The invention discloses a parking method and device based on a three-dimensional parking space, after an image around a vehicle is acquired, because the three-dimensional parking space generally does not have parking space line information, the idle three-dimensional parking space is not identified in the image based on the parking space line information, but the idle three-dimensional parking space is identified in the image according to two angular points of the parking side of the three-dimensional parking space. And if the angular point distance between the two angular points meets a first threshold condition, the vehicle can be parked in the idle three-dimensional parking space, and the idle three-dimensional parking space is determined as a target parking space. In order to correctly park the vehicle in the target parking space, the effective point cloud data representing the positions of the protection edges on the two sides of the target parking space are obtained based on the Tof camera, and the relative position relation representing the target parking space and the vehicle can be determined according to the effective point cloud data, so that the vehicle can be controlled to park in the target parking space based on the point cloud function. The parking accuracy is improved while the detection efficiency of the target parking space is improved.

    本申请公开了一种基于立体车位的泊车方法和装置,在获取车辆周围的图像后,由于立体车位一般不具有车位线信息,故不再基于车位线信息在图像中识别空闲立体车位,而是根据立体车位泊入侧的两个角点在图像中识别空闲立体车位。若两个角点之间的角点距离满足第一阈值条件,则该车辆可以泊入该空闲立体车位,将该空闲立体车位确定为目标车位。为了能够将车辆正确泊入目标车位,基于Tof相机获取表征目标车位两侧的保护沿位置的有效点云数据,根据该有效点云数据可以确定出表征目标车位与该车辆的相对位置关系,从而可以基于点云函数控制该车辆泊入目标车位,在提高了目标车位的检测效率的同时,提高了泊车的准确性。


    Access

    Download


    Export, share and cite



    Title :

    Parking method and device based on three-dimensional parking space


    Additional title:

    一种基于立体车位的泊车方法和装置


    Contributors:
    CHANG QING (author) / LAI JIE (author) / ZHU JINGXING (author) / LI XIAO (author) / ZHANG XIN (author)

    Publication date :

    2022-12-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



    Three-dimensional parking lot parking space guiding system

    European Patent Office | 2023

    Free access

    Three-dimensional parking lot parking space guiding system

    PAN LILI / ZHU LILI | European Patent Office | 2021

    Free access

    Parking charging device of three-dimensional parking garage and three-dimensional parking garage

    CHEN YONGJUN / CHEN XIAOFENG | European Patent Office | 2023

    Free access

    Intelligent parking space management device for distributed three-dimensional parking garage

    JING CHENGLIANG / ZHOU SHIJUN / LI YAN et al. | European Patent Office | 2023

    Free access

    Two-stage parking space line detection method for three-dimensional parking space

    ZHENG RUI / YU HONGXIAO | European Patent Office | 2024

    Free access