关键词: 协作式自动泊车, SSD算法, 目标检测, 单目测距, 车辆定位

Abstract: In the process of realizing collaborative automatic parking, the key point is to identify and locate the target vehicle in the global scope of the parking lot. Therefore, this paper proposes a vehicle identification and location method based on monocular vision that is suitable for the parking lot. Firstly, considering the characteristics of the parking lot, a distributed architecture is designed to ensure the flexibility of the perception system. An improved SSD network is proposed to make it run better in embedded devices, and then a monocular measurement model is established. Finally, the detection and ranging algorithm is used to realize the identification and location of vehicles. In order to verify the effectiveness of the monocular measurement algorithm, an experiment is designed and tested in a real parking lot. The experimental results show that the accuracy of the visual ranging meets the requirements of the system.

Key words: collaborative automatic parking, SSD algorithm, object detection, monocular ranging, vehicle positioning