Method and system for recognizing target parking location of vehicle by detecting range data
First Claim
1. A system for recognizing a target parking location of a vehicle, the system comprising:
- a scanning laser radar for detecting range data reflected and directed from a rear surface of the vehicle;
a preprocessing unit for preprocessing the range data to extract effective clusters of the range data by removing clusters of which lengths are less than a threshold, clusters being continuous range data;
a corner recognition unit for extracting obstacle corners from the effective clusters; and
a parking location setting unit for recognizing a main reference corner and a sub reference corner from the obstacle corners to set a target parking location, the main reference corner being an obstacle corner closest to a subject vehicle and having an adjacent space satisfying an available parking space condition, the sub reference corner being an obstacle corner existing toward the adjacent space in a direction opposite to a vehicle width direction from the main reference corner and being a point on a closest effective cluster within a distance between a vehicle width and a vehicle length.
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Accused Products
Abstract
Disclosed is a method and a system for recognizing a target parking location of a vehicle. The system includes a scanning laser radar for detecting range data reflected and directed from a rear surface of the vehicle; a preprocessing unit for preprocessing the range data to extract effective clusters; a corner recognition unit for extracting obstacle corners from the effective clusters; and a parking location setting unit for recognizing a main reference corner, which is closest to a subjective vehicle and has an adjacent space satisfying an available parking space condition, and a sub reference corner, which exists toward the adjacent space in a direction opposite to a vehicle width direction from the main reference corner, and corresponds to a point on a closest effective cluster within a distance between a vehicle width and a vehicle length, from the obstacle corners to set a target parking location.
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Citations
11 Claims
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1. A system for recognizing a target parking location of a vehicle, the system comprising:
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a scanning laser radar for detecting range data reflected and directed from a rear surface of the vehicle; a preprocessing unit for preprocessing the range data to extract effective clusters of the range data by removing clusters of which lengths are less than a threshold, clusters being continuous range data; a corner recognition unit for extracting obstacle corners from the effective clusters; and a parking location setting unit for recognizing a main reference corner and a sub reference corner from the obstacle corners to set a target parking location, the main reference corner being an obstacle corner closest to a subject vehicle and having an adjacent space satisfying an available parking space condition, the sub reference corner being an obstacle corner existing toward the adjacent space in a direction opposite to a vehicle width direction from the main reference corner and being a point on a closest effective cluster within a distance between a vehicle width and a vehicle length. - View Dependent Claims (2, 3, 4, 5)
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6. A method for recognizing a target parking location of a vehicle by a system having a scanning laser radar, a preprocessing unit, a corner recognition unit, and a parking location setting unit, the method comprising:
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detecting range data by the scanning laser radar; preprocessing the range data, by the preprocessing unit, to extract effective clusters of the range data by removing clusters of which lengths are less than a threshold, clusters being continuous range data; extracting obstacle corners from the clusters by the corner recognition unit; and recognizing a main reference corner and a sub reference corner from the obstacle corners by the parking location setting unit to set a target parking location, the main reference corner being an obstacle corner closest to a subject vehicle and having an adjacent space satisfying an available parking space condition, the sub reference corner being an obstacle corner existing toward the adjacent space in a direction opposite to a vehicle width direction from the main reference corner and being a point on a closest effective cluster within a distance between a vehicle width and a vehicle length. - View Dependent Claims (7, 8, 9, 10, 11)
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Specification