A parking space construction method, system and electronic device

Abstract

This invention discloses a parking space construction method, comprising: identifying the outer frame of the parking space and corner points within the outer frame from a parking space surround view image; matching the corner points pairwise to obtain multiple corner point pairs; selecting target corner point pairs with the smallest distance between the corner points; defining one corner point in the target corner point pair as a first corner point and the other corner point in the target corner point pair as a second corner point; analyzing the first and second corner points to obtain a third and a fourth corner point; and constructing a parking space based on the first, second, third, and fourth corner points. Compared with the prior art, the technical solution of this invention can construct parking spaces based on corner points and their directions, has better adaptability to noise errors, and has higher stability. This invention also provides a parking space construction system and an electronic device, which also have the above-mentioned beneficial effects.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to a parking space construction method. This invention also relates to a parking space construction system and electronic equipment. Background Technology

[0002] Parking space location is one of the key technologies in automatic parking systems. Currently, there are two ways for vehicles to sense parking spaces: one is to use ultrasonic sensors to sense the space, which requires that vehicles have already parked on both sides of the parking space to be entered; the other is to use images captured by the vehicle's camera and computer vision algorithms to detect the coordinates of the parking space lines or corner points, and then construct a complete parking space.

[0003] Existing visual parking space construction methods generally fall into two categories: one is to use object detection algorithms to generate a bounding box for the parking space, and then extract straight lines within the bounding box area using edge contours to construct the parking space. The bounding box refers to the smallest rectangle that can encompass the entire parking space. The other is to use semantic segmentation algorithms to extract a parking space line mask image, and then use the mask image to extract straight lines before constructing the parking space. However, in existing technologies, the methods of extracting straight lines using edge contours or using mask images to construct parking spaces are susceptible to noise errors that can cause straight lines to bend, become blurred, or misalign, leading to a decrease in stability. Summary of the Invention

[0004] To address the aforementioned technical problems, the main objective of this invention is to provide a parking space construction method, specifically relating to a parking space construction method that can construct parking spaces based on corner points and their directions. Compared with existing technologies, it has better adaptability to noise errors and higher stability. This invention also provides a parking space construction system and an electronic device, which also have the aforementioned beneficial effects.

[0005] To achieve the above objectives, the present invention provides a parking space construction method, comprising the following steps:

[0006] Identify the outer frame of the parking space and the corner points within the outer frame from the parking space panoramic image; match the corner points pair by pair to obtain multiple corner point pairs; filter out the target corner point pairs with the smallest distance between the corner points; define one corner point in the target corner point pair as the first corner point and the other corner point in the target corner point pair as the second corner point; analyze the first corner point and the second corner point to obtain the third corner point and the fourth corner point; construct the parking space based on the first corner point, the second corner point, the third corner point, and the fourth corner point.

[0007] Furthermore, in the parking space construction method provided by this invention, the step "matching the corner points pairwise to obtain multiple corner point pairs" includes the following steps:

[0008] The corner data of the corner point is parsed, and the corner data includes one corner point coordinate and multiple corner point directions;

[0009] Based on the corner coordinates, perform pairwise matching on all the corners to identify two adjacent corners whose relative distance is greater than the minimum threshold of the parking space border.

[0010] When the two adjacent corner points have two corner point directions that satisfy the first same-direction corner point direction requirement, and the first same-direction corner point direction of the two adjacent corner points and the line connecting the two adjacent corner points form a U-shaped structure, if the center point of the outer frame of the parking space is located inside the U-shaped structure, then the first condition is satisfied, and the first same-direction corner point direction requirement is that the included angle between the two corner point directions is less than 10°.

[0011] When the two adjacent corner points also have two other corner point directions that satisfy the first reverse corner point direction requirement, and the angle between the first reverse corner point direction of the two adjacent corner points and the line connecting the two adjacent corner points satisfies [0°, 10°), then the second condition is satisfied.

[0012] If the two adjacent corner points simultaneously satisfy both the first and second conditions, then the two adjacent corner points, the direction of the first same-direction corner point, and the opposite-direction corner point are saved as a corner point pair.

[0013] Furthermore, in the parking space construction method provided by the present invention, the step of "selecting the target corner point pair with the smallest distance between the corner points" includes the following steps:

[0014] Traverse all the corner point pairs and identify the coordinates of the two corner points in each corner point pair;

[0015] Based on the coordinates of the two corner points, the distance between the two corner points in the corner point pair is obtained;

[0016] Identify the pair of corner points with the smallest distance between them as the target corner point pair.

[0017] Furthermore, in the parking space construction method provided by the present invention, the step "analyzing and obtaining the third corner point and the fourth corner point based on the first corner point and the second corner point" includes:

[0018] Traverse the pairs of corner points associated with the first corner point to obtain the X corner point;

[0019] The third condition is satisfied when the X-corner point has a corner point direction opposite to the first corner point's first directional corner point direction;

[0020] The fourth condition is satisfied when the X-corner point has the same corner point direction as the first opposite corner point direction of the first corner point.

[0021] When the third and fourth conditions are met simultaneously, the X-corner point is defined as the third corner point.

[0022] Furthermore, in the parking space construction method provided by the present invention, the step "analyzing and obtaining the third corner point and the fourth corner point based on the first corner point and the second corner point" includes:

[0023] Traverse the pairs of corner points associated with the second corner point to obtain the Y corner point;

[0024] The fifth condition is satisfied when the Y-corner point has a corner point direction opposite to the first corner point direction of the second corner point;

[0025] The sixth condition is satisfied when the Y-corner point has the same corner point direction as the first opposite corner point direction of the second corner point.

[0026] When both the fifth and sixth conditions are met, the Y-corner point is defined as the fourth corner point.

[0027] Furthermore, in the parking space construction method provided by the present invention, the step "analyzing and obtaining the third corner point and the fourth corner point based on the first corner point and the second corner point" includes:

[0028] Extend the direction of the first corner point in the same direction to intersect with the outer frame of the parking space to obtain the third corner point;

[0029] Extend the direction of the first corner point in the same direction of the second corner point to intersect with the outer frame of the parking space to obtain the fourth corner point.

[0030] Furthermore, in the parking space construction method provided by the present invention, the step "analyzing and obtaining the third corner point and the fourth corner point based on the first corner point and the second corner point" further includes:

[0031] Obtain the direction of the second directional angle point of the third corner point and the first corner point, and the intersection of the second directional angle point direction of the third corner point and the first directional angle point direction of the second corner point to obtain the fourth corner point.

[0032] Furthermore, in the parking space construction method provided by the present invention, the step "analyzing and obtaining the third corner point and the fourth corner point based on the first corner point and the second corner point" further includes: obtaining the third directional corner point direction of the fourth corner point and the second corner point, wherein the third directional corner point direction of the fourth corner point intersects with the first directional corner point direction of the first corner point to obtain the third corner point.

[0033] Furthermore, the present invention also provides a parking space construction system, comprising: a first identification module for identifying the outer frame of a parking space from a parking space surround view image and identifying corner points within the outer frame of the parking space; a first pairing module for matching the corner points in pairs to obtain multiple corner point pairs; a first filtering module for filtering to obtain target corner point pairs with the smallest distance between the corner points, defining one corner point in the target corner point pair as a first corner point and the other corner point in the target corner point pair as a second corner point; a first analysis module for analyzing and obtaining a third corner point and a fourth corner point based on the first corner point and the second corner point; and a first construction module for constructing parking spaces based on the first corner point, the second corner point, the third corner point, and the fourth corner point.

[0034] Furthermore, the present invention also provides a parking space construction system, comprising: software for executing the parking space construction method as described above; a memory for storing the software; and a processor for executing the software.

[0035] The parking space construction method provided by this invention specifically includes the following technical contents: identifying the outer frame of the parking space and the corner points within the outer frame from a parking space panoramic image; matching the corner points pairwise to obtain multiple corner point pairs; selecting the target corner point pairs with the smallest distance between the corner points; defining one corner point in the target corner point pair as the first corner point and the other corner point in the target corner point pair as the second corner point; analyzing the first and second corner points to obtain the third and fourth corner points; constructing a parking space based on the first, second, third, and fourth corner points. Compared with the prior art, the technical solution of this invention can construct parking spaces based on corner points and their directions, has better adaptability to noise errors, and has higher stability. This invention also provides a parking space construction system and an electronic device, which also have the above-mentioned beneficial effects. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort:

[0037] Figure 1 This is a summary flowchart of the parking space construction method involved in the present invention;

[0038] Figure 2 This is an example diagram of all variables in the parking space construction process involved in this invention. Detailed Implementation

[0039] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Typical embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0041] To better understand the above technical solutions, the following will describe the above technical solutions in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solutions of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0042] Specific reference Figures 1 to 2 This invention provides a parking space construction method, specifically including the following technical contents: identifying the outer frame of the parking space and the corner points within the outer frame from a parking space panoramic image; matching the corner points pairwise to obtain multiple corner point pairs; selecting the target corner point pair with the smallest distance between the corner points; defining one corner point in the target corner point pair as the first corner point and the other corner point in the target corner point pair as the second corner point; analyzing the first and second corner points to obtain the third and fourth corner points; constructing a parking space based on the first, second, third, and fourth corner points. Compared with the prior art, the technical solution of this invention can construct parking spaces based on corner points and their directions, has better adaptability to noise errors, and has higher stability. This invention also provides a parking space construction system and an electronic device, which also have the above-mentioned beneficial effects.

[0043] Specifically, in this embodiment of the invention, the step "matching the corner points pairwise to obtain multiple corner point pairs" includes the following steps:

[0044] The corner data of the corner point is parsed, and the corner data includes one corner point coordinate and multiple corner point directions;

[0045] Based on the corner coordinates, perform pairwise matching on all the corners to identify two adjacent corners whose relative distance is greater than the minimum threshold of the parking space border.

[0046] When the two adjacent corner points have two corner point directions that satisfy the first same-direction corner point direction requirement, and the first same-direction corner point direction of the two adjacent corner points and the line connecting the two adjacent corner points form a U-shaped structure, if the center point of the outer frame of the parking space is located inside the U-shaped structure, then the first condition is satisfied, and the first same-direction corner point direction requirement is that the included angle between the two corner point directions is less than 10°.

[0047] When the two adjacent corner points also have two other corner point directions that satisfy the first reverse corner point direction requirement, and the angle between the first reverse corner point direction of the two adjacent corner points and the line connecting the two adjacent corner points satisfies [0°, 10°), then the second condition is satisfied.

[0048] If the two adjacent corner points simultaneously satisfy both the first and second conditions, then the two adjacent corner points, the direction of the first same-direction corner point, and the opposite-direction corner point are saved as a corner point pair.

[0049] Specifically, in this embodiment of the invention, the step of "selecting the target corner point pair with the smallest distance between the corner points" includes the following steps:

[0050] Traverse all the corner point pairs and identify the coordinates of the two corner points in each corner point pair;

[0051] Based on the coordinates of the two corner points, the distance between the two corner points in the corner point pair is obtained;

[0052] Identify the pair of corner points with the smallest distance between them as the target corner point pair.

[0053] Specifically, in this embodiment of the invention, the step "analyzing and obtaining the third and fourth corner points based on the first and second corner points" includes:

[0054] Traverse the pairs of corner points associated with the first corner point to obtain the X corner point;

[0055] The third condition is satisfied when the X-corner point has a corner point direction opposite to the first corner point's first directional corner point direction;

[0056] The fourth condition is satisfied when the X-corner point has the same corner point direction as the first opposite corner point direction of the first corner point.

[0057] When the third and fourth conditions are met simultaneously, the X-corner point is defined as the third corner point.

[0058] Specifically, in this embodiment of the invention, the step "analyzing and obtaining the third and fourth corner points based on the first and second corner points" includes:

[0059] Traverse the pairs of corner points associated with the second corner point to obtain the Y corner point;

[0060] The fifth condition is satisfied when the Y-corner point has a corner point direction opposite to the first corner point direction of the second corner point;

[0061] The sixth condition is satisfied when the Y-corner point has the same corner point direction as the first opposite corner point direction of the second corner point.

[0062] When both the fifth and sixth conditions are met, the Y-corner point is defined as the fourth corner point.

[0063] Specifically, in this embodiment of the invention, the step "analyzing and obtaining the third and fourth corner points based on the first and second corner points" includes:

[0064] Extend the direction of the first corner point in the same direction to intersect with the outer frame of the parking space to obtain the third corner point;

[0065] Extend the direction of the first corner point in the same direction of the second corner point to intersect with the outer frame of the parking space to obtain the fourth corner point.

[0066] Specifically, in this embodiment of the invention, the step "analyzing and obtaining the third and fourth corner points based on the first and second corner points" further includes:

[0067] Obtain the direction of the second directional angle point of the third corner point and the first corner point, and the intersection of the second directional angle point direction of the third corner point and the first directional angle point direction of the second corner point to obtain the fourth corner point.

[0068] Specifically, in this embodiment of the invention, the step "analyzing and obtaining the third corner point and the fourth corner point based on the first corner point and the second corner point" further includes: obtaining the third directional corner point direction of the fourth corner point and the second corner point, wherein the third directional corner point direction of the fourth corner point intersects with the first directional corner point direction of the first corner point to obtain the third corner point.

[0069] Furthermore, the present invention also provides a parking space construction system, comprising: a first identification module for identifying the outer frame of a parking space from a parking space surround view image and identifying corner points within the outer frame of the parking space; a first pairing module for matching the corner points in pairs to obtain multiple corner point pairs; a first filtering module for filtering to obtain target corner point pairs with the smallest distance between the corner points, defining one corner point in the target corner point pair as a first corner point and the other corner point in the target corner point pair as a second corner point; a first analysis module for analyzing and obtaining a third corner point and a fourth corner point based on the first corner point and the second corner point; and a first construction module for constructing parking spaces based on the first corner point, the second corner point, the third corner point, and the fourth corner point.

[0070] Furthermore, the present invention also provides a parking space construction system, comprising: software for executing the parking space construction method as described above; a memory for storing the software; and a processor for executing the software.

[0071] More specifically, in this embodiment of the invention, a parking space construction method based on directional corner points and parking space bounding boxes is proposed. The corner points and their directions, and the parking space bounding boxes are usually derived from the output of a convolutional network model. The corner points are represented by two-dimensional coordinate points, and the directions are represented by angles. It is agreed that one direction is 0°, and the direction of the corner point is the angle of clockwise rotation of the 0° direction, with a value range of [0°, 360°). Each corner point has at least two directions.

[0072] The parking space bounding box is defined by four values, usually the coordinates of the top left corner and the bottom right corner, or the coordinates of the center point of the bounding box and the length and width of the bounding box. The result of the parking space construction is represented by the coordinates of the four corner points of the parking space.

[0073] Specifically, in the embodiments of the present invention, Figure 2 The example illustrates all the variables used in constructing a parking space. Figure 2 Examples of all variables in the process of constructing a parking space: ABCD represents possible corner points, the actual number of corner points can be more or less, E is the center point of the outer frame of the parking space, a and b, g and h, i and j represent the same direction pairs of corresponding corner points, c and d, e and f, k and l represent opposite direction pairs of corresponding corner points.

[0074] In this embodiment of the invention, the specific method of constructing parking spaces is described as follows: Specific parking space construction steps:

[0075] S1 iterates through and selects the bounding box of a parking space.

[0076] S2 filters out all corner points within the bounding box.

[0077] S3 attempts to match corner points pairwise and saves all successfully matched corner point pairs. The matching rules are as follows:

[0078] ① Set a minimum threshold for the parking space border if the distance between the two corner points is large enough.

[0079] ② The two corner points have basically the same direction, and the center point of the outer frame of the parking space is within the U-shape formed by the two directions and the lines connecting the two corner points.

[0080] for Figure 2 The two corner points AB can be described as follows: the directions of a and b are basically the same, and point E is inside the U-shape formed by the two directions and line segment AB.

[0081] ③ The two corner points have essentially opposite directions, and the angles between the lines connecting the two directions and the corner points are both close to 0°. For Figure 2 The two corner points AB in the diagram can be described as follows: the directions of c and d are basically opposite, and the angles between the two directions and line segment AB are close to 0°.

[0082] ④ Save the successfully matched corner point pairs, and also save the same direction as in ② and the opposite direction as in ③. For Figure 2 The two corner points A and B in the diagram can be described as follows: save the A and B corner point pair, and also save the ab direction pair and the cd direction pair.

[0083] S4 selects the pair of corner points with the smallest distance, and names them corner point 1 and corner point 2. Assume that in... Figure 2 In the diagram, corner point A is assigned to corner point 1, and corner point B is assigned to corner point 2.

[0084] S5 iterates through the remaining corner pairs and attempts to select corner 3 and corner 4.

[0085] ① Corner point 3 should form a corner point pair with corner point 1. The direction in which corner point 1 and corner point 2 are in the same direction should be equal to the direction in which corner point 1 and corner point 3 are in opposite directions. The direction in which corner point 1 and corner point 2 are in opposite directions should be equal to the direction in which corner point 1 and corner point 3 are in the same direction. Assume that in Figure 2 In the equation, there exists a corner point C that forms a corner point pair with A, and a and e are equal, and c and g are equal. In this case, corner point C will be assigned to corner point 3.

[0086] ② Corner point 4 should form a corner point pair with corner point 2. The direction of corner point 2 and corner point 1 should be equal to the direction of corner point 2 and corner point 4 in opposite directions, and the direction of corner point 2 and corner point 1 in opposite directions should be equal to the direction of corner point 2 and corner point 4 in the same direction. Assume that in Figure 2 In the equation, there exists a corner point pair consisting of corner point D and B, where d and i are equal, and b and k are equal. In this case, corner point D will be assigned to corner point 4.

[0087] ③ If neither corner point 3 nor corner point 4 is found, take the intersection of the direction in which corner point 1 and corner point 2 are in the same direction and the outer frame of the parking space as corner point 3, and take the intersection of the direction in which corner point 2 and corner point 1 are in the same direction and the outer frame of the parking space as corner point 4. For example, in... Figure 2 If corner points C and D do not exist, then corner point 3 is assigned the value of the intersection of a and the outer bounding box, and corner point 4 is assigned the value of the intersection of b and the outer bounding box.

[0088] ④ If corner point 3 is found but corner point 4 is not found, take the intersection of the directions of corner point 3 and corner point 1 (in the same direction) and the directions of corner point 2 and corner point 1 (in the same direction) as corner point 4. For example, in... Figure 2 If there is no corner point D, then corner point 4 is assigned the value of the intersection of b and h.

[0089] ⑤ If corner point 4 is found but corner point 3 is not found, take the intersection of the directions of corner point 4 and corner point 2 (which are in the same direction) and the directions of corner point 1 and corner point 2 (which are in the same direction) as corner point 3. For example, in... Figure 2If there is no corner point C, then corner point 3 is assigned the value of the intersection of a and j.

[0090] With the four corner points confirmed, the parking space structure is complete.

[0091] In summary, the parking space construction method based on directional corner points and bounding boxes proposed in this invention uses a deep learning detection algorithm to provide the parking space area, corner point coordinates, and their directions. Then, within the parking space area, parking spaces are constructed using the corner points and their directions. Compared to existing technologies that extract lines using edge contours or mask images, the technical solution provided by this invention is simpler and more efficient. Furthermore, considering that the input image is generally stitched together from multiple fisheye camera images, some noise errors can cause straight lines to bend, blur, or misalign, which can reduce the stability of straight line-based parking space construction methods. In contrast, the parking space construction method based on corner points and their directions proposed in this invention has better adaptability to noise errors.

[0092] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0093] Similarly, it should be understood that, in order to simplify this disclosure and aid in understanding one or more of the various aspects of the invention, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into this detailed description, wherein each claim itself is a separate embodiment of the invention.

[0094] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature serving the same, equivalent, or similar purpose.

[0095] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.

[0096] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

Claims

1. A method of constructing a parking space, characterized in that, Includes the following steps: Identify the outer frame of the parking space and the corner points within the outer frame from the parking space surround view image; The corner points are matched in pairs to obtain multiple corner point pairs; Filter out the target corner point pairs with the smallest distance between the corner points; One of the corner points in the target corner point pair is defined as the first corner point, and the other corner point in the target corner point pair is defined as the second corner point; The third and fourth corner points are obtained by analyzing the first and second corner points; Parking spaces are constructed based on the first corner point, the second corner point, the third corner point, and the fourth corner point; The step "matching the corner points pairwise to obtain multiple corner point pairs" includes the following steps: The corner data of the corner point is parsed, and the corner data includes one corner point coordinate and multiple corner point directions; Based on the corner coordinates, perform pairwise matching on all the corners to identify two adjacent corners whose relative distance is greater than the minimum threshold of the parking space border. When the two adjacent corner points have two corner point directions that satisfy the first same-direction corner point direction requirement, and the first same-direction corner point direction of the two adjacent corner points and the line connecting the two adjacent corner points form a U-shaped structure, if the center point of the outer frame of the parking space is located inside the U-shaped structure, then the first condition is satisfied, and the first same-direction corner point direction requirement is that the included angle between the two corner point directions is less than 10°. When the two adjacent corner points also have two other corner point directions that satisfy the first reverse corner point direction requirement, and the angle between the first reverse corner point direction of the two adjacent corner points and the line connecting the two adjacent corner points satisfies [0°, 10°), then the second condition is satisfied. If the two adjacent corner points simultaneously satisfy both the first and second conditions, then the two adjacent corner points, the direction of the first same-direction corner point, and the direction of the first opposite-direction corner point are saved as a corner point pair.

2. The parking space construction method according to claim 1, characterized in that, The step of "selecting the target corner point pair with the smallest distance between the corner points" includes the following steps: Traverse all the corner point pairs and identify the coordinates of the two corner points in each corner point pair; Based on the coordinates of the two corner points, the distance between the two corner points in the corner point pair is obtained; Identify the pair of corner points with the smallest distance between them as the target corner point pair.

3. The parking space construction method according to claim 2, characterized in that, The step "analyzing and obtaining the third and fourth corner points based on the first and second corner points" includes: Traverse the pairs of corner points associated with the first corner point to obtain the X corner point; The third condition is satisfied when the X-corner point has a corner point direction opposite to the first corner point's first directional corner point direction; The fourth condition is satisfied when the X-corner point has the same corner point direction as the first opposite corner point direction of the first corner point. When the third and fourth conditions are met simultaneously, the X-corner point is defined as the third corner point.

4. The parking space construction method according to claim 2, characterized in that, The step "analyzing and obtaining the third and fourth corner points based on the first and second corner points" includes: Traverse the pairs of corner points associated with the second corner point to obtain the Y corner point; The fifth condition is satisfied when the Y-corner point has a corner point direction opposite to the first corner point direction of the second corner point; The sixth condition is satisfied when the Y-corner point has the same corner point direction as the first opposite corner point direction of the second corner point. When both the fifth and sixth conditions are met, the Y-corner point is defined as the fourth corner point.

5. The parking space construction method according to claim 2, characterized by, The step "analyzing and obtaining the third and fourth corner points based on the first and second corner points" includes: Extend the direction of the first corner point in the same direction to intersect with the outer frame of the parking space to obtain the third corner point; Extend the direction of the first corner point in the same direction of the second corner point to intersect with the outer frame of the parking space to obtain the fourth corner point.

6. The parking space construction method according to claim 3, characterized by, The step "analyzing and obtaining the third and fourth corner points based on the first and second corner points" also includes: Obtain the direction of the second directional angle point of the third corner point and the first corner point, and the intersection of the second directional angle point direction of the third corner point and the first directional angle point direction of the second corner point to obtain the fourth corner point.

7. The parking space construction method according to claim 4, characterized by, The step "analyze and obtain the third and fourth corner points based on the first and second corner points" further includes: obtaining the third directional corner point direction of the fourth corner point and the second corner point, wherein the third directional corner point direction of the fourth corner point intersects with the first directional corner point direction of the first corner point to obtain the third corner point.

8. A parking space construction system for carrying out the parking space construction method according to any one of claims 1 to 7, characterized by The system includes: a first identification module for identifying the outer frame of a parking space from a parking space surround view image and identifying corner points within the outer frame; a first pairing module for matching the corner points pair by pair to obtain multiple corner point pairs; a first filtering module for filtering to obtain target corner point pairs with the smallest distance between the corner points, defining one corner point in the target corner point pair as a first corner point and the other corner point in the target corner point pair as a second corner point; a first analysis module for analyzing and obtaining a third corner point and a fourth corner point based on the first corner point and the second corner point; and a first construction module for constructing a parking space based on the first corner point, the second corner point, the third corner point, and the fourth corner point.

9. An electronic device, comprising: include: A computer program, said computer program being used to execute the parking space construction method according to any one of claims 1 to 7; A memory for storing the computer program; A processor for executing the computer program.

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