Spatial parking place detection method and device, storage medium, and program product

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.

A non-transitory computer-readable storage medium having stored therein computer instructions, wherein the computer instructions are configured to enable a computer 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 computer instructions are configured to enable the computer 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 computer instructions are further configured to enable the computer 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.