The invention provides a vertical parking space fusion recognition method. The method comprises the steps of S11, carrying out parking space recognition on a parking vacancy through a vehicle-mountedultrasonic sensor, and obtaining an ultrasonic parking space; S12, confirming obstacles on the two sides of the vertical parkable parking space by using a vehicle-mounted all-round camera; S13, recognizing the effective parking position of the obstacle vehicle; S14, obtaining visual parking space corresponding to the two sides of the obstacle vehicle; S15, fusing the ultrasonic parking space and the visual parking space to obtain fused coordinate data; and S16, according to the fused coordinate data, updating spaces on the two sides of the vertical parkable parking space, and determining a parking space finally used for automatic parking. The invention further provides a corresponding system. By implementing the method, the positions of the vehicles on the two sides of the parking space can be recognized, so that the vehicle parking space recognition is more accurate, and the parking planning accuracy and efficiency can be improved.
本发明提供一种垂直车位融合识别方法,其包括:步骤S11,使用车载的超声波传感器对停车空位进行车位空间识别,获得超声波车位空间;步骤S12,使用车载的环视摄像头对所述垂直可泊车位两侧的障碍物进行确认;步骤S13,识别有效的障碍车辆的停放位置;步骤S14,获得障碍车辆两侧对应的视觉车位空间;步骤S15,将所述超声波车位空间与视觉车位空间融合,获得融合坐标数据;步骤S16,根据所述融合坐标数据,更新所述垂直可泊车位的两侧空间,确定最终用于自动泊车的泊车车位空间。本发明还提供了相应的系统。实施本发明,可识别车位空间两侧车辆的位置,使得车辆车位识别更加准确,可提升泊车规划的准确性和效率。
Vertical parking space fusion recognition method and system
一种垂直车位融合识别方法及系统
2020-11-27
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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