The invention belongs to the technical field of automatic parking, and particularly relates to a parking space line detection method for plane parking spaces. According to the technical scheme, the two-stage parking space line detection method for the plane parking space comprises the steps that automatic parking is divided into a parking space searching stage and a parking-in stage; the first stage comprises the steps that in the parking space searching stage, a parking space detection model based on deep learning is used for searching, effective parking spaces are detected, and after a driver selects a corresponding target parking space, the automatic parking stage is started; and stage 2, in the parking stage, visual perception does not carry out parking space detection any more, and a parking space line is detected only based on image processing. Compared with the parking space line position output by the parking space detection model only in the parking space searching stage, the parking space line positioning method has the advantages that control and correction can be performed in real time according to the newest parking space line position in the whole parking stage, so that more accurate parking space line positioning can be obtained, and the final parking position is more accurate. In addition, the requirement for the precision of the parking space detection model is lowered.
本发明属于自动泊车技术领域,特别涉及一种面向平面车位的车位线检测方法。一种面向平面车位的二阶段车位线检测方法,其技术方案是,该方法将自动泊车划分为搜车位和泊入两个阶段;阶段一:搜车位阶段由基于深度学习的车位检测模型搜索、检测有效的停车位,在驾驶者选择相应的目标停车位后,开始自动泊入阶段;阶段二:在泊入阶段,视觉感知不再进行车位检测,仅基于图像处理对车位线进行检测。相比于只在搜车位阶段保存车位检测模型输出的车位线位置,本发明在整个泊入阶段规控可以实时按照最新的车位线位置进行控制和修正,因此可以得到更精确的车位线定位,使得最终的泊入位置更加精准。而且,本发明也降低了对车位检测模型精度的要求。
Two-stage parking space line detection method for planar parking space
一种面向平面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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