The invention relates to an automatic parking method and system based on multi-sensor information fusion. Specifically, the automatic parking method comprises the steps that deep learning parking space detection, traditional visual parking space detection and ultrasonic parking space detection are carried out based on 360-degree look-around images and ultrasonic radar data through a parking space detection fusion algorithm, and detection results of the deep learning parking space detection, the traditional visual parking space detection and the ultrasonic parking space detection are fused; the vehicle is positioned in real time through a visual positioning algorithm; detecting obstacles around the vehicle through an obstacle detection algorithm; obtaining a full-information map through an electronic map fusion algorithm; and through a parking planning control algorithm, a parking track is planned, and the vehicle is controlled to complete parking.
本申请涉及基于多传感器信息融合的自动泊车方法及系统。具体而言,该自动泊车方法包括:通过车位检测融合算法,基于360度环视图像和超声波雷达数据,进行深度学习车位检测、传统视觉车位检测和超声波车位检测,并将深度学习车位检测、传统视觉车位检测和超声波车位检测的检测结果进行融合;通过视觉定位算法,对车辆进行实时定位;通过障碍物检测算法,检测车辆周围的障碍物;通过电子地图融合算法,获得全信息地图;通过泊车规划控制算法,规划泊车轨迹并控制车辆完成泊车。
Automatic parking method and system based on multi-sensor information fusion
基于多传感器信息融合的自动泊车方法及系统
2024-04-30
Patent
Electronic Resource
Chinese
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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