A parking space detection system and method using an elastic polygon to represent a parking space area

Abstract

The invention relates to the field of intelligent driving, in particular to a parking space detection system and method using an elastic polygon to represent a parking space area. In the prior art, complete structure information of a parking space cannot be directly provided, and information about whether the parking space can be parked or not is difficult to provide; The invention provides a parking space detection system and method, complete parking space information can be obtained by taking a trained neural network as a detection model, and a parking space structure in any form can be extracted by representing a parking space through an elastic polygon; And moreover, rotation consistency is achieved, and information of inclined parking spaces can be extracted.

Description

technical field [0001] The invention relates to the field of intelligent driving, in particular to a parking space detection system and method. Background technique [0002] With the development of science and technology, emerging concepts such as autonomous driving and unmanned vehicles have emerged as the times require. The automatic parking system is an indispensable part of the automatic driving technology. The interest in the development of the automatic parking system in the automotive industry is gradually increasing, and the parking space detection is one of the core perception tasks in the automatic parking problem. Specifically, the vehicle’s camera or ultrasonic sensors can perceive the current environment of the vehicle, and the parking space detection technology is used to process the surrounding environment information of the vehicle acquired by the sensor, and the nearby blank parking spaces can be obtained to guide the parking of the vehicle. [0003] How to...

AI Technical Summary

Problems solved by technology

In fact, unfavorable factors such as ground materials, changes in lighting conditions, and shadows from nearby objects also increase the difficulty of vision-based parking space detection methods.

[0004] Existing parking space detection methods, one class usually uses the underlying edge and corner features to extract the parking space frame based on artificial construction rules, its feature expression ability is weak, and the rule-based method is difficult to extend to a variety of parking space forms

Another type of method is based on target detection technology, which uses a box to detect and extract parking spaces. This type of method is difficult to deal with oblique parking spaces, and the positioning of the parking space boundary box is also very imprecise.

There is another type of method to find the location of the parking space by integrating the detection information of the separation point and the separation line of the parking space. This method cannot directly provide the complete structural information of a parking space and it is difficult to give information about whether the parking space can be parked.

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