The invention discloses a voxel coordinate system-based parking method and device, and the method comprises the steps: recognizing a parking space line in a preset range of a vehicle when the vehicle is detected to be in a parking scene, and obtaining a first parking space line; under the condition that the first parking space line is incomplete, the vehicle three-dimensional model and a scene image within a preset range around the vehicle are displayed on a client operation interface; determining a bounding box based on a reference box input by the user and the first parking space line; mapping the bounding box into a voxel coordinate system to obtain a target bounding box; determining whether an obstacle exists in an area range corresponding to the target bounding box; and under the condition that no obstacle exists, the area corresponding to the target bounding box serves as a parking area, and the vehicle is controlled to enter the parking area. According to the scheme, when the parking space line recognition is not clear, the target bounding box determined according to the reference box manually input by the user and the first parking space line serves as the parking space line for parking, and auxiliary parking when the parking space line recognition is not clear is achieved.

    本发明公开了一种基于体素坐标系的泊车方法及装置,该方法包括:在检测到车辆处于泊车场景时,对车辆预设范围内的车位线进行识别,得到第一车位线;在第一车位线不完整的情况下,将车辆三维模型和车辆周围预设范围内的场景图像显示在客户端操作界面上;基于用户输入的参考框和第一车位线确定边界框;将边界框映射至体素坐标系内,得到目标边界框;确定目标边界框对应的区域范围是否存在障碍物;在不存在障碍物的情况下,将目标边界框对应的区域作为泊车区域,并控制车辆进入泊车区域。该方案将车位线识别不清晰时,根据用户手动输入的参考框与第一车位线确定的目标边界框作为用于停车的车位线,实现车位线识别不清晰时的辅助泊车。


    Access

    Download


    Export, share and cite



    Title :

    Parking method and device based on voxel coordinate system


    Additional title:

    一种基于体素坐标系的泊车方法及装置


    Contributors:
    WANG YUCHEN (author) / ZHANG KEPENG (author) / ZHANG JIANBO (author) / JIN SHENGHUI (author) / YAN PENG (author)

    Publication date :

    2023-05-23


    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



    Coordinate system-based parking space numbering method for underground parking lot

    QI WEIWEI / ZHAO YIMING / LIU XUANYI et al. | European Patent Office | 2020

    Free access

    Voxel R-CNN-MCA: Coordinate Attention for 3D Object Detection

    Qian, Hanxiang / Guo, Xiaojun / Sun, Xiaoyong et al. | Springer Verlag | 2023


    Intelligent parking lot vacancy navigation method based on coordinate system positioning

    ZHANG YUNBO / LIU CHANG / FU WEIZHENG et al. | European Patent Office | 2023

    Free access


    Parking assist device, parking assist method, and parking assist system

    MARUIWA NOBUTSUGU / MUKAIYAMA YOSHIO / OKAMURA RYUJI et al. | European Patent Office | 2020

    Free access