Parking Line Parking Slot Recognition and Decision Planning of Automatic Parking Systems Based on Information Fusion

A parking space recognition method was proposed based on information fusion by integrating distance and visual informations. Firstly, the coordinates of the corners of parking space in overhead image were captured by camera. Then the lateral distances of the vehicle body from the corners of the parking space were obtained by using the plane ranging model based on inverse perspective transformation. Finally, the parking line parking plane model was established by combining ultrasonic sensor and vehicle mileage information. The plane model determined the coordinates of the center point of rear axle of vehicle and the relative initial yaw angle to realize the recognition of the parking line parking slot. Based on the identified parking information, path planning and simulation analysis were carried out and verified by the real vehicle tests. Results show that the parking identification method of the vehicle may effectively realize the identification of parking line parking space, and the planned path is reasonable and feasible. © 2020, China Mechanical Engineering Magazine Office. All right reserved.