Automatic parking obstacle avoidance method and system

Abstract

The present invention relates to a method and system for automatic parking and obstacle avoidance, the method comprising: obtaining obstacle information and a planned parking trajectory; calculating the contour coordinates of a vehicle body at each trajectory point based on the planned parking trajectory; correcting the contour coordinates of the vehicle body in real time based on the real-time positioning information of the vehicle; and performing collision determination based on the corrected contour coordinates of the vehicle body and the obstacle information; providing a method for predicting collisions with obstacles before approaching the blind spots, addressing the problem of sensor detection blind spots; providing a method for correcting the predicted position of the vehicle at the trajectory points in real time based on the current control error and determining collisions with obstacles, addressing the problem of emergency braking; and providing a method for predicting the location of the collision point in real time and notifying a control module to decelerate and smoothly park the vehicle at a set safe distance.

Description

Technical Field

[0001] The present invention relates to the field of automatic parking obstacle avoidance, and in particular to a method and system for automatic parking obstacle avoidance. Background Art

[0002] Automatic parking features are increasingly being used in the automotive sector. The reliability and accuracy of their safety systems directly impacts the safety, user experience, and user satisfaction of the automated parking system. Therefore, obstacle collision prediction and avoidance are particularly important. Currently, automated parking systems in the autonomous driving sector are primarily based on ultrasound or images. Due to the sensitivity of cameras to environmental conditions, as well as cost and technical factors, ultrasonic-based systems are more common. Due to the inherent characteristics of ultrasound, detection blind spots are large, the detection area is limited, and camera positioning accuracy is insufficient. The low degree of integration between the two can result in obstacles not being detected or detection accuracy being low during automated parking. At these times, automated parking poses the risk of collision with the obstacle. Furthermore, even if the obstacle is detected when the vehicle is close to an obstacle, it may cause an emergency stop, impacting the user experience. Summary of the Invention

[0003] In response to the technical problems existing in the prior art, the present invention provides a method and system for automatic parking and obstacle avoidance. In response to the problem of sensor detection blind spots, the present invention provides a method for predicting collisions with obstacles before approaching the blind spots. In response to the problem of obstacle perception accuracy, the present invention provides a method for correcting the predicted position of the vehicle on the trajectory point in real time based on the current control error and determining the collision with the obstacle. In response to the problem of emergency braking, the present invention provides a method for predicting the position of the collision point in real time, notifying the control module to decelerate, and stopping smoothly at a set safe distance.

[0004] According to a first aspect of the present invention, a method for automatic parking and obstacle avoidance is provided, comprising: step 1, obtaining obstacle information and a parking planning trajectory;

[0005] Step 2: Calculate the contour coordinates of the vehicle body at each trajectory point based on the parking planning trajectory;

[0006] Step 3, performing real-time correction on the contour coordinates of the vehicle body based on the real-time positioning information of the vehicle;

[0007] Step 4: perform collision determination based on the corrected contour coordinates of the vehicle body and the obstacle information.

[0008] On the basis of the above technical solution, the present invention can also make the following improvements.

[0009] Optionally, the process of obtaining obstacle information in step 1 includes:

[0010] Step 101: cluster the obstacle information detected by the perception module to obtain rectangular obstacle area information;

[0011] Step 102: Filter out the obstacle area information in the opposite direction of the vehicle's driving direction according to the current vehicle gear position.

[0012] Optionally, the contour coordinates of the vehicle body are the coordinates of 12 points of the vehicle body contour.

[0013] Optionally, the process of performing real-time correction on the contour coordinates of the vehicle body in step 3 includes:

[0014] Step 301, calculating the trajectory point closest to the current positioning point of the vehicle in the parking planning trajectory, and calculating the position error between the trajectory point and the positioning point;

[0015] Step 302: Correct the contour coordinates of the vehicle body in real time according to the position error.

[0016] Optionally, the process of performing collision determination in step 4 includes:

[0017] The corrected contour coordinates of the vehicle body are subjected to collision detection with the obstacle area information to obtain a planned trajectory point where a collision occurs on the planned parking trajectory.

[0018] Optionally, after step 4, the following steps may be further performed:

[0019] Step 5: Based on the set safety distance, notify the control module to slow down and control the vehicle to stop at a safe distance from the collision point.

[0020] According to a second aspect of the present invention, there is provided a system for automatic parking and obstacle avoidance, comprising: a preliminary planning module, a contour coordinate calculation module, a contour coordinate correction module, and a collision determination module;

[0021] The preliminary planning module is used to obtain obstacle information and parking planning trajectory;

[0022] The contour coordinate calculation module is used to calculate the contour coordinates of the vehicle body at each trajectory point based on the parking planning trajectory;

[0023] The contour coordinate correction module is used to correct the contour coordinates of the vehicle body in real time based on the real-time positioning information of the vehicle;

[0024] The collision determination module is configured to perform collision determination based on the corrected contour coordinates of the vehicle body and the obstacle information.

[0025] According to a third aspect of the present invention, an electronic device is provided, comprising a memory and a processor, wherein the processor is configured to implement the steps of a method for automatic parking and obstacle avoidance when executing a computer management program stored in the memory.

[0026] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer management program is stored. When the computer management program is executed by a processor, the steps of the method for automatic parking and obstacle avoidance are implemented.

[0027] The present invention provides a method, system, electronic device, and storage medium for automatic parking and obstacle avoidance. These methods cluster and filter a large amount of obstacle information, reducing the computational complexity of the main algorithm and improving computational efficiency. Based on the current control error, the predicted position of the vehicle on the planned trajectory is corrected in real time to more accurately determine collisions with obstacles. Furthermore, the method can predict the location of the collision point in real time and notify the control module to decelerate and brake to a stop at a set safe distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A flowchart of an embodiment of an automatic parking obstacle avoidance method provided by the present invention;

[0029] Figure 2 A structural block diagram of an automatic parking and obstacle avoidance system provided by the present invention;

[0030] Figure 3 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0031] Figure 4 A schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION

[0032] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0033] Figure 1 This is a flow chart of an embodiment of a method for automatic parking and obstacle avoidance provided by the present invention, as shown in FIG. Figure 1 As shown, the method includes:

[0034] Step 1: Obtain obstacle information and parking planning trajectory.

[0035] Step 2: Based on the parking planning trajectory, calculate the contour coordinates of the vehicle body at each trajectory point.

[0036] Step 3: Correct the contour coordinates of the vehicle body in real time based on the real-time positioning information of the vehicle.

[0037] Step 4: perform collision determination based on the corrected vehicle body contour coordinates and obstacle information.

[0038] The present invention provides an automatic parking obstacle avoidance method. To address the problem of sensor detection blind spots, a method for predicting collisions with obstacles before approaching the blind spots is provided. To address the problem of obstacle perception accuracy, a method for correcting the predicted position of the vehicle on a trajectory point in real time based on the current control error and determining collisions with obstacles is provided. To address the problem of emergency braking, a method for predicting the location of the collision point in real time is provided, and a control module is notified to decelerate and smoothly stop the vehicle at a set safe distance is provided.

[0039] Example 1

[0040] The embodiment 1 provided by the present invention is an embodiment of a method for automatic parking and obstacle avoidance provided by the present invention, combined with Figure 1 It can be seen that the embodiment of the method includes:

[0041] Step 1: Obtain obstacle information and parking planning trajectory.

[0042] In one possible embodiment, the process of obtaining obstacle information in step 1 includes:

[0043] Step 101: cluster the obstacle information detected by the perception module to obtain rectangular obstacle area information.

[0044] Step 102: Filter out obstacle area information in the opposite direction of the vehicle's travel direction according to the current vehicle gear position.

[0045] Clustering and filtering a large amount of obstacle information can reduce the computational complexity of the main algorithm and improve computational efficiency.

[0046] Step 2: Based on the parking planning trajectory, calculate the contour coordinates of the vehicle body at each trajectory point.

[0047] In one possible embodiment,

[0048] The body contour coordinates are the coordinates of the 12 points of the body contour.

[0049] Step 3: Correct the contour coordinates of the vehicle body in real time based on the real-time positioning information of the vehicle.

[0050] In a possible embodiment, the process of performing real-time correction on the contour coordinates of the vehicle body in step 3 includes:

[0051] Step 301 : Calculate the trajectory point closest to the current positioning point of the vehicle in the parking planning trajectory, and calculate the position error between the trajectory point and the positioning point.

[0052] Step 302: Correct the contour coordinates of the vehicle body in real time according to the position error.

[0053] In specific implementation, based on the current control error, the 12-point coordinate position of the vehicle's body contour on the planned trajectory point is corrected in real time, which can more accurately determine the collision with obstacles.

[0054] Step 4: perform collision determination based on the corrected vehicle body contour coordinates and obstacle information.

[0055] In one possible embodiment, the process of performing collision determination in step 4 includes:

[0056] The corrected vehicle body contour coordinates are collided with the obstacle area information to obtain the planned trajectory point where the collision occurs on the parking planning trajectory.

[0057] In a specific implementation, a polygon consisting of the 12-point coordinates of the corrected vehicle body contour is used to perform collision determination with a rectangular obstacle to obtain a planned trajectory point where the collision occurs.

[0058] In a possible embodiment, step 4 further includes:

[0059] Step 5: Based on the set safety distance, notify the control module to slow down and control the vehicle to stop at a safe distance from the collision point.

[0060] Based on the real-time prediction of the collision point, the system can slow down and stop at a set safe distance to solve the problem of emergency braking.

[0061] Example 2

[0062] Embodiment 2 of the present invention is an embodiment of an automatic parking obstacle avoidance system provided by the present invention. Figure 2 A system structure diagram of automatic parking and obstacle avoidance provided by an embodiment of the present invention, combined with Figure 2 It can be seen that the embodiment of the system includes: a preliminary planning module, a contour coordinate calculation module, a contour coordinate correction module and a collision determination module.

[0063] The preliminary planning module is used to obtain obstacle information and parking planning trajectory.

[0064] The contour coordinate calculation module is used to calculate the contour coordinates of the vehicle body at each trajectory point based on the parking planning trajectory.

[0065] The contour coordinate correction module is used to correct the contour coordinates of the vehicle body in real time based on the real-time positioning information of the vehicle.

[0066] The collision determination module is used to perform collision determination based on the corrected contour coordinates of the vehicle body and obstacle information.

[0067] It can be understood that the automatic parking and obstacle avoidance system provided by the present invention corresponds to the automatic parking and obstacle avoidance methods provided in the aforementioned embodiments. The relevant technical features of the automatic parking and obstacle avoidance system can refer to the relevant technical features of the automatic parking and obstacle avoidance method, which will not be repeated here.

[0068] See also Figure 3 , Figure 3 Schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. Figure 3 As shown, an embodiment of the present invention provides an electronic device, including a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and executable on the processor 1320. When the processor 1320 executes the computer program 1311, the following steps are implemented: obtaining obstacle information and a parking planning trajectory; calculating the contour coordinates of the vehicle body at each trajectory point based on the parking planning trajectory; performing real-time correction on the contour coordinates of the vehicle body based on the real-time positioning information of the vehicle; and performing collision judgment based on the corrected contour coordinates of the vehicle body and the obstacle information.

[0069] See also Figure 4 , Figure 4 Schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. Figure 4 As shown, this embodiment provides a computer-readable storage medium 1400 on which a computer program 1411 is stored. When the computer program 1411 is executed by a processor, it implements the following steps: obtaining obstacle information and a planned parking trajectory; calculating the contour coordinates of the vehicle body at each trajectory point based on the planned parking trajectory; performing real-time correction on the contour coordinates of the vehicle body based on the real-time positioning information of the vehicle; and performing collision determination based on the corrected contour coordinates of the vehicle body and the obstacle information.

[0070] Embodiments of the present invention provide a method, system, electronic device, and storage medium for automatic parking and obstacle avoidance. These methods cluster and filter large amounts of obstacle information, reducing the computational complexity of the main algorithm and improving computational efficiency. Based on the current control error, the predicted position of the vehicle on a planned trajectory point is corrected in real time to more accurately determine collisions with obstacles. Furthermore, the method can predict the location of the collision point in real time and notify the control module to decelerate and brake to a stop at a set safe distance.

[0071] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0072] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0073] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0074] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0075] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0076] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0077] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for automatic parking and obstacle avoidance, characterized in that: The method comprises: Step 1: Obtain obstacle information and parking planning trajectory; The process of obtaining obstacle information in step 1 includes: Step 101: cluster the obstacle information detected by the perception module to obtain rectangular obstacle area information; Step 102: filtering out the obstacle area information in the opposite direction of the vehicle's travel direction according to the current vehicle gear position; Step 2: Calculate the contour coordinates of the vehicle body at each trajectory point based on the parking planning trajectory; Step 3, performing real-time correction on the contour coordinates of the vehicle body based on the real-time positioning information of the vehicle; Step 4: performing collision determination based on the corrected contour coordinates of the vehicle body and the obstacle information; The process of performing real-time correction on the contour coordinates of the vehicle body in step 3 includes: Step 301, calculating the trajectory point closest to the current positioning point of the vehicle in the parking planning trajectory, and calculating the position error between the trajectory point and the positioning point; Step 302: Correcting the contour coordinates of the vehicle body in real time according to the position error; The process of performing collision determination in step 4 includes: The corrected contour coordinates of the vehicle body are subjected to collision detection with the obstacle area information to obtain a planned trajectory point where a collision occurs on the planned parking trajectory.

2. The method according to claim 1, characterized in that The outline coordinates of the vehicle body are the coordinates of 12 points of the vehicle body outline.

3. The method according to claim 1, characterized in that After step 4, the following steps are also included: Step 5: Based on the set safety distance, notify the control module to slow down and control the vehicle to stop at a safe distance from the collision point.

4. An automatic parking and obstacle avoidance system, characterized in that: It includes: preliminary planning module, contour coordinate calculation module, contour coordinate correction module and collision judgment module; The preliminary planning module is used to obtain obstacle information and parking planning trajectory; The process of obtaining obstacle information by the preliminary planning module includes: Step 101: cluster the obstacle information detected by the perception module to obtain rectangular obstacle area information; Step 102: filtering out the obstacle area information in the opposite direction of the vehicle's travel direction according to the current vehicle gear position; The contour coordinate calculation module is used to calculate the contour coordinates of the vehicle body at each trajectory point based on the parking planning trajectory; The contour coordinate correction module is used to correct the contour coordinates of the vehicle body in real time based on the real-time positioning information of the vehicle; The collision determination module is configured to perform collision determination based on the corrected contour coordinates of the vehicle body and the obstacle information; The process of the contour coordinate correction module correcting the contour coordinates of the vehicle body in real time includes: Step 301, calculating the trajectory point closest to the current positioning point of the vehicle in the parking planning trajectory, and calculating the position error between the trajectory point and the positioning point; Step 302: Correcting the contour coordinates of the vehicle body in real time according to the position error; The process of collision determination by the collision determination module includes: The corrected contour coordinates of the vehicle body are subjected to collision detection with the obstacle area information to obtain a planned trajectory point where a collision occurs on the planned parking trajectory.

5. An electronic device, characterized in that: It includes a memory and a processor, and the processor is used to implement the steps of the automatic parking obstacle avoidance method as described in any one of claims 1 to 3 when executing the computer management program stored in the memory.

6. A computer-readable storage medium, characterized in that A computer management program is stored thereon, and when the computer management program is executed by the processor, the steps of the method for automatic parking and obstacle avoidance as described in any one of claims 1 to 3 are implemented.

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