Parking method of mechanical parking space based on multi-vision system

Abstract

The mechanical parking space parking method based on the multi-vision system adopts the new multi-vision technology suitable for the mechanical parking space, and decomposes the complete mechanical parking space parking process into two parts: parking space positioning and parking space detection and measurement. Among them, SLAM technology is used for parking space positioning, throughout the entire process of cruising and parking, providing accurate positioning information for parking space detection and measurement; and for the parking space detection and measurement part, the mechanical parking space detection and measurement accuracy requirements are high The characteristics of the parking space detection and measurement work are decomposed, and the fisheye camera is used to complete the parking space inspection work when the vehicle is cruising, and the binocular camera is used to replace the fisheye camera to perform the fine inspection work of the parking space during parking preparation, and the positioning module is used in real time to provide positioning information to complete the parking work of the mechanical parking space. It solves the difficulties of complex positioning of mechanical parking spaces and high requirements for detection and measurement accuracy, and ensures that vehicles can be smoothly parked in mechanical parking spaces.

Description

technical field [0001] The present disclosure relates to the technical field of autonomous parking and the technical field of computer vision in the unmanned driving industry, in particular to a method and device for parking a mechanical parking space based on a multi-vision system. Background technique [0002] In recent years, autonomous driving technology has developed rapidly, and solving the problem of difficult parking is also one of the focuses of research and development in the field of autonomous driving. From the assisted parking system represented by the reversing radar and the bilateral obstacle automatic parking technology based on the ultrasonic radar to the present, the automatic parking technology is not limited to the operation of parking and warehousing, but has expanded to include autonomous parking. An integrated parking system for low-speed cruise, parking space search, parking and call response. In comprehensive parking applications, compared with ordi...

AI Technical Summary

Problems solved by technology

In the above scheme, the scheme of splicing the collected original images into top-view images for parking space detection is also adopted, and the characteristics of the parking space are further subdivided into four parking space lines; in actual situations, due to the relationship of the camera field of view, the spliced ​​obtained The top view can hardly cover the entire parking space, and the top view technology is not suitable for the detection of mechanical parking spaces, so it is difficult to apply on a large scale

[0008] It can be seen that in mechanical autonomous parking, the existing methods cannot meet the needs in terms of parking space detection and parking space positioning, especially in terms of positioning accuracy, stability and real-time performance, it is difficult to obtain satisfactory comprehensive results

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