The invention relates to the technical field of parking space detection, in particular to an inclined train parking space detection and management method based on a millimeter-wave radar, and the method comprises the steps: obtaining point cloud data and vehicle body data based on the millimeter-wave radar; obtaining a plurality of target edge points and performing target edge fitting; carrying out angular point identification according to a target edge fitting result, and judging to obtain an angular point; and constructing and forming an original point of a local map coordinate system based on the angular points and a preset rule, performing local map reconstruction, detecting the position of an inclined train according to a reconstruction result, and performing spatial parameter extraction. According to the method, the problems that an existing ultrasonic radar and an existing camera are prone to being affected, so that the inclined train parking space recognition success rate is low, the accuracy rate is low, and even the inclined train parking space is mistakenly recognized as a vertical parking space in a full-automatic parking scheme based on a single sensor or a full-automatic parking scheme based on ultrasonic and vision fusion are solved.

    本发明涉及车位检测技术领域,特别涉及一种基于毫米波雷达的斜列车位检测与管理方法,其通过基于毫米波雷达获取点云数据与车身数据;获取多个目标边缘点并进行目标边缘拟合;根据目标边缘拟合结果进行角点识别,并判断得出角点;基于所述角点及预设规则构造形成局部地图坐标系原点,进行局部地图重建,并根据重建结果检测斜列车位位置并进行空间参数提取。本发明的提出解决了现有的超声波雷达与摄像头易受影响,导致无论是基于单个传感器的全自动泊车方案还是基于超声波和视觉融合的全自动泊车方案,均存在斜列车位识别成功率低,准确率低,甚至错误识别为垂直车位的问题。


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    Title :

    Inclined train parking space detection and management method based on millimeter wave radar


    Additional title:

    一种基于毫米波雷达的斜列车位检测与管理方法


    Contributors:
    XIAO JINGYU (author) / LIU JIAHUAN (author) / LU GUOSHUN (author) / ZHANG SISI (author) / ZHU JIANG (author) / PENG DENGFU (author) / SUN JINGHU (author) / JIA NAN (author)

    Publication date :

    2024-12-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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