Parking space line-free inclined parking space detection method, parking method and parking system

Abstract

The invention discloses a parking space line-free inclined parking space detection method. The detection method comprises the steps of determining a target inclined parking space which is located between a first reference parking space and a second reference parking space; according to the distance information of an ultrasonic sensor, calculating the obstacle contour of the vehicle in the reference parking space, and according to the obstacle coordinates at the corners of the obstacle contour of the vehicle in the reference parking space, calculating the first initial coordinates and the second initial coordinates of the parking space vertex in the vehicle body center coordinate system; calculating the slope of the vehicle in the reference parking space under the vehicle body center coordinate system according to the information collected by the image sensor; obtaining a first parking space line equation, a second parking space line equation, a third parking space line equation and a fourth parking space line equation according to the first initial coordinate and the second initial coordinate of the parking space vertex and the slope; and calculating the coordinates of the intersection points of the four parking space lines to obtain the coordinate information of the inclined train parking space. The size and the slope of the inclined train parking space without the parking space line can be accurately identified by utilizing the fusion information of the ultrasonic wave and a camera.

Description

technical field [0001] The invention relates to the technical field of electric vehicle charging, in particular to a detection method for an inclined train space without parking space lines, a parking method and a parking system. Background technique [0002] At present, the field of automatic parking technology mainly focuses on the research of parallel parking and vertical parking. For inclined train spaces with uncertain angles, limited by the distance measurement distance of the sensor and the fixed installation position, it is impossible to effectively detect the uncertain angle. The key information of the oblique train space, resulting in the status quo that the automatic parking system is helpless for the oblique train position. [0003] At present, automatic parking systems have been installed on some models. Most automatic parking systems use ultrasonic sensors to identify parking spaces, and a few add image sensors to identify parking space lines. At present, ultr...

AI Technical Summary

Problems solved by technology

Under the premise of fixing the installation position of the ultrasonic radar, this method automatically searches for variable-angle oblique parking spaces that meet the parking conditions, but it cannot be applied to the detection of oblique parking spaces without parking spaces.

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