The invention relates to the field of automatic driving, and discloses an empty parking space detection method and device, an intelligent automobile and a readable storage medium. The method comprises the following steps: acquiring original distance data returned by a detection device in each direction on a vehicle, and obtaining dynamic coordinates of each detection object; determining a real-time boundary distance between the vehicle and each detection object according to the dynamic coordinates; determining a distance abrupt change value according to a difference value between the boundary distance at the current moment and the boundary distance at the previous moment, and determining whether to generate a detection contour according to the distance abrupt change value; according to the generated detection contour, the contour width and the contour depth are determined, and if the contour width and the contour depth both reach preset values, it is determined that an empty parking space is detected. Therefore, the vehicle can determine the parking space through the contour, and the method is more accurate.

    本发明涉及自动驾驶领域,公开了一种空车位探测方法、装置、智能汽车及可读存储介质。该方法包括:获取所述车辆上各个方向上探测装置返回的原始距离数据,得到各个探测物体的动态坐标;根据所述动态坐标,确定所述车辆和各个探测物体之间的实时边界距离;根据当前时刻的边界距离和上一时刻边界距离的差值,确定距离突变值,根据所述距离突变值,确定是否生成探测轮廓;根据生成的探测轮廓,确定轮廓宽度和轮廓深度,若所述轮廓宽度和所述轮廓深度都达到预设值,则确定探测到空车位。使得车辆可以通过轮廓确定车位,且更加精准。


    Access

    Download


    Export, share and cite



    Title :

    Empty parking space detection method and device, intelligent automobile and readable storage medium


    Additional title:

    空车位探测方法、装置、智能汽车及可读存储介质


    Contributors:
    HE TIANYI (author) / ZHANG JINGDA (author) / GUO ZIYI (author)

    Publication date :

    2024-01-23


    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



    Automatic parking method, intelligent automobile and computer readable storage medium

    ZHOU DINGLI / HE YIBO / LUO TANYUE et al. | European Patent Office | 2022

    Free access

    Urban intelligent parking space detection method and device and readable storage medium

    LI XIAOCHUN / SHAO QIKE / WU DIJUAN | European Patent Office | 2020

    Free access

    Intelligent automobile charging parking space parking device

    XU AXIAO / ZHANG XIANTENG / ZHOU TIANWANG et al. | European Patent Office | 2023

    Free access

    Parking method and device, electronic equipment, automobile and readable storage medium

    ZHU XU / WEN YAN / HAN YANG et al. | European Patent Office | 2024

    Free access

    EMPTY SPACE IDENTIFICATION METHOD, VEHICLE, AND READABLE STORAGE MEDIUM

    ZHU CHENHAO / XIAO YANG / PAN JIANWEI | European Patent Office | 2024

    Free access