Vehicle environmental detection system for parking detection
A vehicle environmental detection system ( 3 ) in an ego vehicle ( 1 ) including at least one control unit arrangement ( 15 ) and at least one detector arrangement ( 4, 7 ) that is adapted to obtain a plurality of detections ( 14 ). The control unit arrangement ( 15 ) is adapted to form a cluster ( 40 ) of the plurality of detections ( 14 ), form a first border line ( 16 ) and a second border line ( 17 ), where these border lines ( 16, 17 ) have mutually longitudinal extensions, and are mutually parallel and define outer borders of the cluster ( 40 ) and determine whether the cluster ( 40 ) corresponds to a row ( 13 ) of corresponding parked vehicles ( 18 a, 18 b, 18 c, 18 d, 18 e, 18 f, 18 g ), by the length or longitudinal displacement of, or distance between, the border lines ( 16, 17 ).
1. A vehicle environmental detection system arranged to be mounted in an ego vehicle comprising, at least one detector arrangement and at least one control unit arrangement, where the detector arrangement is adapted to obtain a plurality of detections, the control unit arrangement is adapted to:
form a cluster of the plurality of detections;
form a first border line and a second border line, where the first and second border lines have mutually longitudinal extensions, are mutually parallel and define outer borders of the cluster; and to
determine whether the cluster corresponds to a row of corresponding parked vehicles, by a length or a longitudinal displacement or a distance between the border lines.
2. The vehicle environmental detection system according to claim 1 wherein, the vehicle environmental detection system is further comprising, a radar system, where the detector arrangement comprises a transmitter arrangement and a receiver arrangement, where the transmitter arrangement includes a signal generator and a transmitter antenna arrangement arranged for transmitting signals, and where the receiver arrangement includes a receiver and a receiver antenna arrangement for receiving reflected signals.
3. The vehicle environmental detection system according to claim 1 further comprising, that if the cluster has been determined to constitute the row of corresponding parked vehicles in the parking row, the control unit arrangement is adapted to:
determine how at least one connection line, arranged to connect the first and second border lines, is running with respect to another of the first and second border lines;
determine a shortest distance between the first and second border lines;
compare the shortest distance with a predetermined vehicle width or a predetermined vehicle length; and to
determine how the parked vehicles in the parking row are oriented with respect to a movement direction of the vehicle environmental detection system.
4. The vehicle environmental detection system according to claim 3 further comprising the control arrangement further adapted to determine an angle formed between the at least one connection line and at least one of the first and second border lines.
5. The vehicle environmental detection system according to claim 1 further comprising comparing the shortest distance with the predetermined width and the predetermined vehicle length.
6. The vehicle environmental detection system according to claim 1 further comprising, that if the cluster has been determined to constitute the row of corresponding parked vehicles in a parking row, the control unit arrangement is adapted to determine gaps in detections between the first and second border lines in order to determine one or more available parking spots.
7. A method for a vehicle environmental detection system in an ego vehicle, where the method comprises the steps of:
obtaining a plurality of detections;
forming a cluster of the plurality of detections;
forming a first border line and a second border line, where the first and second border lines have mutually longitudinal extensions, are mutually parallel and define outer borders of the cluster; and
determining whether the cluster corresponds to a row of corresponding parked vehicles, using a length or a longitudinal displacement or a distance between the first and second border lines.
8. The method according to claim 7 further comprising, that the if the cluster has been determined to constitute the row of the corresponding parked vehicles in a parking row, the method further comprises:
determining how at least one connection line, arranged to connect one of the first and second border lines, is running with respect to another of the first and second border lines;
determining a shortest distance between the first and second border lines;
comparing the shortest distance with a predetermined vehicle width or a predetermined vehicle length; and
determining how the vehicles in the parking row are oriented with respect to a movement direction of the vehicle environmental detection system.
9. The method according to claim 8 further comprising the step of determining an angle formed between the at least one connection line and at least one of the first and the second border lines.
10. The method according to claim 8 further comprising comparing the shortest distance with the predetermined vehicle width and the predetermined vehicle length.
11. The method according to claim 7 further comprising, that if the cluster has been determined to constitute the row of the corresponding parked vehicles in a parking row, the method comprises determining gaps in the detections between the first and second border lines in order to determine one or more available parking spots.