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

Abstract

The invention relates to the technical field of automatic driving, and provides a parking space recognition method and device, a vehicle-mounted terminal and a storage medium. According to the invention, parking stall corner points are taken as density clustering nuclear points, and adjacent parking stall corner points are connected by parking stall lines, i.e., detection points of the parking stall lines exist between the adjacent parking stall corner points, so that the adjacent nuclear points of each nuclear point can be determined based on the density, and the adjacent parking stall cornerpoints of the parking stall corner points are obtained. By utilizing the characteristic that adjacent parking stall corner points are connected through the parking stall lines, the distorted parkingstall / special-shaped parking stall in the image can be identified, and the parking stall identification precision is improved. Moreover, each parking stall corner point is used as a density clusteringnuclear point, so that the parking stalls corresponding to the parking stall corner points can be identified under the condition that parking stall lines near the parking stall corner points are shielded and detection points of few parking stall lines exist, the parking stall detection rate is improved, and the missing detection of the parking stalls is 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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