005] The ultrasonic radar detects idle parking spaces according to the echo information and releases the spatial parking spaces; the camera obtains a panoramic image and determines whether the parking space is parkable based on characteristic parameters such as the corner points, orientation of the parking space in the image, and whether there are obstacles within the parking space lines, and releases the visual parking spaces. Finally, the spatial parking spaces and the visual parking spaces are fused according to a certain rule of parking space fusion strategy, and the fused parking spaces are released to the display screen for the driver to determine a suitable target parking space for parking-in operation.

[0006] Currently, most automatic parking systems on the market will release both visual parking spaces and spatial parking spaces during the parking space search process, especially in parking lots with marked parking spaces. However, this spatial parking space is often not a compliant parking area in the parking lot. During the vehicle search process by the driver, the entrance and exit aisles, fire lanes or elevator entrances of the parking lot may be released as spatial parking spaces. If the driver selects this spatial parking space as the target parking space and completes the parking-in, at best, they will be fined, and at worst, there will be scratches on other vehicles or traffic jams, which will bring great confusion to users.

[0007] Therefore, there is an urgent need for an optimized solution to prevent accidental release of parking spaces during automatic parking. Summary of the Invention

[0008] In order to solve the above technical problems, the present invention provides an optimized solution for automatic parking space release. It detects spatial parking spaces through ultrasonic radars, detects visual parking spaces through surround-view cameras, performs fusion processing on the parking spaces, releases the parking spaces, and records the types of parking spaces (spatial parking spaces or visual parking spaces) released in the previous period of time. If only spatial parking spaces are detected, it is determined whether to release this parking space based on the proportion of this parking space type to the previously released parking space type, or the self-vehicle positioning when this parking space is detected, or the release situation of the parking spaces before and after this parking space is detected, thereby preventing mis-release of parking spaces.

[0009] The method includes the following steps:

[0010] Step S1: After the driver activates the automatic parking function, the self-vehicle positioning module executes to record the coordinates of the current vehicle in the world coordinate system in real time;

[0011] Step S2: Search for spatial parking spaces, calculate the direct echo information of the ultrasonic radars on both sides of the self-vehicle in real time, and detect parkable spatial parking spaces that meet the parking space size;

[0012] Step S3: Search for visual parking spaces, rely on the surround-view fisheye camera to detect feature parameters such as lane line corner points, parking space orientation, and whether there are obstacles within the lane line, and judge whether the parking space is parkable, and then detect visual parking spaces;

[0013] Step S4: Perform parking space fusion according to the detected parking space type;

[0014] Step S5: Judge whether to release or filter the parking space through the logic of preventing mis-release of parking spaces;

[0015] Step S6: Before releasing the parking space, it is necessary to record the type of the parking space released this time for judging the proportion of detected parking spaces. For the first spatial parking space or visual parking space released after each function enabling, record the self-vehicle position at the moment of releasing the parking space.

[0016] Further, the parking space fusion method in step S4 is divided into the following situations:

[0017] If the detected parking space is a visual parking space and the previously released parking space is also a visual parking space, directly release the detected visual parking space this time;

[0018] If the detected parking space is a visual parking space and the previous release is a spatial parking space, it is necessary to judge the position relationship between this parking space and the previous parking space. If it is the same parking space, use the information of the newly detected visual parking space this time to update the previously released parking space; if it is not the same parking space, the parking space detected this time is a new parking space, and directly release it;

[0019] If the detected parking space is a spatial parking space and it is the first parking space released after the driver activates the automatic parking function, do not release it temporarily. If the second and third parking spaces detected subsequently are still spatial parking spaces, release the spatial parking spaces;

[0020] If a space parking space is detected and the last released one is a visual parking space, and if it is determined that the newly detected parking space and the released parking space are the same parking space, then this parking space is not released;

[0021] If a visual parking space has been released before a space parking space is detected, then it is determined whether to filter out this parking space to prevent misrelease of the parking space.

[0022] Furthermore, the conditions for filtering out a parking space are as follows: the straight-line distance between the self-vehicle positioning position when this parking space is detected and the self-vehicle position when the first visual parking space is released after the function is started is less than 500 m; a visual parking space has been released within t1 time before this parking space is detected, and no visual parking space is detected within t2 time after this parking space is detected; after the automatic parking function is started, the proportion of the space parking space compared with the total released parking space types is too small.

[0023] Furthermore, to determine whether two parking spaces are new parking spaces, let the 1 corner point of the previously released parking space be 1-1 and the 2 corner point be 1-2; the 1 corner point of the newly detected parking space be 2-1 and the 2 corner point be 2-2;

[0024] When X 2-1 >X 1-2 and X 2-2 >X 1-2 at this time, it is determined that this detected parking space is a new parking space;

[0025] If |X 1-1 -X 2-1 |< distance1 and |X 1-2 -X 2-2 |< distance1, then it is determined that the two parking spaces are the same parking space.

[0026] Advantageous effects:

[0027] The present invention detects space parking spaces and visual parking spaces through ultrasonic radars and surround-view cameras. When detecting a space parking space, it is determined whether to release this parking space according to the proportion of this parking space type to the previously released parking space types, or the self-vehicle positioning when this parking space is detected, or the parking space release situation before and after this parking space is detected. This solution can guide the driver to park in a compliant parking space in the parking lot, avoid unnecessary fines, scratches, traffic jams and other phenomena, and at the same time can also improve the driving experience of the driver. Description of the drawings

[0028] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0029] Figure 1 Schematic diagram of automatic parking space search and release;

[0030] Figure 2 In the prior art, schematic diagram of vertical parking space release;

[0031] Figure 3 In the prior art, schematic diagram of parallel parking space release;

[0032] Figure 4 In the present invention, it is judged whether a new vehicle position map is detected. Detailed implementation manners

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0034] It should be noted that when a component is referred to as "fixed to" another component, it can be directly on the other component or there may also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time. When a component is considered to be "disposed on" another component, it can be directly disposed on the other component or there may be an intermediate component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0036] As Figure 2 shown, during the driver's vehicle search process, space parking spaces 1 or 2 will be released, but these parking spaces 1 and 2 may be the aisles at the entrance and exit of the parking lot; as Figure 3 shown, during the driver's vehicle search process, space parking space 3 will be released, but this parking space may be a fire passage or an elevator entrance.

[0037] Detect space parking spaces through ultrasonic radars, detect visual parking spaces through surround cameras, and perform fusion processing on the parking spaces, release the parking spaces and record the types of parking spaces (space parking spaces or visual parking spaces) released in the previous period of time. If only space parking spaces are detected, it is determined whether to release this parking space based on the ratio of the type of this parking space to the type of the previously released parking space or the self-vehicle positioning when this parking space is detected or based on the parking space release situation before and after this parking space is detected.

[0038] As Figure 1 shown, the method for preventing accidental release of a parking space during automatic parking includes:

[0039] Step S1: After the driver activates the automatic parking function, the vehicle positioning module executes to record the coordinates of the current vehicle in the world coordinate system in real time;

[0040] Step S2: Search for available space parking spaces, calculate the direct echo information of the ultrasonic radars on both sides of the vehicle in real time, and detect available space parking spaces that meet the parking space size;

[0041] Step S3: Search for visual parking spaces, rely on the surround view fisheye camera to detect characteristic parameters such as lane line corner points, parking space orientation, and whether there are obstacles in the lane line, judge whether the parking space is parkable, and then detect visual parking spaces;

[0042] Step S4: Perform parking space fusion according to the detected parking space type;

[0043] Step S5: Determine whether to release or filter the parking space through the logic for preventing accidental release of the parking space;

[0044] Step S6: Before releasing the parking space, record the type of the parking space released this time for judging the detection of the parking space occupancy ratio. For the first space parking space or visual parking space released after each function enabling, record the position of the vehicle at the moment of releasing the parking space.

[0045] Among them, in step S4, it is divided into the following situations:

[0046] Step S41: If the detected parking space this time is a visual parking space and the previously released parking space is also a visual parking space, directly release the detected visual parking space this time;

[0047] Step S42: If the detected parking space this time is a visual parking space and the previous release is a space parking space, it is necessary to judge the position relationship between this parking space and the previous parking space. If it is the same parking space, use the information of the newly detected visual parking space this time to update the previously released parking space; if it is not the same parking space, the detected parking space this time is a new parking space, and directly release it;

[0048] Step S43: If the detected parking space this time is a space parking space and it is the first parking space released after the driver activates the automatic parking function, do not release it temporarily. If the second and third parking spaces detected subsequently are still space parking spaces, release the space parking spaces;

[0049] Step S44: If the detected parking space this time is a space parking space and the previously released one is a visual parking space, if it is judged that the newly detected parking space and the released parking space are the same parking space, do not release this parking space; if it is judged that there are two parking spaces, jump to step S45;

[0050] Step S45: Before the current detected space parking space, there has been a visual parking space released. If any of the following conditions is met, this parking space will be filtered out;

[0051] ① The straight-line distance between the self-vehicle positioning position when this parking space is detected and the self-vehicle position when the function is started is less than 500m;

[0052] ② Within the time t1 before this parking space is detected, there is a visual parking space released, and within the time t2 after this parking space is detected, no visual parking space is detected;

[0053] ③ After the automatic parking function is started, the release of the space parking space accounts for too small a proportion compared with the total released parking space types;

[0054] Among them, to determine whether two parking spaces are new parking spaces, as Figure 4 shown, parking space 1 is the previously released parking space, 1-1 is one corner point of this parking space, and 1-2 is the other corner point of this parking space; parking space 2 is the newly detected parking space, 2-1 is one corner point of this parking space, and 2-2 is the other corner point of this parking space.

[0055] When X 2-1 >X 1-2 and X 2-2 >X 1-2 , it is determined that this detected parking space is a new parking space;

[0056] If |X 1-1 -X 2-1 |<distance1 and |X 1-2 -X 2-2 |<distance1, it is determined that the two parking spaces are the same parking space.

[0057] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for preventing accidental release of a parking space during automatic parking, characterized in that, It includes the following steps: Step S1: After the driver activates the automatic parking function, the vehicle positioning module executes to record the coordinates of the current vehicle in the world coordinate system in real time; Step S2: Search for available space parking spaces, calculate the direct echo information of the ultrasonic radars on both sides of the vehicle in real time, and detect available space parking spaces that meet the parking space size; Step S3: Search for visual parking spaces, rely on the surround-view fisheye camera to detect the corner points of the lane lines, the orientation of the parking space, and the characteristic parameters of whether there are obstacles inside the lane lines, judge whether the parking space is parkable, and then detect visual parking spaces; Step S4: Perform parking space fusion according to the detected parking space types; Step S5: Judge whether to release or filter the parking space through the logic of preventing incorrect release of the parking space; Before releasing the parking space, it is necessary to record the type of the parking space released this time for judging the detection ratio of the parking spaces. For the first space parking space or visual parking space released after each function enabling, record the position of the vehicle itself at the moment of releasing the parking space; The parking space fusion method in step S4 is divided into the following situations: If the detected parking space is a visual parking space and the previously released parking space is also a visual parking space, directly release the detected visual parking space this time; If the detected parking space is a visual parking space and the previous release is a space parking space, it is necessary to judge the positional relationship between this parking space and the previous parking space. If it is the same parking space, use the information of the newly detected visual parking space this time to update the previously released parking space; if it is not the same parking space, the newly detected parking space this time is a new parking space and is directly released; If the detected parking space is a space parking space and it is the first parking space released after the driver activates the automatic parking function, do not release it temporarily. If the second and third parking spaces detected subsequently are still space parking spaces, release the space parking spaces; If a space parking space is detected and the previously released one is a visual parking space, if it is judged that the newly detected parking space and the released parking space are the same parking space, do not release this parking space; If there has been a visual parking space released before detecting a space parking space, it is necessary to judge whether to filter out this parking space to prevent incorrect release of the parking space; The filtered parking space needs to meet any of the following conditions: the straight-line distance between the vehicle positioning position at the time of detecting this parking space and the vehicle positioning position at the time of releasing the first visual parking space after the function is activated is less than 500 m; there has been a visual parking space released within t1 time before detecting this parking space and there has been no visual parking space detected within t2 time after detecting this parking space; after the automatic parking function is activated, the proportion of space parking spaces compared to the total released parking space types is too small.

2. The method for preventing misrelease of a parking space in automatic parking according to claim 1, wherein, To judge whether two parking spaces are new parking spaces, let the first corner point of the previously released parking space be 1-1 and the second corner point be 1-2; the first corner point of the newly detected parking space be 2-1 and the second corner point be 2-2; When X 2-1 > X 1-2 and X 2-2 > X 1-2 at this time, determine that this detected parking space is a new parking space; If |X 1-1 - X 2-1 | < distance1 and |X 1-2 - X 2-2 | < distance1, then the two parking spaces are determined to be the same parking space.

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