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Parking space recognition method and system based on data fusion

A parking space recognition and data fusion technology, applied in the field of automatic parking, can solve the problems of low accuracy rate of parking space type recognition and inability to effectively identify the available parking space information.

Pending Publication Date: 2022-02-18
惠州华阳通用智慧车载系统开发有限公司
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0005] The present invention provides a parking space identification method and system based on data fusion, which solves the technical problems that the existing automatic parking technology cannot effectively identify available parking space information and the accuracy rate of parking space type recognition is low

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  • Parking space recognition method and system based on data fusion
  • Parking space recognition method and system based on data fusion
  • Parking space recognition method and system based on data fusion

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Embodiment 1

[0048] A parking space recognition method based on data fusion provided by an embodiment of the present invention, such as figure 1 As shown, in this embodiment, steps S1-S3 are included:

[0049] S1. Using ultrasonic radar to detect the parking environment to obtain the first environment detection data, and identifying the first environment detection data according to the first identification strategy to obtain at least one first initial parking space, including steps S11-S14:

[0050] S11. Obtain at least 3 jump points fed back by the ultrasonic radar in detecting the parking environment, and a horizontal distance between adjacent jump points, as first environment detection data.

[0051] Take the vehicle starting from left to right and detecting the parking space on the left side of the vehicle direction as an example:

[0052] (1) Obtain each jump point of the ultrasonic radar in detecting the parking environment

[0053] In this embodiment, the number of jump points mus...

Embodiment 2

[0137] The present invention also provides a parking space recognition system, which is applied to the above-mentioned method for testing the voice wake-up rate based on a real vehicle, including a microcontroller and a laser radar connected thereto, a LIN module, and an ultrasonic detection group connected to the LIN module; The ultrasonic detection group includes at least 2 ultrasonic radars.

[0138] In this embodiment, 4 APA ultrasonic radars are installed, which are respectively installed in the left front, left rear, right front and right rear of the vehicle; the front and rear ultrasonic radars are divided into two groups, which are applied to the detected parking spaces. Second confirmation; the lidar is installed in the center of the roof through the mounting bracket; the lidar is preferably Velodyne-16.

[0139] The identification system provided in this embodiment uses various modules to implement each step in the identification method, provides a hardware basis for...

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Abstract

The invention relates to the technical field of automatic parking, and provides a parking space recognition method and system based on data fusion. The method comprises the steps: employing an ultrasonic radar and a laser radar to detect a parking environment, and carrying out data recognition and analysis in combination with a preset first recognition strategy and a preset second recognition strategy, planning a free area as an initial parking space according to an obstacle in the parking environment, and finally, performing fusion recognition on the initial parking space according to preset parking space type parameters to quickly judge whether an effective parking space exists or not and determine the parking space type of the effective parking space, thereby accurately recognizing the vehicle pose of the parking space adjacent to the target parking space to recognize parking space. Through data fusion of the ultrasonic radar and the laser radar, the accuracy of parking space recognition can be effectively improved, later APA path planning is facilitated, and the parking efficiency of a user is improved.

Description

technical field [0001] The invention relates to the technical field of automatic parking, in particular to a parking space recognition method and system based on data fusion. Background technique [0002] Parking spaces in big cities are limited and parking spaces are in short supply, so automatic parking systems that assist drivers in parking have emerged as the times require. Different automated parking systems use different methods to detect objects around the car. Some have sensors around the front and rear bumpers that act as both transmitters and receivers. These sensors send signals that bounce off obstacles around the vehicle. The on-board computer then uses the time it takes for it to receive the signal to determine the location of the obstacle. Other systems use bumper-mounted cameras to detect obstacles. But the end result is always the same: The car detects parked vehicles, the size of the space, and the distance to the curb, and steers into the space. [00...

Claims

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Application Information

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IPC IPC(8): B60W30/06B60W30/08
CPCB60W30/06B60W30/08B60W2420/54B60W2420/408
Inventor 黎伟刘耀正
Owner 惠州华阳通用智慧车载系统开发有限公司
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