Parking space recognition method, device, vehicle-mounted terminal and storage medium

Abstract

The present application relates to the technical field of automatic driving, and provides a parking space recognition method, device, vehicle-mounted terminal and storage medium. In this application, the corner points of parking spaces are used as the core points of density clustering. Since adjacent corner points of parking spaces are connected by parking space lines, that is, there are detection points of parking space lines between adjacent corner points of parking spaces. Therefore, based on density The adjacent core points of each core point can be determined, and the parking corner points adjacent to each corner point of the parking space can be obtained. Using the characteristics that the adjacent corner points of the parking space are connected by the parking space line, the distorted parking space / special-shaped parking space in the image can be identified, and the parking space can be improved. recognition accuracy. In addition, using each corner point of a parking space as the core point of density clustering can ensure that when the parking space line near the corner point of the parking space is blocked and there are fewer detection points of the parking space line, the parking space corresponding to the corner point of the parking space can also be detected. If it is identified, the parking space inspection rate can be improved and the parking space missed inspection can be avoided.

Description

technical field [0001] The present application relates to the technical field of automatic driving, in particular to a parking space recognition method, device, vehicle-mounted terminal and storage medium. Background technique [0002] With the development of automatic driving technology, automatic parking technology has emerged. Automatic parking is divided into three stages: parking space perception, decision planning, and control. Parking space perception is the basis of automatic parking. Whether the parking space can be accurately extracted determines whether the automatic parking task is accurately completed. In the parking space perception scheme provided by the traditional technology, the parking space is generally determined by matching the parking space template. This method is difficult to identify the distorted / special-shaped parking space in the image, and the recognition accuracy of the parking space is low. Contents of the invention [0003] Based on this, ...

AI Technical Summary

Problems solved by technology

In the parking space perception scheme provided by the traditional technology, the parking space template matching is generally used to determine the parking space. This method is difficult to identify the distorted / special-shaped parking space in the image, and the recognition accuracy of the parking space is low.

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