A parking space detection method and device, automatic parking method and device
A technology for parking space detection and automatic parking, which is applied in the field of vehicle control, can solve the problems of a decrease in the success rate of parking space detection, a large amount of obstacle calculation, and time-consuming, and achieves the effect of increasing the amount of calculation and the success rate.
Active Publication Date: 2022-04-22
BEIJING CO WHEELS TECH CO LTD
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Problems solved by technology
At present, most of the existing parking space detection schemes rely on corner detection and line detection. Once the parking space corners or parking space lines are blocked, reflective, blurred, etc., the success rate of parking space detection will drop significantly.
However, the existing obstacle detection schemes usually use the method of semantic segmentation of the collected images outside the vehicle, and each pixel in the image needs to be multi-classified to determine the obstacle. Therefore, the calculation of obstacle detection is large. and very time consuming
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[0041] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
[0042] In a first aspect, embodiments of the present disclosure provide a parking space detection method, such as figure 1 As shown, the method mainly includes:
[0043] 101. Generate a bird's-eye view image according to images in at least two directions outside the vehicle.
[0044] In practical applications, two or more vehicle-mounted cameras are usually deployed in the vehicle, and these vehicle-mounted cameras are deployed in...
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The embodiment of the present disclosure discloses a parking space detection method and device, and an automatic parking method and device, which relate to the technical field of vehicle control, and the main purpose is to improve the calculation amount and success rate of automatic parking. The main technical solutions of the embodiments of the present disclosure include: generating a bird’s-eye view image based on images from at least two directions outside the vehicle; detecting the parking space on the bird’s-eye view image with the parking space as the overall target, and determining the location information of the detected parking space; controlling the depth The learning model is used as a virtual ray generator to emit a plurality of virtual rays around the vehicle on the bird's-eye view image; according to the occlusion information of each virtual ray, the drivable area of the vehicle is determined; the positioning information of the parking space and The drivable area of the vehicle is sent to an automatic parking controller for the automatic parking controller to perform an automatic parking operation.
Description
technical field [0001] Embodiments of the present disclosure relate to the technical field of vehicle control, in particular to a parking space detection method and device, and an automatic parking method and device. Background technique [0002] With the development of automatic driving technology, automatic parking technology rises rapidly to automatically control the vehicle to park in the parking space without manual control, thereby reducing the user's parking operation. [0003] In the process of automatic parking, it is first necessary to detect the parking space, then detect the obstacle, and finally control the vehicle automatically to park in the parking space according to the result of the detection of the parking space and the result of the obstacle detection. At present, most of the existing parking space detection schemes rely on corner detection and line detection. Once the parking space corners or parking space lines are blocked, reflected, blurred, etc., the...
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IPC IPC(8): B60W30/06B60W40/02
CPCB60W30/06B60W40/02B60W2552/50
Inventor 吉方成谭日成侯文博
Owner BEIJING CO WHEELS TECH CO LTD