A parallel running vehicle detecting apparatus is provided, which includes a first distance sensor for detecting distance of an object in a first detection area on a rear lateral side of a vehicle, a second distance sensor for detecting distance of an object in a second detection area, a parallel running vehicle detector for detecting a parallel running vehicle based on detections of the first and second distance sensors, and a storage for storing a detection distance history of the second distance sensor. The parallel running vehicle detector is provided with multiple determination conditions for determining whether the object detected by the first distance sensor is the parallel running vehicle, and changes the parallel running vehicle determination condition based on the detection distance history stored in the storage.

The present disclosure provides a spatial parking place detection method and device, a storage medium and a program product, which relate to the field of data processing and, in particular, to the fields of computer vision, autonomous parking and autonomous driving. A specific implementation lies in: acquiring ultrasonic data around a vehicle collected by an ultrasonic sensor on the vehicle, and image data around the vehicle collected by an image collection apparatus; determining a first spatial parking place around the vehicle according to the ultrasonic data, and determining a second spatial parking place around the vehicle according to the image data; fusing the first spatial parking place and the second spatial parking place that are located at an identical position to determine a spatial parking place at that position; and checking the availability of the detected spatial parking place, and determining available spatial parking places of the vehicle.

The invention relates to a method for identifying parking spaces, including emitting an ultrasonic signal and receiving a reflected signal; and providing a grid which of a region having a plurality of cells. Each cell is assigned to a partial region of the region surrounding the vehicle and an occupancy value is assigned to each cell. The reflected signal is assigned to a set of cells of the grid based on a transit time of the ultrasonic signal between emission and reception. The occupancy values of the cells to which the reflected signal is allocated are increased by a specific value. An occupancy information item is determined based on the occupancy values of the cells. The signal emitting/receiving and the reflected signal assigning are repeated multiple times. Parking space identification is performed based on an occupancy status of the cells specified using the occupancy information item determination.

A parking assist system includes an electronic control unit configured to: estimate first extending directions of obstacles respectively located on right and left sides of a target parking space in a state where a host vehicle moves across in front of the target parking space; calculate a planned moving path based on the estimated first extending directions; as the host vehicle is guided into the target parking space, estimate second extending directions of the obstacles respectively located on the right and left sides of the target parking space while updating the second extending directions; determine whether the estimated and updated second extending directions satisfy a predetermined condition; and when the updated second extending directions satisfy the predetermined condition, update the planned moving path by using the updated second extending directions instead of the first extending directions or the second extending directions before being updated.

A parallel running vehicle detecting apparatus is provided, which includes a first distance sensor for detecting distance of an object in a first detection area on a rear lateral side of a vehicle, a second distance sensor for detecting distance of an object in a second detection area, a parallel running vehicle detector for detecting a parallel running vehicle based on detections of the first and second distance sensors, and a storage for storing a detection distance history of the second distance sensor. The parallel running vehicle detector is provided with multiple determination conditions for determining whether the object detected by the first distance sensor is the parallel running vehicle, and changes the parallel running vehicle determination condition based on the detection distance history stored in the storage.

A sensor fusion apparatus for a transportation apparatus including two or more sensors, each of the two or more sensors having different sensing characteristics, each of the two or more sensors sensing an object, respectively, one or more processors configured to execute instructions, and a memory storing the instructions, an execution of the instructions configures the one or more processors to perform first preprocessing and second preprocessing, the first preprocessing and second preprocessing including grid mapping for each object sensed by two or more sensors, respectively and perform sensor fusion through clustering using an integrated grid map for each grid-mapped object.