Parking line parking space recognition method and device based on information fusion

A technology for parking space identification and parking space line, which is applied to measurement devices, optical observation devices, vehicle parts, etc.

Pending Publication Date: 2019-03-08
HEFEI UNIV OF TECH
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the technical problem that it is difficult to cover the entire parallel parking space due to the narrow fiel

Method used

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  • Parking line parking space recognition method and device based on information fusion
  • Parking line parking space recognition method and device based on information fusion
  • Parking line parking space recognition method and device based on information fusion

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Experimental program
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Embodiment 1

[0084] see figure 1 The software framework of the parking space recognition system based on information fusion mainly includes: offline calibration and inverse projection transformation module M1, parking space corner detection and visual ranging module M2, information fusion module M3, and parking space coordinate system establishment module M4.

[0085] The offline calibration and inverse projection transformation module M1 is used to collect image information, and complete the inverse projection transformation relative to the side plane of the vehicle body to obtain a bird's-eye view of the vehicle body side. The offline calibration and inverse projection transformation module M1 includes internal parameters and external parameters for the camera Offline calibration module M11 and back projection transformation module M12. The offline calibration module M11 uses the feature marker points to obtain the internal parameters of the camera and the external parameters of the cam...

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Abstract

The invention discloses a parking line parking space recognition method and device based on information fusion. The parking line parking space recognition method comprises the steps that a parking space angular point is recognized from an aerial view of the side face of a car body, when the parking space angular point and a camera are parallel, coordinates of the parking space angular point at themoment are recorded, and the parking space angular point is made as the first parking space angular point; an ultrasonic radar of the car starts to detect whether or not a barrier exists in the sidedirection of the car towards the first parking space angular point, if yes, the last step is executed, and if not, the next step is executed; similarly, a second parking space angular point is obtained; according to the two parking space angular points, the approximate parking space width of the parking line parking space and the later distance between the parking line parking space and the car are calculated. Detection recognition for the parking space with standard parking marking lines can be achieved, the ultrasonic radar is used for recognizing whether or not a barrier exists inside the parking space for detection, a running distance value obtained by a wheel speed sensor and visual information are fused to obtain coordinates of the parking space angular point, and finally recognitionof the parking line parking space is achieved.

Description

technical field [0001] The invention relates to the technical field of automatic parking, in particular to a method and device for identifying a parking space along a parking space line based on information fusion. Background technique [0002] Automatic Parking System (APS) is a comprehensive system that integrates environmental perception, decision-making and planning, intelligent control and execution, and is an important part of the intelligent driving assistance system. As one of the three key technologies of the automatic parking system, the environmental perception technology, the current perception recognition system mainly based on ultrasonic radar or monocular camera, has achieved some successful applications, and some of them have been commercialized and applied to real vehicles. In recent years, multi-sensor information fusion technology has become a hot spot in universities and research institutions, and has achieved certain research results in the field of mobi...

Claims

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Application Information

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IPC IPC(8): B60W30/06G01S15/93B60R1/00
CPCB60R1/00B60R2300/105B60R2300/30B60R2300/607B60R2300/806B60W30/06G01S15/931
Inventor 姜武华辛鑫谢有浩程超田博林艺龙蒋鹏飞陈无畏赵林峰
Owner HEFEI UNIV OF TECH
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