| 摘要 |
A method for recognizing objects in a parking space which is to recognize the objects in the parking space when parking a vehicle in the parking space between the obstacles according to an embodiment of the present invention is performed by a device for recognizing the objects in the parking space. The method for recognizing the objects in the parking space includes a step of generating a boundary trajectory by scanning the distances from a vehicle to the obstacles corresponding to the movement of the vehicle; a step of sampling specific points among points forming the boundary trajectory and calculating an inclination change rate of a line connecting the sample points; and a step of determining a specific region corresponding to the slope as an edge region according to a result of a comparison between the inclination change rate and a specific reference change rate. Therefore, the present invention can recognize the objects in the parking space when parking a vehicle in the parking space between the obstacles and can accurately move the vehicle to the parking space, thereby automatically parking the vehicle. |
