CN112289070B - 一种车位检测方法、装置、车辆、可读介质 - Google Patents
一种车位检测方法、装置、车辆、可读介质 Download PDFInfo
- Publication number
- CN112289070B CN112289070B CN202011128953.8A CN202011128953A CN112289070B CN 112289070 B CN112289070 B CN 112289070B CN 202011128953 A CN202011128953 A CN 202011128953A CN 112289070 B CN112289070 B CN 112289070B
- Authority
- CN
- China
- Prior art keywords
- reachable
- parking space
- space
- coordinate
- parking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 claims abstract description 28
- 230000007613 environmental effect Effects 0.000 claims abstract description 6
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000007547 defect Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/147—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is within an open public zone, e.g. city centre
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/149—Traffic control systems for road vehicles indicating individual free spaces in parking areas coupled to means for restricting the access to the parking space, e.g. authorization, access barriers, indicative lights
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
- G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
- G01S2015/934—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the depth, i.e. width, not length, of the parking space
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
- G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
- G01S2015/936—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring parking spaces extending transverse or diagonal to the driving direction, i.e. not parallel to the driving direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computer Security & Cryptography (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (10)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011128953.8A CN112289070B (zh) | 2020-10-20 | 2020-10-20 | 一种车位检测方法、装置、车辆、可读介质 |
PCT/CN2021/101349 WO2022083150A1 (zh) | 2020-10-20 | 2021-06-21 | 一种车位检测方法、装置、车辆、可读介质 |
EP21794297.8A EP4016496A4 (en) | 2020-10-20 | 2021-06-21 | METHOD AND APPARATUS FOR DETECTING PARKING PLACES, VEHICLES AND READABLE MEDIA |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011128953.8A CN112289070B (zh) | 2020-10-20 | 2020-10-20 | 一种车位检测方法、装置、车辆、可读介质 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112289070A CN112289070A (zh) | 2021-01-29 |
CN112289070B true CN112289070B (zh) | 2021-12-07 |
Family
ID=74424316
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202011128953.8A Active CN112289070B (zh) | 2020-10-20 | 2020-10-20 | 一种车位检测方法、装置、车辆、可读介质 |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP4016496A4 (zh) |
CN (1) | CN112289070B (zh) |
WO (1) | WO2022083150A1 (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112289070B (zh) * | 2020-10-20 | 2021-12-07 | 广州小鹏自动驾驶科技有限公司 | 一种车位检测方法、装置、车辆、可读介质 |
CN113111701B (zh) * | 2021-02-24 | 2021-11-30 | 江苏濠汉信息技术有限公司 | 一种基于智能识别的充电站电动地锁状态监测方法及系统 |
CN113205059B (zh) * | 2021-05-18 | 2024-03-12 | 北京纵目安驰智能科技有限公司 | 车位的检测方法、系统、终端及计算机可读存储介质 |
CN114582163B (zh) * | 2022-03-14 | 2023-05-16 | 深圳市捷顺科技实业股份有限公司 | 一种车位管控方法、装置、设备及存储介质 |
CN115206130B (zh) * | 2022-07-12 | 2023-07-18 | 合众新能源汽车股份有限公司 | 一种车位检测方法、系统、终端及存储介质 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108399667A (zh) * | 2018-01-23 | 2018-08-14 | 蔚来汽车有限公司 | 车位地锁控制装置和方法 |
CN109235995A (zh) * | 2018-09-26 | 2019-01-18 | 歌尔股份有限公司 | 一种车位锁装置、控制方法 |
CN110415555A (zh) * | 2019-08-30 | 2019-11-05 | 的卢技术有限公司 | 一种基于深度学习的有效划线车位识别方法和系统 |
CN111383459A (zh) * | 2020-03-31 | 2020-07-07 | 北京智芯原动科技有限公司 | 一种基于视频的充电桩车位管理方法及装置 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20060134719A (ko) * | 2005-06-23 | 2006-12-28 | 주식회사 만도 | 차량의 주차 구획 인식방법 |
KR101756849B1 (ko) * | 2016-11-01 | 2017-07-12 | 주식회사한맥아이피에스 | 노상 무인정산 주차관제 시스템 |
CN108073868A (zh) * | 2016-11-18 | 2018-05-25 | 法乐第(北京)网络科技有限公司 | 一种场景分割和障碍物检测的方法 |
DE102016223171A1 (de) * | 2016-11-23 | 2018-05-24 | Robert Bosch Gmbh | Verfahren und System zum Detektieren eines sich innerhalb eines Parkplatzes befindenden erhabenen Objekts |
CN107738612B (zh) * | 2017-09-22 | 2020-04-14 | 西安电子科技大学 | 基于全景视觉辅助系统的自动泊车停车位检测与识别系统 |
CN110687539B (zh) * | 2018-07-06 | 2021-04-13 | 广州小鹏汽车科技有限公司 | 一种车位检测方法、装置、介质和设备 |
CN109740521B (zh) * | 2018-12-29 | 2021-02-19 | 百度在线网络技术(北京)有限公司 | 自动泊车的车位位置确定方法及装置、电子设备和计算机可读介质 |
KR20200092444A (ko) * | 2018-12-31 | 2020-08-04 | 현대자동차주식회사 | 자율 발렛 주차를 지원하는 시스템 및 방법, 그리고 이를 위한 인프라 및 차량 |
CN111508260A (zh) * | 2019-01-30 | 2020-08-07 | 上海欧菲智能车联科技有限公司 | 车辆停车位检测方法、装置和系统 |
CN110861639B (zh) * | 2019-11-28 | 2021-06-15 | 安徽江淮汽车集团股份有限公司 | 泊车信息融合方法、装置、电子设备及存储介质 |
CN111178295A (zh) * | 2019-12-31 | 2020-05-19 | 华为技术有限公司 | 车位检测和模型训练方法、装置、车辆、设备及存储介质 |
CN111198376B (zh) * | 2020-01-13 | 2022-05-10 | 广州小鹏汽车科技有限公司 | 一种自动泊车过程中的可达空间调整方法及装置、车辆、存储介质 |
CN111366917B (zh) * | 2020-03-13 | 2022-07-15 | 北京百度网讯科技有限公司 | 可行驶区域检测方法、装置、设备及计算机可读存储介质 |
CN111319615B (zh) * | 2020-03-16 | 2021-02-26 | 湖北亿咖通科技有限公司 | 智能代客泊车方法、计算机可读存储介质及电子设备 |
CN111524384B (zh) * | 2020-04-29 | 2021-12-10 | 北京首汽智行科技有限公司 | 一种停车网点车位占用及释放判断方法 |
CN112289070B (zh) * | 2020-10-20 | 2021-12-07 | 广州小鹏自动驾驶科技有限公司 | 一种车位检测方法、装置、车辆、可读介质 |
-
2020
- 2020-10-20 CN CN202011128953.8A patent/CN112289070B/zh active Active
-
2021
- 2021-06-21 WO PCT/CN2021/101349 patent/WO2022083150A1/zh unknown
- 2021-06-21 EP EP21794297.8A patent/EP4016496A4/en not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108399667A (zh) * | 2018-01-23 | 2018-08-14 | 蔚来汽车有限公司 | 车位地锁控制装置和方法 |
CN109235995A (zh) * | 2018-09-26 | 2019-01-18 | 歌尔股份有限公司 | 一种车位锁装置、控制方法 |
CN110415555A (zh) * | 2019-08-30 | 2019-11-05 | 的卢技术有限公司 | 一种基于深度学习的有效划线车位识别方法和系统 |
CN111383459A (zh) * | 2020-03-31 | 2020-07-07 | 北京智芯原动科技有限公司 | 一种基于视频的充电桩车位管理方法及装置 |
Also Published As
Publication number | Publication date |
---|---|
EP4016496A4 (en) | 2022-07-20 |
WO2022083150A1 (zh) | 2022-04-28 |
EP4016496A1 (en) | 2022-06-22 |
CN112289070A (zh) | 2021-01-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN112289070B (zh) | 一种车位检测方法、装置、车辆、可读介质 | |
CN110758246B (zh) | 一种自动泊车方法及装置 | |
CN112509354B (zh) | 一种车位检测方法、装置、车辆、可读介质 | |
EP3886075A1 (en) | Parking space detection method and device | |
AU2020200802B2 (en) | Vehicle-mounted device and headway distance calculation method | |
CN109377694B (zh) | 社区车辆的监控方法及系统 | |
CN113470371B (zh) | 识别违规车辆的方法、系统和计算机可读存储介质 | |
CN112216136A (zh) | 泊车位检测方法、装置、车辆及存储介质 | |
CN110341621B (zh) | 一种障碍物检测方法及装置 | |
CN114037924A (zh) | 一种基于图像识别技术的车辆过闸判断方法及相关装置 | |
CN111967396A (zh) | 障碍物检测的处理方法、装置、设备及存储介质 | |
CN112214026A (zh) | 一种行车障碍检测方法、装置、车辆、可读介质 | |
CN113781827A (zh) | 一种云平台的视频数据管理方法及云平台 | |
CN111292530A (zh) | 处理违章图片的方法、装置、服务器和存储介质 | |
CN115761668A (zh) | 摄像头的污渍识别方法、装置、车辆及存储介质 | |
CN111739333B (zh) | 一种空车位识别方法 | |
CN110940974B (zh) | 物体检测装置 | |
CN112863242B (zh) | 一种车位检测的方法和装置 | |
CN112820141B (zh) | 一种泊车车位的检测方法和检测系统 | |
CN113569812A (zh) | 未知障碍物的识别方法、装置和电子设备 | |
CN113353068A (zh) | 一种泊车控制方法、装置、车辆和介质 | |
CN111739332B (zh) | 一种停车场管理系统 | |
CN116373778A (zh) | 车辆涉水的报警方法、装置、电子设备及存储介质 | |
US11554789B2 (en) | Driving assistant method, vehicle, and storage medium | |
CN112224197B (zh) | 倒车检测泊车位的方法、装置、车辆及存储介质 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
CB02 | Change of applicant information | ||
CB02 | Change of applicant information |
Address after: Room 46, room 406, No. 1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou, Guangdong 510725 Applicant after: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Address before: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province Applicant before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. |
|
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20210129 Assignee: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Assignor: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Contract record no.: X2022980014506 Denomination of invention: A parking space detection method, device, vehicle, and readable medium Granted publication date: 20211207 License type: Common License Record date: 20220905 |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240229 Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 46, room 406, No. 1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou, Guangdong 510725 Patentee before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Country or region before: China |