CN108275147A - A kind of control method and its control system for vehicle parking - Google Patents
A kind of control method and its control system for vehicle parking Download PDFInfo
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- CN108275147A CN108275147A CN201810073061.9A CN201810073061A CN108275147A CN 108275147 A CN108275147 A CN 108275147A CN 201810073061 A CN201810073061 A CN 201810073061A CN 108275147 A CN108275147 A CN 108275147A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of control methods and its control system for vehicle parking, the relative position for detecting vehicle-to-target parking stall in real time, so that vehicle can accurately be moored at target parking stall, control method includes：Step 1 obtains the image information of the target parking stall；Step 2 detects the sideline and vertex of the target parking stall；Step 3 calculates the relative position of the vehicle and the target parking stall according to the quantity in the sideline of the target parking stall and the vertex of the target parking stall；Step 4 controls the vehicle and accurately berths at the target parking stall according to the relative position of vehicle and the target parking stall.The present invention, which solves the problems, such as that the result detected in the prior art using ultrasonic radar park, causes vehicle parking lack of standardization and bit line of delaying unloading.
Description
Technical field
The present invention relates to a kind of control technology fields, more particularly to a kind of control method for vehicle parking and its control
System processed.
Background technology
Automated parking system obtains extensively as the important component in Vehicular intelligent control system, in vehicular field
It applies, parks the condition provided convenience for driver, to receive the extensive of driver especially fresh driver generally
Concern.
It is realized currently, automatic parking technology mostly uses ultrasonic radar, since ultrasonic radar is according to periphery vehicle
Position detect parking stall, therefore, when surrounding vehicles parking is lack of standardization, carried out according to the result of ultrasonic radar detection
It parks, then easily causes the problems such as vehicle parking is lack of standardization, and bit line of delaying unloading stops.
Invention content
It is sharp in the prior art to solve it is an object of the present invention to provide a kind of control method for vehicle parking
With ultrasonic radar detect result park cause vehicle parking it is lack of standardization and delay unloading bit line the problem of.
A further object of the present invention is to improve vehicle to moor accuracy into parking stall.
Particularly, the present invention provides a kind of control method for vehicle parking, for detect in real time the vehicle with
The relative position of target parking stall, so that the vehicle can be moored accurately at the target parking stall, the control method packet
It includes：
Step 1 obtains the image information of the target parking stall；
Step 2 detects the sideline and vertex of the target parking stall；
Step 3 calculates the vehicle according to the quantity in the sideline of the target parking stall and the vertex of the target parking stall
With the relative position of the target parking stall；
Step 4 controls the vehicle and accurately berths in institute according to the relative position of the vehicle and the target parking stall
It states at target parking stall；
Wherein, the vertex of the target parking stall is the point of two sidelines of arbitrary neighborhood intersection of the target parking stall.
Further, the step 2 detects the sideline of the target parking stall and vertex specifically includes：
If only detect one of target parking stall vertex, according to two residing for one of vertex
Sideline determines the corresponding another summit in two sidelines respectively；
If only detect the two of which vertex of the target parking stall, residing for the difference of the two of which vertex
Two sidelines, determine the other two vertex of the target parking stall.
Further, the step 3 is according to the quantity in the sideline of the target parking stall and the vertex of the target parking stall,
It calculates the vehicle and the relative position of the target parking stall specifically includes,
The quantity on target parking stall vertex is calculated, and when the quantity on the vertex is greater than or equal to three, described in calculating
The relative position of vehicle and the target parking stall；
The size of the target parking stall is determined according to the length of one group of adjacent two edges line of the target parking stall.
Further, further include before step 4：
The mode of parking of the vehicle is determined according to the length of one group of adjacent two edges line of the target parking stall, specifically
For,
When the length of parallel border is more than the length in vertical sideline, the mode of parking of the vehicle is Parallel parking；
When the length of parallel border is not more than the length in vertical sideline, the mode of parking of the vehicle is vertically to park；
Wherein, the parallel border is the length side with the vehicle in one group of adjacent two edges line of the target parking stall
To almost the same sideline；
Vertical sideline is the sideline substantially vertical with the parallel border.
Further, the step 4 controls the vehicle according to the relative position of the vehicle and the target parking stall
Accurate berth specifically includes at the target parking stall：
According to the relative position of the speed of presently described vehicle and the vehicle and the target parking stall, the vehicle is calculated
Current body gesture, to plan the parking path of the vehicle；
The parking path for detecting the vehicle in real time, to carry out real-time update correction to the path parked.
Further, the step 4 controls the vehicle according to the relative position of the vehicle and the target parking stall
It accurately berths at the target parking stall and further includes：
When the vehicle is moored into the target parking stall, the vehicle and institute are calculated according to the length and width of the vehicle
Whether the distance between the four edges line for stating target parking stall is located at the center position of the target parking stall with the determination vehicle
Place.
The present invention also provides a kind of control systems for vehicle parking, for detecting the vehicle-to-target vehicle in real time
The relative position of position, so that the vehicle can be moored accurately at the target parking stall, the control system includes：
Two image acquisition units, are respectively arranged on the arranged on left and right sides of the front of the car, for obtaining the target parking stall
Image information, to acquire the sideline and vertex of the target parking stall；
Data processing unit communicates to connect, the number for calculating target parking stall vertex with described image collecting unit
Amount, and according to the sideline of the quantity on vertex and the target parking stall, calculate the relative position of the vehicle and the target parking stall；
Control unit is communicated to connect with the data processing unit, for according to the vehicle and the target parking stall
Relative position controls the vehicle and accurately berths at the target parking stall.
Further, maximum scan angle when two described image collecting units acquire the image information of the target parking stall
Degree is not less than 45 degree；
Wherein, the maximum scan angle is for the vehicle body sideline of side where described image collecting unit and apart from the vehicle body
Angle between farthest scan line, and the scan line is located at the same side of the vehicle with described image collecting unit.
Further, two described image collecting units are configured to the target of one of image acquisition units acquisition
The vertex of parking stall will not be repeated on the vertex for the target parking stall that another image acquisition units is acquired；
Optionally, two described image collecting units are respectively arranged at the left and right outside rear-view mirror of the vehicle.
Further, each described image collecting unit is all made of Streaming Media rearview camera, is respectively arranged on the vehicle
Left and right rearview mirror at, and substitute the left and right rearview mirror of the vehicle, it is real to be carried out to the image information of the target parking stall
When scan.
Beneficial effects of the present invention are：
First, by obtaining the image information of target parking stall, being carried out to the sideline of target parking stall in image information and vertex
It detects, and calculates the relative position of vehicle-to-target parking stall according to the sideline of the quantity on vertex and target parking stall, to basis
Relative position control vehicle accurately berths at target parking stall.With in the prior art by ultrasonic radar to the peripheral ring of vehicle
The scheme that border is detected is compared, and this programme is directly detected by sideline to target parking stall and vertex, accurately to obtain
The information of target parking stall and the relative position information of vehicle-to-target parking stall, so as to realize precisely mooring into target for vehicle
Parking stall, solving the result detected using ultrasonic radar and park causes vehicle parking lack of standardization or bit line parking of delaying unloading
The problem of.
Secondly, the control system is acquired the image information of target parking stall by Streaming Media rearview camera
It realizes and vehicle parking is accurately controlled in control method, without other hardware devices, so as to be manufactured into vehicle is low
In the case of this, the accuracy of vehicle parking is improved.
Description of the drawings
Some specific embodiments that the invention will be described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical reference numeral denotes same or similar component or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing：
Fig. 1 is a kind of schematic flow chart of control method for vehicle parking according to an embodiment of the invention；
Fig. 2 is a kind of schematic flow of control method for vehicle parking in accordance with another embodiment of the present invention
Figure；
Fig. 3 is a kind of schematic structure frame of control system for vehicle parking according to an embodiment of the invention
Figure；
Fig. 4 be that image acquisition units are monitored target parking stall in control system shown in Fig. 3 first is schematically
Schematic diagram；
Fig. 5 be that image acquisition units are monitored target parking stall in control system shown in Fig. 3 second is schematically
Schematic diagram；
Fig. 6 is that the third that image acquisition units are monitored target parking stall in control system shown in Fig. 3 is schematic
Schematic diagram；
Fig. 7 be that image acquisition units are monitored target parking stall in control system shown in Fig. 3 the 4th is schematically
Schematic diagram.
Specific implementation mode
A kind of control method for vehicle parking that the present invention improves, for detecting the vehicle-to-target parking stall in real time
Relative position so that vehicle can accurately be moored at target parking stall, as shown in Figure 1, control method may include：
S1. the image information of target parking stall is obtained；
S2. the sideline and vertex of detection target parking stall；
S3. according to the quantity in the sideline of target parking stall and the vertex of the target parking stall, vehicle-to-target parking stall is calculated
Relative position；
S4. according to the relative position of vehicle-to-target parking stall, control vehicle accurately berths at the target parking stall；
Wherein, the vertex of target parking stall is the point of two sidelines of arbitrary neighborhood intersection of target parking stall.
When vehicle preparation is parked, above-mentioned control method by obtaining the image information of target parking stall, in image information
The sideline and vertex of target parking stall are detected, and calculate vehicle-to-target according to the sideline of the quantity on vertex and target parking stall
The relative position of parking stall is accurately berthed so as to control vehicle according to relative position at target parking stall.With lead in the prior art
It crosses the scheme that ultrasonic radar is detected the surrounding enviroment of vehicle to compare, this programme can directly pass through the side to target parking stall
Line and vertex are detected, accurately to obtain the information of target parking stall and the relative position information of vehicle-to-target parking stall, from
And precisely mooring the result for solving into target parking stall and being detected using ultrasonic radar and park leading to vehicle for vehicle may be implemented
Parking it is lack of standardization or delay unloading bit line parking the problem of.
In the above-described embodiments, as shown in Fig. 2, may also include before step S 4：
S30. the mode of parking of vehicle is determined according to the length of the one of target parking stall group of adjacent two edges line, it specifically can be with
For,
When the length of parallel border is more than the length in vertical sideline, the mode of parking of vehicle is Parallel parking；
When the length of parallel border is not more than the length in vertical sideline, the mode of parking of vehicle is vertically to park；
Wherein, parallel border is almost the same with the length direction of vehicle in one group of adjacent two edges line of target parking stall
Sideline；Vertical sideline is the sideline substantially vertical with parallel border.
When the mode of parking of vehicle is Parallel parking, vehicle is then moored from parallel edges line side into target parking stall, and vehicle is moored
After entering target parking stall, the length direction of vehicle and the direction of parallel border are almost the same；When the mode of parking of vehicle is vertical pool
After Che Shi, vehicle are then moored from vertical edges line side into target parking stall, and vehicle moors target parking stall, the length direction of vehicle still with it is flat
The direction in row sideline is almost the same.
Example is further carried out above-mentioned, the sideline and vertex of step S2 detection targets parking stall specifically may include：
If only detect one of target parking stall vertex, two sidelines residing for one of vertex,
The corresponding another summit in two sidelines is determined respectively；
If only detect the two of which vertex of target parking stall, according to two residing sides of two of which vertex difference
Line determines the other two vertex of target parking stall.
In some embodiments, the quantity on the vertex in the sideline and target parking stall according to target parking stall of step S3 calculates
The relative position of vehicle-to-target parking stall specifically may include,
The quantity on target parking stall vertex is calculated, and when the quantity on vertex is greater than or equal to three, calculates vehicle-to-target vehicle
The relative position of position；
The size of target parking stall is determined according to the length of the one of target parking stall group of adjacent two edges line.
In further embodiments, step S4 is according to the relative position of the vehicle and the target parking stall, described in control
Vehicle accurately berths to be specifically included at the target parking stall：
According to the relative position of the speed of presently described vehicle and the vehicle and the target parking stall, the vehicle is calculated
Current body gesture, to plan the parking path of the vehicle；
The parking path for detecting the vehicle in real time, to carry out real-time update correction to the path parked.
In any of the above-described embodiment, it is accurate to control vehicle according to the relative position of vehicle-to-target parking stall by step S4
It berths and may also include at target parking stall：
When vehicle is moored into target parking stall, the four edges line of vehicle-to-target parking stall is calculated according to the length and width of vehicle
The distance between, to determine whether vehicle is located at the center position of target parking stall.
The present invention also proposes a kind of control system for vehicle parking, for detecting vehicle 100 and target parking stall in real time
200 relative position, so that vehicle 100 can accurately be moored at target parking stall 200, control system may include：
Two image acquisition units 1, are respectively arranged on the arranged on left and right sides of 100 front end of vehicle, for obtaining target parking stall 200
Image information, to acquire the sideline and vertex of target parking stall 200；
Data processing unit 2 communicates to connect, the quantity for calculating 200 vertex of target parking stall with image acquisition units 1,
And according to the sideline of the quantity on vertex and target parking stall, calculate the relative position of vehicle-to-target parking stall；
Control unit 3 is communicated to connect with data processing unit 2, for the relative position control according to vehicle-to-target parking stall
Vehicle processed accurately berths at target parking stall.
Above-mentioned control tradition obtains the image information of target parking stall 200, data processing unit 2 by image acquisition units 1
The sideline of target parking stall and vertex in image information are detected, and calculated according to the sideline of the quantity on vertex and target parking stall
The relative position for going out vehicle-to-target parking stall is accurately berthed with controlling vehicle according to relative position by control unit 3 in target
At parking stall.Compared with the scheme being detected in the prior art to the surrounding enviroment of vehicle by ultrasonic radar, this programme can
It is directly detected by sideline to target parking stall and vertex, accurately to obtain the information and vehicle-to-target of target parking stall
The relative position information of parking stall is solved and is examined using ultrasonic radar so as to realize precisely mooring into target parking stall for vehicle
The problem of result of survey, which park, causes vehicle parking lack of standardization or bit line of delaying unloading stops.
As shown in figure 4, four vertex of target parking stall 200 are divided into for A, B, C and D, two image acquisition units 1 are supervised respectively
The image information for controlling target parking stall, when image acquisition units 1 only monitor vertex (a such as vertex A), residing for the A of vertex
Two sidelines AB and AD, respectively determine two sidelines AB and AD another summit B and D, may thereby determine that target parking stall 200
Wherein three vertex A, B and D the length of AB and AD are calculated separately according to these three vertex A, B and D, in Fig. 4, AB length
More than AD length, and since the direction of AD is substantially consistent with the length direction of vehicle 100, (possible vehicle 100 has with sideline AD
Certain angle, but be consistent on the whole), at this point, the mode that selection is vertically parked allows vehicle 100 to moor into target
At parking stall 200.
As shown in figure 5, when image acquisition units 1 only monitor two vertex (such as vertex A, D), and the two vertex phases
Neighbour is respectively positioned on the AD of sideline, two sidelines CD, AD residing for two residing for the A of vertex sideline AB, AD and vertex D, point
Not Que Ding two sidelines AB and CD another summit B and C (since vertex A and D have constituted sideline AD, only detect sideline AB and CD
Other vertex), may thereby determine that four vertex A, B, C and D of target parking stall 200 can be calculated according to vertex A, B, C and D
The length in the adjacent sideline of one of which (such as AB and AD), in Figure 5, AB length are more than AD length, and since the direction of AD is basic
It is consistent with the length direction of vehicle 100, at this point, the mode vertically parked of selection allows vehicle 100 to moor into target parking stall
At 200.
As shown in fig. 6, when image acquisition units 1 only monitor two vertex (such as vertex A, C), and the two vertex not phase
Neighbour, two sidelines AB, AD residing for the A of vertex determine vertex B and D, or two sidelines CD, BC residing for the C of vertex true
Determine vertex B and D, may thereby determine that four vertex of target parking stall 200, and according to vertex A, B, C and D, wherein one can be calculated
The length of the adjacent sideline (such as CD and AD) of group, in figure 6, CD length are less than AD length, and substantially and vehicle due to the direction of AD
100 length direction is consistent, at this point, the mode of selection Parallel parking allows vehicle 100 to moor at target parking stall 200.
It should be noted that：In the embodiment of fig. 4 to fig. 6, target parking stall is closely detected in image acquisition units
Before vertex, when vehicle finds target parking stall by image acquisition units, the arbitrary neighborhood two of target parking stall was calculated
When initially finding target parking stall, general vehicle distance objective parking stall is distant, and image is adopted for the length on side, i.e. image acquisition units
Collect at least three vertex that unit can detect target parking stall completely, determines whether the parking stall is empty parking space, and calculate adjacent two
The length on side.When the target parking stall is empty parking space, gradually traveling is simultaneously close to target parking stall for vehicle, at this point, Image Acquisition list
Even if member detects a vertex (testing principle on two vertex is identical as vertex), due to adjacent the two of target parking stall
The length on side has calculated, and can also extend the ray where the vertex, until determining other being connected with the vertex
Two vertex.To determine mode of parking according to the length scale of target parking stall vertex and one of which adjacent side, and pass through control
Unit carries out real time monitoring until vehicle is accurately moored into target parking stall.
As shown in fig. 7, when image acquisition units 1 monitor three vertex (such as vertex A, B, D), then adjacent sideline is calculated
The length of (such as AB and AD), in the figure 7, AB length are more than AD length, and the length side due to the direction of AD substantially with vehicle 100
To consistent, at this point, the mode that selection is vertically parked allows vehicle 100 to moor at target parking stall 200.
In any one embodiment of Fig. 4 to Fig. 7, the center of vehicle is calculated substantially and mesh according to the length and width of vehicle
When the center of mark parking stall 200 is consistent, you can determine that vehicle is located at the center position of target parking stall, to realize vehicle
Accurate park.
In any one embodiment of Fig. 4 to Fig. 7, when two image acquisition units 2 acquire the image information of target parking stall
Maximum scan angle θ be not less than 45 degree；Optionally, maximum scan angle θ can promote 80-90 degree.
Wherein, maximum scan angle is the vehicle body sideline of 1 place side of image acquisition units and the scanning farthest apart from vehicle body
Angle between line, and scan line is located at the same side of vehicle with image acquisition units 1.
Example is further carried out above-mentioned, two image acquisition units 1 can be configured to one of image acquisition units
The vertex of the target parking stall of acquisition will not be repeated on the vertex for the target parking stall that another image acquisition units is acquired.
Optionally, two image acquisition units 1 are respectively arranged at the left and right outside rear-view mirror of vehicle.
In any of the above-described embodiment, Streaming Media rearview camera can be used in each image acquisition units 1, can distinguish
At the left and right outside rear-view mirror of vehicle, and substitute the left and right outside rear-view mirror of vehicle, with the image information to target parking stall into
Row real time scan.The control system is acquired the image information of target parking stall by Streaming Media rearview camera can be real
Vehicle parking is accurately controlled in existing control method, without other hardware devices, so as in the low manufacturing cost of vehicle
In the case of, improve the accuracy of vehicle parking.
In any of the above-described embodiment, Streaming Media outside rear-view mirror can be the external rearview camera of a high definition, due to this
The control system of invention substitutes the conventional mirror of vehicle using Streaming Media outside rear-view mirror, and interior rearview mirror is replaced with use
The display screen of picture captured by display stream medium outside rear-view mirror, so as to detect the road conditions of rear of vehicle in real time, and due to
Captured image can be shot completely by external rearview camera (Streaming Media outside rear-view mirror), therefore, captured figure
What picture was presented is the real-time road at rear, without the decorating objects that interior heel row and headrest etc. are unrelated, even if to
Equally can be that driver brings clearly image, to improve driving in the case where light is bad or rear is unsighted
Safety.
Experimental mass data proves, can be by the visual range of image acquisition units 2 (Streaming Media outside rear-view mirror) (most
High scan angles θ) 80-90 degree can be promoted, consequently facilitating image acquisition units scanning is pushed up to three of target parking stall or four
Point, with the safety for being more conducive to the traveling of vehicle and parking.CT6 Streaming Media outside rear-view mirror, CT6 streams can be used in image acquisition units 1
The visual range of media outside rear-view mirror can reach three times of traditional rear-view mirror, the problem of to prevent blind area, no matter and in vehicle
Safety is all improved in still parking in traveling.In addition to widening the vision, there are one traditional rear-view mirrors for Streaming Media outside rear-view mirror not
The advantage having, the i.e. visual field of Streaming Media outside rear-view mirror will not be influenced by rear passenger, article or C/D columns, will not
The barrier (such as the child to play) that vehicle tail can not be observed because of the problem of blind area causes to be easy when vehicle parking
Encounter the danger of barrier.And Streaming Media outside rear-view mirror is applicable to different light and weather, the image information tool of scanning
There is relatively high clarity, to provide an accurate image information for driver, to help driver to make accurate judgement.
In some embodiments, the visual range (maximum scan angle θ) of image acquisition units 1 (Streaming Media outside rear-view mirror)
It can be promoted to 120 degree, so as to scan target parking stall in large area, in this way, stopping even if the surrounding vehicles of target parking stall are lack of standardization
Vehicle, or there are numerous occlusions to live target parking stall, at least three vertex for being readily detected target parking stall are also may compare, so as to
So that vehicle is accurately moored into the center position to target parking stall.
If the visual range (maximum scan angle θ) of image acquisition units 1 (Streaming Media outside rear-view mirror) can not be promoted than
When larger field-of-view angle, can integrate and target parking stall is scanned using ultrasonic radar or 360 full-view cameras, no matter mesh
The surrounding vehicles parking how lack of standardization for marking parking stall, can also obtain at least three vertex of target parking stall, to control vehicle
Realization is accurately parked.
In any of the above-described embodiment, the surface of external rearview camera (Streaming Media outside rear-view mirror) can be equipped with waterproof
Layer encounters muddy water spot covering rearview mirror, will not influence the safety of driving even if on rainy day.
Streaming Media outside rear-view mirror is installed on vehicle mechanical outside rear-view mirror position more, and monitoring range is the rear area of vehicle both sides
The shielding rate in domain, environment vehicle is extremely low, and the image edge detection of parking stall can be realized when parking, according to the detection knot in parking position sideline
Fruit accurately calculates the relative position of vehicle and parking stall, according to relative position, provides control strategy, realizes that high-precision is parked,
On vehicle equipped with Streaming Media outside rear-view mirror, which hardly increases hardware cost.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or derive many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers other all these variations or modifications.
Claims (10)
1. a kind of control method for vehicle parking, the relative position for detecting the vehicle-to-target parking stall in real time, with
The vehicle is accurately moored at the target parking stall, the control method includes：
Step 1 obtains the image information of the target parking stall；
Step 2 detects the sideline and vertex of the target parking stall；
Step 3 calculates the vehicle and institute according to the quantity in the sideline of the target parking stall and the vertex of the target parking stall
State the relative position of target parking stall；
Step 4 controls the vehicle and accurately berths in the mesh according to the relative position of the vehicle and the target parking stall
It marks at parking stall；
Wherein, the vertex of the target parking stall is the point of two sidelines of arbitrary neighborhood intersection of the target parking stall.
2. control method according to claim 1, wherein the step 2 detects the sideline and vertex of the target parking stall
It specifically includes：
If only detect one of target parking stall vertex, two sides residing for one of vertex
Line determines the corresponding another summit in two sidelines respectively；
If only detect the two of which vertex of the target parking stall, according to two residing for the difference of the two of which vertex
Sideline, determines the other two vertex of the target parking stall.
3. control method according to claim 1 or 2, wherein the step 3 according to the sideline of the target parking stall and
The quantity on the vertex of the target parking stall, calculates the vehicle and the relative position of the target parking stall specifically includes,
The quantity on target parking stall vertex is calculated, and when the quantity on the vertex is greater than or equal to three, calculates the vehicle
With the relative position of the target parking stall；
The size of the target parking stall is determined according to the length of one group of adjacent two edges line of the target parking stall.
4. according to claim 1-3 any one of them control methods, wherein further include before step 4：
The mode of parking of the vehicle is determined according to the length of one group of adjacent two edges line of the target parking stall, specifically,
When the length of parallel border is more than the length in vertical sideline, the mode of parking of the vehicle is Parallel parking；
When the length of parallel border is not more than the length in vertical sideline, the mode of parking of the vehicle is vertically to park；
Wherein, the parallel border is the length direction base with the vehicle in one group of adjacent two edges line of the target parking stall
This consistent sideline；
Vertical sideline is the sideline substantially vertical with the parallel border.
5. according to claim 1-4 any one of them control methods, wherein the step 4 is according to the vehicle and the mesh
The relative position for marking parking stall, controls the vehicle and accurately berths and specifically included at the target parking stall：
According to the relative position of the speed of presently described vehicle and the vehicle and the target parking stall, it is current to calculate the vehicle
Body gesture, to plan the parking path of the vehicle；
The parking path for detecting the vehicle in real time, to carry out real-time update correction to the path parked.
6. according to claim 1-5 any one of them control methods, wherein the step 4 is according to the vehicle and the mesh
The relative position for marking parking stall, controls the vehicle and accurately berths at the target parking stall and further include：
When the vehicle is moored into the target parking stall, the vehicle and the mesh are calculated according to the length and width of the vehicle
Whether the distance between the four edges line for marking parking stall is located at the center position of the target parking stall with the determination vehicle.
7. a kind of control system for vehicle parking, the relative position for detecting the vehicle-to-target parking stall in real time, with
The vehicle is accurately moored at the target parking stall, the control system includes：
Two image acquisition units, are respectively arranged on the arranged on left and right sides of the front of the car, the figure for obtaining the target parking stall
As information, to acquire the sideline and vertex of the target parking stall；
Data processing unit communicates to connect, the quantity for calculating target parking stall vertex with described image collecting unit, and
According to the sideline of the quantity on vertex and the target parking stall, the relative position of the vehicle and the target parking stall is calculated；
Control unit is communicated to connect with the data processing unit, for opposite with the target parking stall according to the vehicle
Position controls the vehicle and accurately berths at the target parking stall.
8. control system according to claim 7, wherein two described image collecting units acquire the target parking stall
Maximum scan angle when image information is not less than 45 degree；
Wherein, the maximum scan angle be the vehicle body sideline of side where described image collecting unit with it is farthest apart from the vehicle body
Scan line between angle, and the scan line and described image collecting unit are located at the same side of the vehicle.
9. control system according to claim 7 or 8, wherein two described image collecting units are configured to one of them
Image acquisition units acquisition the target parking stall vertex will not be repeated on another image acquisition units acquired it is described
The vertex of target parking stall；
Optionally, two described image collecting units are respectively arranged at the left and right outside rear-view mirror of the vehicle.
10. according to claim 7-9 any one of them control systems, wherein
Each described image collecting unit is all made of Streaming Media rearview camera, is respectively arranged on the left and right rearview mirror of the vehicle
Place, and the left and right rearview mirror of the vehicle is substituted, to carry out real time scan to the image information of the target parking stall.
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| CN201810073061.9A CN108275147A (en) | 2018-01-25 | 2018-01-25 | A kind of control method and its control system for vehicle parking |
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| CN110824465A (en) * | 2019-10-25 | 2020-02-21 | 中铁武汉勘察设计研究院有限公司 | Method and system for positioning molten iron combined transport vehicle based on image recognition and radar measurement |
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| CN115762218A (en) * | 2022-10-10 | 2023-03-07 | 中汽创智科技有限公司 | Parking space map generation method, device, equipment and storage medium |
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