| 摘要 |
A system and a method for detecting a parking slot for a vehicle (V) are described, based on the concurrent shooting of scenes of the environment around the vehicle (V) in a plurality of fields of view (F lateral ) by at least one pair of image acquisition devices (40', 40") adapted to acquire corresponding pluralities of images (I', I") in fields of view (F lateral ) facing sideways to the vehicle according to directions of view that are essentially opposite one another, from shooting points spaced along a line of view or baseline, reached by the vehicle (V) when moving. The acquired images (I', I") are processed so as to obtain a three-dimensional representation of the observed scenes, and the images coming from a predetermined image acquisition device are selected. From such images (I'; I") the presence of objects which can represent obstacles to the parking of the vehicle (V) is detected in the field of view associated with the selected image acquisition device (40'; 40"). If objects are detected at a lateral distance from the vehicle greater than a predetermined threshold a free slot is identified, the longitudinal dimension of which is estimated based upon data representing the displacement of the vehicle. A parking slot is detected by comparison between the estimated longitudinal dimension of the identified free slot and a predetermined minimum dimension necessary to the vehicle for performing a parking manoeuvre. |
