US 12,263,834 B2
Spatial parking place detection method and device, storage medium, and program product
Wenyang Chen, Beijing (CN); Bo Zhan, Beijing (CN); and Zhiming Zhang, Beijing (CN)
Assigned to BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD., Beijing (CN)
Filed by BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD., Beijing (CN)
Filed on Apr. 1, 2022, as Appl. No. 17/711,082.
Claims priority of application No. 202110921544.1 (CN), filed on Aug. 11, 2021.
Prior Publication US 2022/0219679 A1, Jul. 14, 2022
Int. Cl. G08G 1/14 (2006.01); B60W 30/06 (2006.01); G06T 7/73 (2017.01); G06V 20/58 (2022.01)
CPC B60W 30/06 (2013.01) [G06T 7/73 (2017.01); G06V 20/586 (2022.01); G08G 1/143 (2013.01); B60W 2420/403 (2013.01); B60W 2420/54 (2013.01); B60W 2552/53 (2020.02); B60W 2554/802 (2020.02); B60W 2556/35 (2020.02); B60W 2556/40 (2020.02); G06T 2207/30261 (2013.01); G06T 2207/30264 (2013.01)] 17 Claims
OG exemplary drawing
 
2. A spatial parking place detection device, comprising:
a memory, a processor, and a computer program stored on the memory and operable on the processor,
wherein the processor, when running the computer program, is configured to:
acquire, during a vehicle traveling process, ultrasonic data around a vehicle collected by an ultrasonic sensor on the vehicle, and image data around the vehicle collected by an image collection apparatus;
determine a first spatial parking place around the vehicle according to the ultrasonic data;
determine a second spatial parking place around the vehicle according to the image data;
fuse the first spatial parking place and the second spatial parking place that are located at an identical position to determine a spatial parking place at that position; and
determine available spatial parking places of the vehicle from spatial parking places at all positions;
wherein the processor is further configured to:
determine positions of obstacle points around the vehicle according to the ultrasonic data;
construct an occupancy grid map according to the positions of the obstacle points to obtain a first grid map; and
identify positions of obstacle segments in the first grid map, and determine a spatial parking place around the vehicle according to the positions of the obstacle segments to obtain the first spatial parking place;
wherein the processor is further configured to:
sieve obstacle segments adaptable to a length direction of the vehicle according to the positions of the obstacle segments and pose information of the vehicle; and
determine, for any two adjacent obstacle segments of the sieved obstacle segments, a spatial parking place between the two adjacent obstacle segments according to a spacing distance between the two adjacent obstacle segments along the length direction of the vehicle, a parking place type of the spatial parking place around the vehicle and a parking place dimension corresponding to the parking place type.