Right-angle parking space detection method, vehicle and computer readable storage medium

Abstract

The embodiment of the invention discloses a right-angle parking space detection method, a vehicle and a computer readable storage medium. The detection method comprises the following steps: generatinga bird's-eye view from an acquired shot image by using camera calibration; obtaining a contrast image according to a brightness jump rule in the aerial view and a preset parking space marking line width value; performing binarization processing on the contrast image; obtaining binarized images, carrying out line segment extraction according to Hough probability transformation to obtain a candidate line segment set; screening out all line segment pairs meeting pairwise vertical orthogonality from the candidate line segment set to obtain a set of candidate line segment pairs, and determining acorresponding marked line outer side corner set according to the position attribute of each pair of line segment pair intersection points in the candidate line segment pair set, judging whether a group of marked line outer side corner points belonging to the same parking space exist in the marked line outer side corner set or not, and if so, determining a right-angle parking space according to a preset parking space length and width value and the corresponding group of marked line outer side corner points. The right-angle parking space detection method improves the accuracy of parking space detection.

Description

technical field

[0001] The invention relates to the field of control detection, in particular to a detection method for a right-angle parking space, a vehicle and a computer-readable storage medium. Background technique

[0002] With the increase of car ownership, traffic congestion and parking difficulties are becoming more and more prominent. Intelligent parking assistance system can improve parking safety, reduce personnel and economic losses, and has great research value and broad application prospects. Parking space detection is the basic and key technology for automatic parking.

[0003] Among them, the sensors used in the parking space detection technology usually adopt ultrasonic sensors and laser sensors. Due to the relatively narrow range of ultrasonic ranging, it is difficult to eliminate interference signals, and it relies on obstacles for detection, so it is not suitable for parking space detection on ground printing. The multi-line laser sensor can judge whe...

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