Autonomous Parking Space Detection for Electric Vehicles Based on Improved YOLOV5-OBB Algorithm

Abstract

Currently, in the process of autonomous parking, the algorithm detection accuracy and rate of parking spaces are low due to the diversity of parking scenes, changes in lighting conditions, and other unfavorable factors. An improved algorithm based on YOLOv5-OBB is proposed to reduce the computational effort of the model and increase the speed of model detection. Firstly, the backbone module is optimized, the Focus module and SSP (Selective Spatial Perception) module are replaced with the general convolution and SSPF (Selective Search Proposals Fusion) modules, and the GELU activation function is introduced to reduce the number of model parameters and enhance model learning. Secondly, the RFB (Receptive Field Block) module is added to fuse different feature modules and increase the perceptual field to optimize the small target detection. After that, the CA (coordinate attention) mechanism is introduced to enhance the feature representation capability. Finally, the post-processing is optimized using spatial location correlation to improve the accuracy of the vehicle position and bank angle detection. The implementation results show that by using the improved method proposed in this paper, the FPS of the model is improved by 2.87, algorithm size is reduced by 1 M, and the mAP is improved by 8.4% on the homemade dataset compared with the original algorithm. The improved model meets the requirements of perceived accuracy and speed of parking spaces in autonomous parking.