The invention discloses a parking space detection method and device, a vehicle and a readable storage medium. The method comprises the steps that echo distances of ultrasonic waves reflected by an obstacle at multiple moments are acquired; determining a target point data set corresponding to the obstacle according to the plurality of echo distances; according to each target point in the target point data set, determining a strongest reflecting surface area on the edge contour of the obstacle; determining an obstacle edge contour corresponding to the obstacle according to the strongest reflecting surface area; and determining a parking space detection result according to the obstacle edge contour. According to the method and the device, the edge contour of the obstacle is determined by determining the strongest reflecting surface area on the edge contour of the obstacle, so that the accuracy of side obstacle detection is improved, the accuracy of parking space detection is further improved, and the collision risk of automatic parking is reduced.
本申请公开了一种车位检测方法、装置、车辆及可读存储介质,方法包括:获取障碍物在多个时刻反射超声波的回波距离;根据多个回波距离,确定障碍物对应的目标点数据集;根据目标点数据集中各目标点,确定障碍物边缘轮廓上的最强反射面区域;根据最强反射面区域,确定障碍物对应的障碍物边缘轮廓;根据障碍物边缘轮廓,确定车位检测结果。在本申请中,通过确定障碍物边缘轮廓上的最强反射面区域确定障碍物边缘轮廓,提高了侧方障碍物检测的准确性,进而提高了车位检测的准确率,降低自动泊车碰撞风险。
Parking space detection method and device, vehicle and storage medium
车位检测方法、装置、车辆及存储介质
2023-12-26
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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