Patent ID: 11333754

Abstract:
A vehicle environmental detection system (3) in an ego vehicle (1) and having at least one detector arrangement (4, 7) and at least one control unit arrangement (15) configured to determine a slant angle of parking slots in a parking row. The detector arrangement (4, 7) is adapted to obtain a set of detections (d(k), k=1 . . . K). For each slant angle (αn) in a set of slant angles (αn, n=1 . . . N), the control unit arrangement (15) is adapted to calculate a set of slant rotated detections (dslant(k, αn), k=1 . . . K) by rotating coordinates of each detection in the set of detections (d(k), k=1 . . . K)) by the present slant angle (αn), calculate a projection profile (Prow(αn)) for the set of slant rotated detections (dslant(k,αn), k=1 . . . K) by determining a histogram of slant rotated detection coordinates, and to calculate an entropy (Hrow(αn)) associated with the calculated projection profile (Prow(αn)). The control unit arrangement (15) can determine the slant angle based on the calculated entropies (Hrow(αn), n=1 . . . N).