Method for processing false release of parking space in apaparking search process

Abstract

The application relates to the technical field of automatic parking, and particularly discloses a processing method for false release of a parking space in an APA automatic parking searching process, which comprises the following steps: in a parking searching parking space stage, acquiring a current driving speed of a vehicle in real time; acquiring echo signals reflected by side obstacles of the vehicle and received by two ultrasonic probes of the vehicle in real time; judging whether the side obstacles of the vehicle are dynamic or static according to the current driving speed of the vehicle and the echo signals reflected by the side obstacles of the vehicle; when it is judged that the side obstacles of the vehicle are dynamic, the parking space is not released; and when it is judged that the side obstacles of the vehicle are static, the parking spaces in front of and behind the obstacles are released. The processing method for false release of a parking space in an APA automatic parking searching process can make the parking space released by the automatic parking system in the searching stage be real and accurate, can reduce the probability of false release of the parking space, and has inhibiting effect on release of a false parking space when a vehicle drives through the false parking space.

Description

Technical Field

[0001] This invention relates to the field of automatic parking technology, and more specifically, to a method for handling the accidental release of a parking space during the APA automatic parking search process. Background Technology

[0002] Automatic parking consists of two phases: a search phase and a parking phase. During the search phase, ultrasonic sensors (…) Figure 1 Sensors such as long-distance probes (1#, 6#, 7#, and 12#) and cameras are used to detect whether there are parking spaces while the vehicle is driving. The automatically detected parking spaces will be displayed on the screen or other human-computer interaction interfaces, allowing the user to select the target parking space. During the parking phase, the automatic parking system plans a driving path and automatically parks itself in the parking space.

[0003] The principle of ultrasonic parking space search: During the search phase, the vehicle moves slowly (generally below 30 kph). Ultrasonic sensors mounted on the side of the vehicle detect parked vehicles or obstacles. When these obstacles are detected, the sensors receive ultrasonic echoes and measure the distance between the obstacle and the sensor. As the vehicle continues to move, the sensors continuously detect the vehicle, calculating the distance between the vehicle and the obstacle over a period of time. If a parking space is found in front of or behind the vehicle, it is considered a target parking space. Automatic parking systems typically have a large screen displaying the detected spaces for user selection.

[0004] During automatic parking, if a vehicle passes by in the same direction, the ultrasonic side sensor will detect it and receive an ultrasonic echo. Following the principle of ultrasonic parking space detection, a parking space will be created, even though it doesn't actually exist—it's an incorrectly released space. Users will be confused when they see this on the screen. The path planning process will still consume computing power to calculate whether this incorrectly released space is available. If a user clicks on this incorrectly released space, it will affect other vehicles on the road. Even if no other vehicles subsequently enter the road, the visual system cannot update the space for this type of space without a defined boundary; it can only update the space ultrasonically. However, since there are no reference vehicles at this point, the ultrasonic waves cannot update the space. Summary of the Invention

[0005] To address the aforementioned drawbacks in existing technologies, this invention provides a method for handling erroneous parking space releases during the APA automatic parking search process. This method can reduce the probability of erroneous parking space releases, and is particularly effective in suppressing the release of false parking spaces when vehicles have passed by.

[0006] As a first aspect of the present application, a processing method for false release of a parking space in an APA automatic parking search process is provided, comprising the following steps:

[0007] Step S1: In the parking search process, the current driving speed of the ego vehicle is obtained in real time;

[0008] Step S2: Real-time acquisition of echo signals reflected by side obstacles of the ego vehicle received by two ultrasonic probes located at the front and rear ends of the ego vehicle;

[0009] Step S3: According to the current driving speed of the ego vehicle and the echo signals reflected by the side obstacles of the ego vehicle, it is judged whether the side obstacles of the ego vehicle are dynamic or static;

[0010] Step S4: When it is judged that the side obstacles of the ego vehicle are dynamic, the parking space is not released; when it is judged that the side obstacles of the ego vehicle are static, the space parking space before and after the obstacles is released.

[0011] Further, the echo signal includes echo distance, echo width and echo height.

[0012] Further, according to the current driving speed of the ego vehicle and the echo signals reflected by the side obstacles of the ego vehicle, it is judged whether the side obstacles of the ego vehicle are dynamic or static, which further comprises:

[0013] The side obstacles of the ego vehicle are judged to be dynamic or static by ultrasonic point cloud matching;

[0014] Wherein, the ultrasonic probes at the front and rear ends of the side of the ego vehicle are respectively the first ultrasonic probe and the second ultrasonic probe;

[0015] Suppose the speed of the vehicle on the left side of the ego vehicle is higher than the search speed of the ego vehicle, and the speed difference between the two vehicles is deltaV, the second ultrasonic probe detects the vehicle on the left side of the ego vehicle first, and the first ultrasonic probe detects the vehicle on the left side of the ego vehicle again, assuming the distance between the two ultrasonic probes is S, then the time difference of the two ultrasonic probes detecting the same vehicle is deltaT1=S / deltaV; the length of the vehicle on the left side of the ego vehicle is set as L, then the time of the second ultrasonic probe and the first ultrasonic probe detecting the vehicle on the left side of the ego vehicle is T2=L / deltaV;

[0016] Suppose a vehicle is parked on the left side of the ego vehicle, with a length of L, and the ego vehicle is driving at a speed of v during the automatic parking search process, the first ultrasonic probe detects the stationary vehicle first, and the second ultrasonic probe detects the stationary vehicle again, the time difference is deltaT2 = S / v, and the time at which the second ultrasonic probe and the first ultrasonic probe detect the stationary vehicle is T3 = L / v.

[0017] Further comprising:

[0018] Suppose the first ultrasonic probe detects a target obstacle, records the time Ta when it starts to detect the target obstacle, the duration t_a, and records the ego vehicle speed v_a[0…t_a] during this period t_a;

[0019] Suppose the second ultrasonic probe detects a target obstacle, records the time Tb when it starts to detect the target obstacle, the duration t_b, and records the ego vehicle speed v_b[0…t_b] during this period t_b;

[0020] Calculate t_c = Ta - Tb, if t_c > 0, it means that the second ultrasonic probe detects the target obstacle first; if t_c < 0, it means that the first ultrasonic probe detects the target obstacle first.

[0021] Further, the following four conditions are met simultaneously to determine that the target obstacle on the side of the ego vehicle is dynamic, and the four conditions are as follows:

[0022] Condition 1: t_c > 0;

[0023] Condition 2: the difference between t_a and t_b is within a certain threshold range;

[0024] Condition 3: Calculate the length of the target obstacle on the side of the ego vehicle L_est: L_est = (S / t_c)*(t_a+t_b) / 2;

[0025] Condition 4: L_est is within a reasonable range.

[0026] Further, the following three conditions are met simultaneously to determine that the target obstacle on the side of the ego vehicle is stationary, and the three conditions are as follows:

[0027] Condition 1: t_c < 0;

[0028] Condition 2: the difference between t_a*v_a and t_b*v_b is within a certain threshold range;

[0029] Condition 3: the difference between -t_c*v and S is within a certain threshold range.

[0030] The application provides a processing method for false release of a parking space in an APA automatic parking search process, which has the following advantages: the automatic parking system can release a real and accurate parking space in the search stage, and the probability of false release of the parking space can be reduced, and the false release of the parking space caused by the vehicle driving through the false parking space is inhibited. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application.

[0032] Figure 1 The application provides an ultrasonic probe arrangement diagram of an APA automatic parking system.

[0033] Figure 2 The application provides a flowchart of the processing method for false release of a parking space in an APA automatic parking search process. DETAILED DESCRIPTION

[0034] In order to further clarify the technical means and effects of the application adopted to achieve the predetermined application purpose, the following describes the specific implementation, structure, features and effects of the processing method for false release of a parking space in an APA automatic parking search process according to the application in detail with reference to the drawings and preferred embodiments. Obviously, the described embodiments are part of the embodiments of the application, but not all the embodiments. Based on the embodiments of the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0035] In the embodiment, a processing method for false release of a parking space in an APA automatic parking search process is provided. Figure 2 As shown in the figure, the processing method for false release of a parking space in an APA automatic parking search process comprises the following steps.

[0036] Step S1: In the parking search stage, the current driving speed of the vehicle is acquired in real time.

[0037] Step S2: The echo signals reflected by the side obstacles of the vehicle are acquired in real time by two ultrasonic probes, wherein the two ultrasonic probes are respectively located at the front and rear ends of one side of the vehicle.

[0038] It should be noted that the two ultrasonic probes send ultrasonic detection signals to the side obstacles of the vehicle, and receive the ultrasonic echo signals reflected by the side obstacles of the vehicle.

[0039] Step S3: According to the current driving speed of the vehicle and the echo signals reflected by the side obstacles of the vehicle, it is determined whether the side obstacles of the vehicle are dynamic or static.

[0040] Step S4: If it is determined that the obstacle on the side of the vehicle is dynamic, the parking space is not released; if it is determined to be stationary, the parking space in front of and behind the obstacle is released.

[0041] It should be noted that if neither of these two scenarios is determined (i.e., the obstacle beside the vehicle is neither dynamic nor stationary), the vehicle may be parked perpendicular to the search direction, or there may be other obstacles in the parking lot, such as walls or pillars. In this case, further determination based on the ultrasonic echo points is needed to determine whether a parking space has been formed. This determination is no different from existing technical solutions, so it will not be elaborated upon here.

[0042] The present invention provides a method for handling the accidental release of parking spaces during the search process of APA automatic parking, which enables the automatic parking system to release accurate parking spaces during the search phase, thereby reducing the probability of accidental release of parking spaces. It is particularly effective in suppressing the release of false parking spaces when vehicles have passed by.

[0043] Preferably, the echo signal includes echo distance, echo width, and echo height.

[0044] Preferably, the step of determining whether the obstacle on the side of the vehicle is dynamic or stationary based on the vehicle's current speed and the echo signal reflected back from the obstacle on the side of the vehicle further includes:

[0045] The obstacle on the side of the vehicle is determined to be dynamic or stationary by ultrasonic point cloud matching.

[0046] Among them, such as Figure 1 As shown, the ultrasonic probes at the front and rear ends of the vehicle side are designated as the first ultrasonic probe (ultrasonic probe No. 1) and the second ultrasonic probe (ultrasonic probe No. 12).

[0047] Using the ultrasonic sensors on the side of the vehicle, taking the search for a parking space on the left as an example, if the obstacle is stationary, based on the vehicle's direction of travel, if searching for a parking space in the forward direction, the obstacle first enters ultrasonic sensor #1, then ultrasonic sensor #12; it then leaves ultrasonic sensor #1, then ultrasonic sensor #12. If the obstacle is dynamic, such as a vehicle traveling in the same direction, the obstacle first enters ultrasonic sensor #12, then ultrasonic sensor #1; it then leaves ultrasonic sensor #1, then ultrasonic sensor #1.

[0048] Assuming the vehicle speed of the vehicle driving normally on the left side of the ego vehicle is higher than the ego vehicle search speed, the vehicle speed during the automatic parking search is generally not higher than 30 kph. Assuming the speed difference between the two vehicles is deltaV, the second ultrasonic probe first detects the vehicle driving normally on the left side of the ego vehicle, and the first ultrasonic probe then detects the vehicle driving normally on the left side. Assuming the distance between the two ultrasonic probes is S (related to the arrangement position of the ultrasonic probe on the vehicle, which is a constant value), the time difference between the two ultrasonic probes detecting the same driving vehicle is deltaT1 = S / deltaV; the length of the vehicle driving normally on the left side of the ego vehicle is L, and the time for the second ultrasonic probe and the first ultrasonic probe to detect the vehicle driving normally on the left side is T2 = L / deltaV.

[0049] Assuming that a vehicle with a length of L is parked on the left side of the ego vehicle, and the ego vehicle driving speed during the automatic parking search is v, the first ultrasonic probe first detects the stationary vehicle, and the second ultrasonic probe then detects the stationary vehicle. The time difference is deltaT2 = S / v, and the time for the second ultrasonic probe and the first ultrasonic probe to detect the stationary vehicle is T3 = L / v.

[0050] According to the above principles:

[0051] Assuming that the first ultrasonic probe detects a target obstacle, records the time Ta when the target obstacle is first detected, the duration t_a, and records the ego vehicle speed v_a[0…t_a] during this period t_a;

[0052] Assuming that the second ultrasonic probe detects a target obstacle, records the time Tb when the target obstacle is first detected, the duration t_b, and records the ego vehicle speed v_b[0…t_b] during this period t_b;

[0053] Calculate t_c = Ta - Tb. If t_c > 0, it means that the second ultrasonic probe detects the target obstacle first; if t_c < 0, it means that the first ultrasonic probe detects the target obstacle first.

[0054] Preferably, the following four conditions are met simultaneously to determine that the target obstacle on the side of the ego vehicle is dynamic,

[0055] The four conditions for the side-by-side vehicle are as follows:

[0056] Condition 1: t_c > 0;

[0057] Condition 2: The difference between t_a and t_b is within a certain threshold range;

[0058] Condition 3: Calculate the length L_est of the target obstacle on the side of the ego vehicle: L_est = (S / t_c)*(t_a+t_b) / 2, since t_a and t_b are not much different, t_a or t_b can also be used instead of (t_a+t_b) / 2, or a weight c*t_a+(1-c)*t_b can also be set instead of (t_a+t_b) / 2;

[0059] Condition 4: L_est is within a reasonable range. Generally, it is set according to the length of the vehicle on the market, for example, for a passenger car, the value is set to a reasonable range of 4-6m. A certain angle between the ego vehicle driving direction and the driving direction of the parked vehicle can also be considered to reasonably widen the range.

[0060] Preferably, the following three conditions are met to determine that the target obstacle on the side of the ego vehicle is stationary,

[0061] The three conditions for the side-parked vehicle are as follows:

[0062] Condition 1: t_c < 0;

[0063] Condition 2: The difference between t_a*v_a and t_b*v_b is within a certain threshold range;

[0064] Condition 3: The difference between -t_c*v and S is within a certain threshold range, and v can be v_a or v_b or a weight c*v_a+(1-c)*v_b.

[0065] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the present application has been disclosed as above, it is not intended to limit the present application. Any skilled person in the art can make some changes or modifications to the above disclosed technical content without departing from the scope of the technical solution of the present application, and any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present application are still within the scope of the present application.

Claims

1. A processing method for false release of a parking space in an APA automatic parking and searching process, characterized in that, The method comprises the following steps: Step S1: obtaining the current driving speed of the vehicle in real time during the parking space searching stage; Step S2: obtaining the echo signals of the side obstacle of the vehicle received by two ultrasonic probes in real time, wherein the two ultrasonic probes are respectively located at the front and rear ends of the side of the vehicle; Step S3: judging whether the side obstacle of the vehicle is dynamic or static according to the current driving speed of the vehicle and the echo signals of the side obstacle of the vehicle; Step S4: when it is judged that the side obstacle of the vehicle is dynamic, the parking space is not released; when it is judged that the side obstacle of the vehicle is static, the parking space before and after the obstacle is released. The judgment of whether the side obstacle of the vehicle is dynamic or static according to the current driving speed of the vehicle and the echo signals of the side obstacle of the vehicle further comprises: judging whether the side obstacle of the vehicle is dynamic or static through ultrasonic point cloud matching; wherein the ultrasonic probes at the front and rear ends of the side of the vehicle are respectively a first ultrasonic probe and a second ultrasonic probe; assuming that the speed of the vehicle normally driving on the left side of the vehicle is higher than the searching speed of the vehicle, the speed difference between the two vehicles is deltaV, the second ultrasonic probe detects the vehicle normally driving on the left side of the vehicle first, the first ultrasonic probe detects the vehicle normally driving on the left side of the vehicle again, assuming that the distance between the two ultrasonic probes is S, the time difference of the two ultrasonic probes detecting the same vehicle driving is deltaT1=S / deltaV, the length of the vehicle normally driving on the left side of the vehicle is L, and the time of the second ultrasonic probe and the first ultrasonic probe detecting the vehicle normally driving on the left side of the vehicle is T2=L / deltaV; assuming that a vehicle is parked on the left side of the vehicle and the length of the vehicle is L, during the automatic parking space searching process, the driving speed of the vehicle is v, the first ultrasonic probe detects the static vehicle first, the second ultrasonic probe detects the static vehicle again, the time difference is deltaT2=S / v, and the time of the second ultrasonic probe and the first ultrasonic probe detecting the static vehicle is T3=L / v.

2. The method of claim 1, wherein the method further comprises: The echo signal comprises echo distance, echo width and echo height.

3. The method of claim 1, wherein the method further comprises: Further comprising: assuming that the first ultrasonic probe detects a target obstacle, recording the time Ta when the target obstacle is detected, the duration t_a, and the vehicle speed v_a[0…t_a] during the time t_a; assuming that the second ultrasonic probe detects a target obstacle, recording the time Tb when the target obstacle is detected, the duration t_b, and the vehicle speed v_b[0…t_b] during the time t_b; calculating t_c=Ta-Tb, if t_c>0, it indicates that the second ultrasonic probe detects the target obstacle first; if t_c<0, it indicates that the first ultrasonic probe detects the target obstacle first.

4. The method of claim 3, wherein the method further comprises: The target obstacle on the side of the vehicle is determined to be dynamic when the following four conditions are met: condition 1: t_c>0; condition 2: the difference between t_a and t_b is within a certain threshold range; Condition 3: Calculate the length of the target obstacle on the side of the ego vehicle: L_est = (S / t_c)*(t_a+t_b) / 2; Condition 4: L_est is within a reasonable range.

5. The method of claim 3, wherein the method further comprises: The target obstacle on the side of the ego vehicle is determined to be stationary if the following three conditions are met: Condition 1: t_c < 0; Condition 2: The difference between t_a*v_a and t_b*v_b is within a certain threshold range; Condition 3: The difference between -t_c*v and S is within a certain threshold range.

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