The invention relates to a parking space recognition method based on multi-sensor fusion, and belongs to the field of auxiliary driving. According to the parking space recognition method based on themultiple sensors, an ultrasonic radar A and an ultrasonic radar B work at the same time to detect obstacles; when the distance detected by the ultrasonic radar A is suddenly changed, the suddenly changed region is provided for the visual sensor as an ROI for feature extraction to obtain a vehicle edge line so that the width and the depth of a storage location can be obtained; meanwhile, the ultrasonic radar A and the ultrasonic radar B detect the speed of a suspected obstacle in the garage position, and the recognized garage position is obtained through the fuzzy controller; meanwhile, information such as vehicle orientation and parking lines is extracted through a visual sensor, information fusion is conducted on the information and the result of the fuzzy controller, and finally the parking space type is determined; according to the method, the cost is reduced, the problem of parking space error identification is solved, the parking space is accurately identified, and the method hasgood application value.
本发明涉及一种基于多传感器融合的车位识别方法,属于辅助驾驶领域;本发明基于多传感器的车位识别方法通过超声波雷达A和超声波雷达B同时工作,检测障碍物;当超声波雷达A检测到的距离产生突变时,将发生突变的区域为ROI提供给视觉传感器进行特征提取,获得车辆边沿线,这样即可获得库位宽度和深度;同时超声波雷达A和超声波雷达B检测库位内部疑似障碍物速度,再经过模糊控制器获得识别的库位;同时,通过视觉传感器提取车辆朝向、停车线等信息,与模糊控制器结果进行信息融合,最终确定泊车位类型;本发明在降低成本的同时还解决了车位错误识别的问题,精准识别车位,具有良好的应用价值。
Parking space recognition method based on multi-sensor fusion
一种基于多传感器融合的车位识别方法
2020-12-11
Patent
Electronic Resource
Chinese
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