The embodiment of the invention discloses a parking space detection method and device based on multi-sensor fusion and a vehicle. The method comprises the steps: obtaining a cost map, a visual parking space map and an ultrasonic parking space map of the current position of a vehicle, wherein the cost map, the visual parking space map and the ultrasonic parking space map are obtained through the data collection of different sensors; fusing the cost map, the visual parking space map and the ultrasonic parking space map to obtain a fused parking space image, wherein the fused parking space image is composed of multiple color blocks of different colors; and selecting a target color block corresponding to the target color from the fused parking space image on the basis of the color, wherein a position area corresponding to the target color block is at least one available parking space. According to the method, the maps collected by various sensors are fused, the available parking spaces can be accurately judged according to the fused color blocks with different colors, the method is suitable for all automatic parking scenes, and the parking space detection accuracy is high.

    本发明实施公开了一种多传感器融合的车位检测方法、装置及车辆,该方法包括:获取车辆当前位置下的代价地图、视觉车位地图和超声车位地图,代价地图、视觉车位地图和超声车位地图分别通过不同的传感器采集数据得到;融合代价地图、视觉车位地图和超声车位地图,获得融合车位图像,该融合车位图像由多种不同颜色的色块组成;以颜色为依据从融合车位图像中选择目标颜色对应的目标色块,该目标色块对应的位置区域为至少一个可泊车车位;能够通过将多种传感器采集的地图进行融合,根据融合后的不同颜色的色块准确地判断出可泊车车位,适用于所有的自动泊车场景,且车位检测准确率较高。


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    Title :

    Parking space detection method and device based on multi-sensor fusion, and vehicle


    Additional title:

    一种多传感器融合的车位检测方法、装置及车辆


    Contributors:
    JIN NA (author)

    Publication date :

    2021-07-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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