The invention discloses a parking space fusion method for an APA parking scene, and the method comprises the steps: carrying out the parking space recognition of a current vacant parking space through a vehicle-mounted ultrasonic sensor, and determining an effective ultrasonic parking space; a vehicle-mounted all-around camera is used for recognizing the parking vacancy, and an effective visual parking space is determined; and performing fusion processing on the ultrasonic parking space and the visual parking space according to the overlapping ratio, the graphic distance and the shape similarity relationship between the ultrasonic parking space and the visual parking space, and obtaining and outputting a fusion parking space of the current vacant parking space. The invention further discloses a corresponding system, a storage medium and a vehicle. By implementing the embodiment of the invention, the accurate fused parking space can be quickly obtained, and the success rate and efficiency of parking can be improved.
本发明公开了一种用于APA泊车场景的车位融合方法,其包括步骤:使用车载的超声波传感器对当前停车空位进行车位空间识别,确定有效的超声波车位空间;使用车载的环视摄像头对所述停车空位进行识别,确定有效的视觉车位空间;根据所述超声波车位空间、视觉车位空间两者之间的重叠比例、图形距离、形状相似度关系,对所述超声波车位空间和视觉车位空间进行融合处理,获得当前停车空位的融合车位并输出。本发明还公开了相应的系统、存储介质及车辆。实施本发明实施例,可以快速获得准确的融合车位,能够提高泊车的成功率及效率。
Parking space fusion method and system for APA parking scene, storage medium and vehicle
一种用于APA泊车场景的车位融合方法、系统、存储介质及车辆
2024-09-20
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 |
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