Parking space detection method based on ultrasonic radar, and terminal

Abstract

An embodiment of the invention discloses a parking space detection method based on an ultrasonic radar, and is applied to parking space detection. The method includes by a terminal, acquiring echo signals received by the ultrasonic radar at a plurality of moments, wherein the echo signals are signals of the configured terminal, which are reflected by obstacles during the movement of vehicles relative to the obstacles; by the terminal, constructing a coordinate system of a parking space; by the terminal, dividing the parking space into a plurality of spatial units in the coordinate system; by the terminal, determining projection lines of possible distribution areas of the obstacles in the coordinate system according to the echo signals; by the terminal, counting the number of the projectionlines included in the first spatial unit, wherein the first spatial unit is any one of the spatial units; when the number of the projection lines included in the first spatial unit is greater than apreset threshold, by the terminal, determining that the first spatial unit is a spatial unit that includes the outlines of the obstacles; by the terminal, determining the parking space size accordingto the first spatial unit.

Description

technical field [0001] The present application relates to the technical field of parking, in particular to a parking space detection method and terminal based on ultrasonic radar. Background technique [0002] Parking space detection is an important link in the whole process of automatic parking of vehicles. It mainly uses on-board sensors such as cameras and radars to accurately perceive the surrounding environment of the vehicle, measure the size of the parking space in the observation area, and judge whether the parking conditions are met. Ultrasonic radar is a commonly used sensor to detect parking spaces. Its ranging principle is to calculate the distance between the sensor and the target based on the time interval between the transmitted wave and the echo. Ultrasonic radar has a strong ranging capability in the short range, but the angular resolution is not high due to the large beam angle in the short range. [0003] In the parking space detection, the effective par...

AI Technical Summary

Problems solved by technology

However, in complex scenes, such as when the vehicle is traveling obliquely relative to an obstacle or multiple ultrasonic sensors work together, the echo signal strength and echo time interval are constantly changing, and the corresponding area of ​​the obstacle in the echo signal is estimated Segment endpoints are more difficult

Therefore, it is difficult to determine the contour boundary points of obstacles, and the accuracy of parking space size detection is low

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