The invention belongs to the technical field of automatic driving, and particularly provides an automatic-parking parking space detection method based on a graph neural network. The method comprises the steps of installing image acquisition devices in the front, back, left and right directions of a vehicle; acquiring images of the vehicle in the front, back, left and right directions by using theimage acquisition devices, and converting the images into a top view taking the vehicle position as a center; inputting the top view into a parking space detection module based on a graph neural network, detecting the positions of four corners of the parking space in the image, and identifying the type of the parking space; and sending the detected parking space information to a planning control module, calculating a parking route and controlling the vehicle to automatically drive into the detected target parking space, thereby realizing automatic parking. According to the automatic-parking parking space detection method based on a graph neural network, the accurate position of a parking space can be obtained only by depending on the image data captured by a look-around camera, and compared with an ultrasonic radar adopted by traditional automatic parking, judgment does not depend on the parking positions of parked vehicles around the vehicle, and the detection precision is high.

    本发明属于自动驾驶领域技术领域,具体提供一种基于图神经网络的自动泊车停车位检测方法。在车辆前后左右四个方向安装图像采集设备;利用图像采集设备采集车辆前后左右四个方向的图像并转换为以车辆位置为中心的俯视图;将俯视图输入基于图神经网络的停车位检测模块,检测图像中的停车位的四个角点位置,并识别停车位类型;将检测到的车位信息发送给规划控制模块,计算泊车路线并控制车辆自动驶入检测到的目标车位,实现自动泊车。本发明所述的基于图神经网络的自动泊车停车位检测方法,仅依赖环视摄像头捕获的图像数据即可获得停车位精确位置,相比传统自动泊车采用的超声波雷达,不依赖车辆周围停驻车辆停放位置来进行判断,检测精度高。


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    Titel :

    Automatic-parking parking space detection method based on graph neural network


    Weitere Titelangaben:

    一种基于图神经网络的自动泊车停车位检测方法


    Beteiligte:
    XU JIAOLONG (Autor:in) / ZHAO DAWEI (Autor:in) / XIAO LIANG (Autor:in) / MIN CHENG (Autor:in)

    Erscheinungsdatum :

    2021-01-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06K Erkennen von Daten , RECOGNITION OF DATA / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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