Parking space angular point fusion method based on vision and ultrasonic radar

The invention discloses a parking space angular point fusion method based on vision and ultrasonic radar. The method comprises the following steps: acquiring line parking space category information and parking space position information around a vehicle by using a camera; acquiring parking space type information and parking space position information around the vehicle by using an ultrasonic radar; according to the parking control requirement, the minimum fusion parking space width capable of meeting the parking requirement is set; based on the geometrical relationship of the point-line relative positions, determining the binding relationship between the linear parking space and the spatial parking space angular points; selecting a corresponding angular point fusion strategy according to the number of linear parking spaces bound with the spatial parking space entrance angular points; the fusion strategy comprises the step of reconstructing the spatial parking space angular points and the linear parking space