	US 12,227,169 B2
	Method and apparatus for detecting parking space and direction and angle thereof, device and medium
Fei Pang, Shenfu New District (CN); Jin Lv, Shenfu New District (CN); and Ting Zhou, Shenfu New District (CN)
Assigned to NEUSOFT REACH AUTOMOTIVE TECHNOLOGY (SHENYANG) COMPANY, Shenfu New District (CN)
Appl. No. 17/767,919
Filed by NEUSOFT REACH AUTOMOTIVE TECHNOLOGY (SHENYANG) COMPANY, Shenfu New District (CN)
PCT Filed Jul. 17, 2020, PCT No. PCT/CN2020/102517 § 371(c)(1), (2) Date Apr. 11, 2022, PCT Pub. No. WO2021/068588, PCT Pub. Date Apr. 15, 2021.
Claims priority of application No. 201910969470.1 (CN), filed on Oct. 12, 2019.
Prior Publication US 2024/0092344 A1, Mar. 21, 2024
Int. Cl. B60W 30/06 (2006.01); G06T 7/73 (2017.01); G06V 10/44 (2022.01); G06V 10/764 (2022.01); G06V 20/58 (2022.01); G08G 1/14 (2006.01)

CPC B60W 30/06 (2013.01) [G06T 7/73 (2017.01); G06V 10/44 (2022.01); G06V 10/764 (2022.01); G06V 20/586 (2022.01); G08G 1/145 (2013.01); B60W 2420/403 (2013.01); B60W 2552/53 (2020.02); G06T 2207/20081 (2013.01); G06T 2207/30264 (2013.01)]

11 Claims

1. A method for detecting a parking place and a direction angle thereof, comprising:

obtaining a to-be-detected image;

identifying corner points of a parking space in the to-be-detected image, and cropping the to-be-detected image based on the corner points of the parking space to obtain a candidate parking space image;

detecting the candidate parking space image by using a pre-trained parking space detection model to obtain a parking space detection result, wherein the parking space detection result indicates whether the candidate parking space image identifies a real parking space, and the parking space detection result further comprises a direction angle of the parking space in a case that the candidate parking space image identifies the real parking space; and

parking a vehicle based on the parking space detection result.