Detection method, device, storage medium and vehicle of parking space

Abstract

The disclosure relates to a parking space detection method, device, storage medium and vehicle, which can collect the distance data between the vehicle and the target obstacle according to the preset period, and obtain the time series distance data according to the collection time, and use the preset parking space search algorithm in the In the time series distance data, the incremental jump distance and the decreasing jump distance are determined. Specifically, the distance data whose increment range is greater than or equal to the preset distance threshold in the above time series distance data, and there is a continuous jump distance before the distance data The distance data of the preset number of incremental data is determined as the incremental jump distance, and the distance data of the above-mentioned time series distance data whose decreasing range is greater than or equal to the preset distance threshold, and there are continuous preset numbers of distance data after the distance data. The distance data of the decreasing data is determined as the decreasing jump distance, so as to determine the target size data of the target parking space according to the increasing jump distance and the decreasing 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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