Parking space detection method and device, storage medium and vehicle

Abstract

The invention relates to a parking space detection method and device, a storage medium and a vehicle. The method comprises the steps of acquiring distance data of the vehicle and a target obstacle according to a preset period, obtaining time sequence distance data according to an acquisition moment, and determining a progressive increase jump distance and a progressive decrease jump distance in the time sequence distance data through a preset parking space searching algorithm, specifically, determining the distance data of which the progressive increase amplitude is greater than or equal to apreset distance threshold value in the time sequence distance data and the distance data of which the continuous preset number of progressive increase data exists before the distance data as the progressive increase jump distance, determining the distance data of which the progressive decrease amplitude is greater than or equal to the preset distance threshold value in the time sequence distance data and the distance data of which a continuous preset number of progressive decrease data exists after the distance data as the progressive decrease jump distance, and determining target size data ofthe target parking space according to the progressive increase jump distance and the progressive decrease jump distance.

Description

technical field [0001] The present disclosure relates to the technical field of automatic parking, and in particular, to a detection method, device, storage medium and vehicle of a parking space. Background technique [0002] With the improvement of the quality of life of the people, the number of domestic cars is increasing year by year. At the same time, the demand for parking spaces is also tighter and the space is narrower. These problems plague many drivers. Therefore, the development of automatic parking technology is particularly important. Important, in automatic parking technology, the accuracy and stability of parking space detection is the prerequisite for the success of automatic parking, especially for the detection of parking space size, high-precision parking space size data can be used for subsequent accurate Lay the foundation for automatic parking path planning. [0003] In a parking space detection method provided in the related art, the edge of the obsta...

AI Technical Summary

Problems solved by technology

[0003] In a parking space detection method provided in the related art, the edge of the obstacle is obtained by fitting the multiple relative distances between the side of the vehicle body and the obstacle detected during the driving of the vehicle, and by finding the adjacent two jump edges, and further determine the position of the parking space according to the distance between the two jump edges, but in the above detection method of the parking space, the jump edge refers to the edge with jump data At the place where the change occurs, the data of a certain length on the left and right sides remain unchanged, but the data at the place where the jump occurs suddenly changes, that is, as long as there is an increasing point or a decreasing point among the multiple edges detected, it is determined as the jump However, considering that the relative distance detected by the actual distance detection device (such as an ultrasonic sensor) due to the influence of external factors will deviate from the actual distance between the vehicle and the obstacle, at this time, if there is a change point in the relative distance (incremental point or decremental point) will be judged as the jump edge, which will inevitably affect the accuracy of the detected parking space size data, and then reduce the accuracy of parking space detection.

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