A Grid Projection Method Based on Ultrasonic Sensor for Parking Space Detection
Abstract: In this paper a parking space detection method is proposed. It is based on the grid map projection and utilizes the ultrasonic sensors. Firstly, it applies a virtual grid map to quantify the observing target space and build a coordinate system. Then the probable outline of the targets can be deduced from the ultrasonic wave echo signal and projected into the grid map. The boundary of the object can be obtained by comparing the overlap number of the outline in the grid with a threshold. In this way, the size of the target space can be calculated and determined whether it is proper for parking a vehicle. The method is simple while remaining effective. It can be well validated by the experimental results and the accuracy is better than 0.2m.
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