The invention discloses a real-time parking space fusion method for automatic driving parking, relates to the technical field of vehicle automatic driving, and solves the problems of poor fusion robustness caused by time synchronization, calibration errors and the like and abnormality of parking space overlapping and the like in a parking space fusion process in a traditional fusion method. The method comprises the following steps: S1, checking vehicle driving data and updating a conversion matrix; s2, updating parking space sensing result association and fusion parking space coordinates; s3, historical fusion parking space result conversion and parking space association updating are carried out; s4, repeatedly inputting to obtain a latest result; the invention provides a visual and ultrasonic parking space association and position updating method, which can effectively solve the problem of poor fusion robustness caused by time synchronization, calibration errors and the like in a traditional fusion method. The invention provides a management method for integrated parking spaces, which can effectively solve the problem that the parking spaces are easy to overlap in the parking space integration process, and improves the safety of automatic driving parking.
本发明公开了一种自动驾驶泊车实时车位融合方法,涉及车辆自动驾驶技术领域,解决传统融合方法中因时间同步和标定误差等引起的融合鲁棒性差和车位融合过程中容易出现车位重叠等异常的问题;该方法包括以下步骤:S1、车辆行驶数据检验与转换矩阵更新;S2、车位感知结果关联与融合车位坐标更新;S3、历史融合车位结果转换与车位关联更新;S4、重复输入以获取最新结果;本发明提供视觉和超声波车位的关联和位置更新方法,可以有效的解决传统融合方法中因时间同步和标定误差等引起的融合鲁棒性差的问题;提供融合车位的管理方法,可以有效的解决车位融合过程中容易出现车位重叠等异常情况,提高自动驾驶泊车的安全性。
Automatic driving parking real-time parking space fusion method
一种自动驾驶泊车实时车位融合方法
20.06.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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