The invention discloses a parking space detection method based on multi-sensor fusion. The method comprises the following steps: (1) subjecting an obtained all-round image to an all-round image parking space detection algorithm to obtain coordinates of four corners of a parking space; (2) mapping the obtained distance information of the surrounding obstacles into coordinate points of the obstacles on the look-around image through an ultrasonic distance detection algorithm; and (3) fusing the coordinate points of the obstacle in the step (2) and the coordinates of the four corners of the parking space in the step (1) in a vehicle body coordinate system through a fusion algorithm, and judging whether parking can be carried out or not, wherein the step (1) and the step (2) are carried out at the same time. The parking space detection system comprises a look-around image parking space detection module, an ultrasonic distance detection module and a fusion module. In the automatic parking process, information of various vehicle-mounted sensors is fused, and the accuracy of parking space detection is improved; and the method is applied to various types of parking lots, and the stability of the automatic parking system is improved.

    本发明公开了一种基于多传感器融合的车位检测方法,包括步骤如下:(1)将获取的环视图像通过环视图像车位检测算法,得到车位四角点坐标;(2)将获得的周围障碍物距离信息,通过超声波距离检测算法映射为环视图像上的障碍物坐标点;(3)通过融合算法,将步骤(2)中障碍物坐标点与步骤(1)中车位四角点坐标在车体坐标系中进行融合,判断可否泊车;所述步骤(1)和步骤(2)同时进行。本发明的车位检测系统,包括环视图像车位检测模块、超声波距离检测模块、融合模块。本发明在自动泊车过程中,将多种车载传感器信息进行融合,提高车位检测的准确性;应用于各种类型的停车场,提高了自动泊车系统的稳定性。


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    Title :

    Parking space detection method and system based on multi-sensor fusion


    Additional title:

    一种基于多传感器融合的车位检测方法和系统


    Contributors:
    QIN YI (author)

    Publication date :

    2021-07-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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



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