关键词: 超声波雷达, 车位检测, 最小值滤波, 特征线段

Abstract: Aiming at the problems of insufficient detection accuracy caused by the difficulty of capturing distance jumps and determining the attitude of parking spaces in traditional parking space detection algorithms, an improved parking space detection algorithm was proposed based on fitted feature line segments. First, an energy gain compensation scheme was designed for the ultrasonic radar amplitude attenuation; then, the characteristic line segment representing the outline of the obstacles was fitted based on the real-time vehicle poses and ultrasonic distance data, and the fitting accuracy of the characteristic line segments was evaluated with the help of lidar, and further detection processes of fusion parking space preliminary detection, parking space re-judgment, parking space constraint judgment and parking space attitude calculation were designed. Finally, the proposed algorithm was experimentally verified based on the real vehicle platforms. The experimental results show that the proposed algorithm may obtain an average detection accuracy of 92.5%, and provide accurate and reliable target parking space informations for the intelligent car parking systems.

Key words: ultrasonic radar, parking space detection, minimum filtering, characteristic line segment