Detection of parking slot configuration based on repetitive patterns
A sensor signal processing unit ( 100 ) arranged to detect a configuration of parking slots ( 1 a, 1 b, 1 c, 1 d ) based on radar detections received from a radar-based sensor system ( 120 ). The unit includes a histogram unit arranged to generate a representation of a spatial distribution of a set of radar detection coordinates, and a detection unit arranged to detect the configuration of parking slots. The detection unit is arranged to detect the configuration of parking slots based on a Fourier transform of the representation of spatial distribution.
1. A method adapted to be performed by a sensor signal processor for detecting a configuration of parking slots based on radar detections, the method comprising the steps of;
receiving a plurality of radar detections from a radar-based sensor system,
generating a representation of a spatial distribution of a set of coordinates associated with the radar detections, and
detecting the configuration of parking slots based on a Fourier transform of the representation of spatial distribution.
2. The method according to claim 1 , further comprising obtaining a rotation angle (α) corresponding to an angle between a sensor of the radar-based sensor system and the configuration of parking slots, and rotating coordinates of the radar detections based on the rotation angle to generate a set of rotated coordinates prior to the generating.
3. The method according to claim 2 , wherein the obtaining step comprises obtaining the rotation angle from a memory, or from input data to the sensor signal processor.
4. The method according to claim 2 , wherein the obtaining step comprises estimating the rotation angle from data generated by a sensor device arranged to detect the angle between the sensor of the radar-based sensor system and the configuration of parking slots.
5. The method according to claim 2 , wherein the rotating step comprises multiplying coordinates of the radar detections by a rotation matrix generated based on the rotation angle (α).
6. The method according to claim 1 , wherein the representation of a spatial distribution of the set of coordinates comprises a histogram of the coordinates.
7. The method according to claim 6 , wherein the histogram is given by
P
FFT
(
j
)
=
∑
k
=
1
K
1
if
(
j
-
1
)
W
≤
d
k
(
x
)
≤
jW
0
else
,
j
=
1
,
2
,
…
,
J
where j is a histogram bin out of J histogram bins, k indexes radar detections, K is the number of received radar detections, W is a bin width parameter, and d k (x) is a coordinate associated with the plurality of radar detections.
8. The method according to claim 1 , wherein the radar detections correspond to radar reflections by forefronts of parked vehicles associated with the configuration of parking slots.
9. The method according to claim 1 , wherein the histogram value for a bin is set to zero if the histogram value is below a threshold value, and wherein the threshold value is a function of a distance from a position of the detection to a position of the radar-based sensor system.
10. The method according to claim 1 , wherein the generating comprises locating a free parking slot comprised in the configuration of parking slots based on the representation of spatial distribution or the histogram of rotated coordinates.
11. The method according to claim 1 , wherein the detecting step comprises determining a Discrete Fourier Transform (DFT) or a Fast Fourier Transform (FFT) of the representation of spatial distribution.
12. The method according to claim 1 , wherein the detecting step comprises locating one or more peaks in the Fourier transform corresponding to one or more distances between individual parking slots.
13. The method according to claim 1 , wherein the detecting step comprises characterizing a width of a parking slot comprised in the configuration of parking slots based on the Fourier transform of the representation of spatial distribution.
14. The method according to claim 1 , wherein the detecting step comprises locating a free parking slot comprised in the configuration of parking slots based on the Fourier transform of the representation of spatial distribution.
15. A sensor signal processor arranged to detect a configuration of parking slots based on radar detections received from a radar-based sensor system, comprising a radar detection rotator arranged to rotate coordinates of the radar detections based on a rotation angle (α) to generate a set of rotated coordinates, a histogram generator arranged to generate a representation of a spatial distribution of the set of rotated coordinates, and a parking slot detector arranged to:
determine a Fourier transform of the representation of the spatial distribution using one of a Discrete Fourier Transform or a Fast Fourier Transform; and
locate one or more peaks in the Fourier transform of the representation of the spatial distribution corresponding to slot boundaries between the parking slots to detect the configuration of the parking slots.