Title:
PARKING SPACE-BASED HEADING ADJUSTMENT METHOD SUITABLE FOR ULTRASONIC PERPENDICULAR PARKING SPACES
Document Type and Number:
WIPO Patent Application WO/2021/072919
Kind Code:
A1
Abstract:
A parking space-based heading adjustment method suitable for ultrasonic perpendicular parking spaces, comprising: obtaining initial coordinates of a target parking space and vehicle pose information, calculating the coordinates of the midpoint of the rear of a vehicle and the minimum detection distances on the left and right sides of the vehicle, determining the depth relationship between the vehicle and the target parking space according to the coordinates of the midpoint of the rear of the vehicle and the initial coordinates of the target parking space, and calculating determined coordinates of the target parking space in the cases where the vehicle is located inside and outside the target parking space. During parking the vehicle using the present method, the pose of the vehicle can be determined according to the edges of obstacles on one or both sides; and in addition, the target parking space can be accurately positioned, and the parking space detection error caused by the ultrasonic characteristics when the vehicle is self-positioning can be reduced, thereby increasing the success rate of parking.
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Inventors:
HU KUNFU (CN)
LUO ZUOHUANG (CN)
FAN XIAOJUAN (CN)
LUO ZUOHUANG (CN)
FAN XIAOJUAN (CN)
Application Number:
PCT/CN2019/121199
Publication Date:
April 22, 2021
Filing Date:
November 27, 2019
Export Citation:
Assignee:
HUIZHOU DESAY SV INTELLIGENT TRANSP TECHNOLOGICAL INSTITUTE CO LTD (CN)
International Classes:
B60W30/06; G08G1/04
Foreign References:
| CN109927715A | 2019-06-25 | |||
| CN102310857A | 2012-01-11 | |||
| CN109849901A | 2019-06-07 | |||
| CN107933549A | 2018-04-20 | |||
| DE102014111574A1 | 2016-02-18 | |||
| DE102011086025A1 | 2013-05-16 | |||
| KR20150051426A | 2015-05-13 |
Attorney, Agent or Firm:
YOGO PATENT & TRADE MARK AGENCY LIMITED COMPANY et al. (CN)
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