The invention belongs to the technical field of automatic parking, and particularly relates to a parking space line detection method for three-dimensional parking spaces. The invention discloses a two-stage parking space line detection method for three-dimensional parking spaces. According to the method, automatic parking is divided into a parking space searching stage and a parking-in stage; in the parking space searching stage, a parking space detection model based on deep learning is used for searching and detecting all parking spaces in a current frame image, the parking spaces in a credible interval are marked as effective parking spaces, and after a driver selects a corresponding target parking space, an automatic parking stage is started; in the parking stage, visual perception does not carry out parking space detection any more, only a parking space line is detected, and distortion correction is carried out on the parking space line after the edge of the parking space line is detected. According to the invention, by setting the credible interval in the parking space searching stage, the parking space error is reduced. In the parking stage, control and correction are carried out in real time according to the newest parking space line position, and accurate parking space line positioning is obtained.
本发明属于自动泊车技术领域,特别涉及一种面向立体车位的车位线检测方法。一种面向立体车位的二阶段车位线检测方法,该方法将自动泊车划分为搜车位和泊入两个阶段;搜车位阶段由基于深度学习的车位检测模型搜索、检测当前帧图像中的所有的停车位,将位于可信区间的停车位标注为有效车位,在驾驶者选择相应的目标停车位后,开始自动泊入阶段;在泊入阶段,视觉感知不再进行车位检测,仅对车位线进行检测,检测出车位线边缘后对其进行畸变修正。本发明在搜车位阶段通过设置可信区间,减小了车位误差。在泊入阶段,实时按照最新的车位线位置进行控制和修正,获得精确车位线定位。
Two-stage parking space line detection method for three-dimensional parking space
一种面向立体车位的二阶段车位线检测方法
2024-03-29
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V |
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