Parking space detection method based on ultrasonic and visual sensor fusion

Abstract

The invention relates to a parking space detection method based on ultrasonic and visual sensor fusion, comprising: determining that information fusion level of two sensors is decision fusion level, acquiring data required for parking space detection, synchronously preprocessing the acquired data, extracting suspected parking space key information of the two sensors separately, performing ultrasonic sensor space parking space calculation and visual sensor line parking space calculating, performing parking space judging and decision-level data fusion for the two sensors, and finally judging parking space condition. The parking space detection method based on ultrasonic and visual sensor fusion has the advantages that spatial parking spaces are determined via the ultrasonic sensor, line parking spaces are judged via visual sensor, detection results of the two sensors are subjected to decision-level fusion, parking space recognition accuracy reaches 99% and above, and the parking space detection method based on ultrasonic and visual sensor fusion is widely applicable to the field of parking space detection.

Description

technical field [0001] The invention relates to a parking space detection method based on the fusion of ultrasonic waves and visual sensors, belonging to the field of parking space detection. Background technique [0002] Parking is a driving scene with high frequency in the daily driving process. Parking requires high driving skills. In the case of relatively small parking spaces, driving accidents such as scratches and collisions are prone to occur during parking. With the rapid development of vehicle control technology and environmental perception technology, parking assistance technology has become a research hotspot. [0003] The development of parking assistance technology has gone through a process of gradual intelligence. In the early stage, the driver visually judged the parking space through the rearview mirror; subsequently, more and more sensors were equipped on the vehicle, such as the front and rear of the vehicle. Ultrasonic radar is installed at the end of t...

AI Technical Summary

Problems solved by technology

[0003] The development of parking assistance technology has gone through a process of gradual intelligence. In the early stage, the driver visually judged the parking space through the rearview mirror; subsequently, more and more sensors were equipped on the vehicle, such as the front and rear of the vehicle. Ultrasonic radar is installed at the end of the car for obstacle warning, and a reversing image is installed at the rear of the car. However, these sensors only provide simple feedback on the reversing environment and cannot directly participate in the decision-making process of the parking process; currently, some mid-to-high-end cars are equipped with Advanced parking assistance system, including panoramic camera, side ultrasonic radar, etc., can realize autonomous detection of available parking spaces, and will automatically park the vehicle into the designated parking space

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