Abstract: A guardrail estimation method based on multi-sensor data fusion is provided. The guardrail estimation method comprises acquiring multi-sensor data and vehicle information, determining a traveling track of the vehicle based on the vehicle information, determining multiple guardrail sample points based on the multi-sensor data and the traveling track, and estimating guardrail information based on the multiple guardrail sample points. When the vehicle is controlled laterally, the guardrail information is used for correcting a lane line of poor quality; and when the lane line cannot be detected, the guardrail information is used for a lateral control downgrade processing, and the guardrail information also facilitates aided realization of fast and accurate expressway lane-level localization and realization of a higher-level aided driving function.

Abstract: An all-around parking assisting system is disclosed according to the present disclosure. The system includes a set of image collecting apparatuses, a set of image pre-processing apparatuses, an image synthesis apparatus, an image correcting apparatus and a display apparatus. The set of image collecting apparatuses, positioned at the peripheral of a vehicle, is configured to collect a group of images relating to surroundings of the vehicle. Each image pre-processing apparatus in the set of image pre-processing apparatuses corresponds to one of the image collecting apparatuses and is configured to pre-process the image collected by the image collecting apparatus. The image synthesis apparatus may synthesize a group of pre-processed images and generate a continuous image relating to the surroundings of the vehicle.