The invention provides a parking space detection method based on vehicle body pose and semantic detection fusion and a vehicle, and belongs to the field of autonomous parking. The parking space detection method comprises the steps that obstacle information around the vehicle is extracted by acquiring image signals around the vehicle, the distance between the vehicle and the surrounding obstacles, the coordinate positions of the obstacles and the parking space information around the obstacles are obtained through a calibrated ultrasonic detection model, and the obstacle information, the distance between the vehicle and the surrounding obstacles, the coordinate positions of the obstacles and the parking space information around the obstacles are fused; information such as the position, the headstock orientation, the tire position and the tire orientation of the vehicle parked around the vehicle is obtained, the parking space is detected, whether the vehicle can be parked in the parking space or not can be effectively judged, detection is accurate, and autonomous parking is facilitated.

    本发明提供了一种基于车身位姿及语义检测融合的车位检测方法及车辆,属于自主泊车领域,该车位检测方法通过获取车辆周边图像信号提取车辆周边障碍物信息,并通过标定的超声探测模型获取车辆与周边障碍物的距离、障碍物的坐标位置以及障碍物周边的库位信息,将障碍物信息与车辆与周边障碍物的距离、障碍物的坐标位置以及障碍物周边的库位信息融合,获取自车周围所停车辆的位置、车头朝向、轮胎位置和轮胎朝向等信息,对库位进行检测,能够有效的判断车辆是否可泊入库位,检测精准,便于自主泊车。


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    Title :

    Parking space detection method based on vehicle body pose and semantic detection fusion and vehicle


    Additional title:

    一种基于车身位姿及语义检测融合的车位检测方法及车辆


    Contributors:
    LIU YONGCHAO (author) / JIANG RUYI (author) / MA GUANGLIN (author) / YU MENGMENG (author) / TIAN JUN (author)

    Publication date :

    2021-10-19


    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 / G06K Erkennen von Daten , RECOGNITION OF DATA



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