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Parking space detection device and detection method of intelligent parking system

A detection device, a technology of intelligent parking, which is applied to the traffic control system, anti-collision system, traffic control system and other directions of road vehicles, can solve the problems of scratched vehicles, potential safety hazards, missed detection of parking spaces, and false detections, and achieves visual visibility. Wide range, increased security, accurate and stable visual information

Pending Publication Date: 2022-03-04
ZONGMU TECH SHANGHAI CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In these cases, it is a safety hazard to predict vehicle trajectory based only on the visual information provided by the lane lines and parking space lines, and it is likely to scratch the vehicles on both sides that have not fully entered the parking space
[0004] However, the current automatic parking space search function mostly relies on ultrasonic and other technologies to search for parking spaces, and there are many problems such as missed detection and false detection of parking spaces. This patent proposes a low speed automatic slot detection parking function based on visual information. , referred to as ASP), bringing the convenience of parking to the driver

Method used

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  • Parking space detection device and detection method of intelligent parking system
  • Parking space detection device and detection method of intelligent parking system
  • Parking space detection device and detection method of intelligent parking system

Examples

Experimental program
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no. 1 example

[0051] Such as figure 2 and Figure 5 As shown, this embodiment at least discloses an algorithm flow of a vehicle boundary line:

[0052] (1) When the vehicle turns on the function of automatically searching for parking spaces, use the front / rear / left / right 4-way fisheye cameras of the vehicle to collect fisheye images;

[0053] (2) Stitch the four-way fisheye image into a top view according to certain rules;

[0054] (3) Send the obtained top view into the semantic segmentation network model, identify the lane lines, center lane lines, and parking space lines in the figure, and output category and position information;

[0055] (4) Send the obtained lane lines, center lane lines, and parking space lines into the line fitting module, and perform line fitting operations according to certain rules; Figure 6 On the left, there are fitting points of different sizes and colors on the real line.

[0056] (5) Perform inter-frame and intra-frame Kalman filtering on the obtained ...

no. 2 example

[0118] Such as figure 1 As shown, the parking space detection module 1320 further includes: a vehicle boundary line generation sub-module; the parked vehicle detection sub-module at least identifies the front of the parked vehicle (the position marked P in the figure) on a parallel parking space. , after the wheel contact point, the vehicle boundary line generating submodule generates the vehicle boundary line according to the position of the wheel contact point; or, the stagnant vehicle detection submodule identifies an empty parallel parking space (as shown in the figure The front and rear wheel ground contact points of the parked vehicle on both sides of the position of the winning bid P mark), the vehicle boundary line generating submodule generates the vehicle according to the midpoint position of the two front and rear wheel ground contact points borderline.

[0119] The parking space line detection sub-module uses deep learning algorithms to identify ground markings su...

no. 3 example

[0122] Such as image 3 As shown, the parking space detection module 1320 further includes: a vehicle boundary line generation submodule; the stalled vehicle detection submodule at least identifies the bumper of the stationary vehicle on a vertical parking space, and the vehicle boundary line generation submodule module, generating the vehicle boundary line according to the position of the bumper; or, the stalled vehicle detection submodule, identifying the bumpers of the stalled vehicle on both sides of the empty vertical parking space, and the vehicle boundary line generation submodule , generating at least one section of the vehicle boundary line according to the midpoint position of the bumper.

[0123] The parking space line detection sub-module uses deep learning algorithms to identify ground markings such as parking space lines, lane lines, and center lane lines in the splicing image.

[0124] The graph fusion module 1330 is used to integrate smooth and stable lane lin...

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Abstract

The invention provides a parking space detection device of an intelligent parking system. The parking space detection device comprises a sensor assembly and a signal processing assembly. The sensor assembly is arranged on the periphery of a vehicle and used for collecting all-round view images of the vehicle. The signal processing assembly determines the type and position of a parking space line, a lane line, a center lane line and / or a static vehicle boundary line from the image according to the look-around image provided by the sensor assembly, and further determines the spatial position information of a parking space. Safer and more efficient guarantee information is provided for an automatic driving function in a parking scene, and parking convenience is brought to a driver.

Description

technical field [0001] The invention relates to the field of automobile driving, relates to a driving assistance system, and in particular to a parking space detection device and a detection method of an intelligent parking system. Background technique [0002] In recent years, with the development of technology, autonomous driving has become a highly concerned and challenging field. Among them, the automatic driving function in the parking scene is a very important exploration direction. The detection of ground marks such as lane lines and parking space lines provides key visual information for the automatic driving function in the parking scene. [0003] In recent years, with the development of technology, autonomous driving has become a highly concerned and challenging field. Among them, the automatic parking space search function is a very important and practical exploration direction. When entering the parking lot, the automatic parking space search function can be tur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G08G1/16G08G1/123G06V20/58
CPCG08G1/168G08G1/123
Inventor 宋京丁丽珠王曼王晓权吴子章王凡
Owner ZONGMU TECH SHANGHAI CO LTD
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