CN110488280A - A kind of modification method and device, vehicle, storage medium of parking stall profile - Google Patents
A kind of modification method and device, vehicle, storage medium of parking stall profile Download PDFInfo
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- CN110488280A CN110488280A CN201910806959.7A CN201910806959A CN110488280A CN 110488280 A CN110488280 A CN 110488280A CN 201910806959 A CN201910806959 A CN 201910806959A CN 110488280 A CN110488280 A CN 110488280A
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- 238000002715 modification method Methods 0.000 title claims abstract description 23
- 238000003860 storage Methods 0.000 title claims abstract description 15
- 238000000926 separation method Methods 0.000 claims abstract description 163
- 238000000034 method Methods 0.000 claims description 43
- 230000015654 memory Effects 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 11
- 230000000295 complement effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 20
- 230000004888 barrier function Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 9
- 238000012937 correction Methods 0.000 description 6
- 238000009826 distribution Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 210000002837 heart atrium Anatomy 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- Radar, Positioning & Navigation (AREA)
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- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The present embodiments relate to technical fields of parking, disclose the modification method and device, vehicle, storage medium of a kind of parking stall profile, it include: after obtaining parking stall first profile using radar scanning parking stall, using the corner point of the parking stall first profile and the parking stall first profile as foundation, several separations are determined on the corresponding axis of vehicle pose；According to the scanning element that the corresponding amendment direction of real time position, real time position of the vehicle on axis, parking stall first profile, corner point and axis amendment real time scan arrive, modified target parking position profile point is obtained；Modified the second profile of parking stall is obtained according to multiple modified parking stall profile points.Implement the embodiment of the present invention, accurate parking stall profile can be obtained, and then can be improved vehicle and moor accuracy rate into parking stall.
Description
Technical field
The present invention relates to technical fields of parking, and in particular to the modification method and device of a kind of parking stall profile, are deposited vehicle
Storage media.
Background technique
Currently, during vehicle parking, can use the detections of radar vehicle periphery of vehicle installation barrier and
Determine the location information of barrier, so that it is determined that parking stall profile out, auxiliary moors vehicle in parking stall.It sends out in practice
Existing, the process of parking of vehicle, which is frequently present of, favours the mobile situation in parking stall, and in inclination of vehicle when barrier is mobile
It waits, there are errors for the physical location of the Obstacle Position and barrier that are gone out using radar surveying, determine so as to cause using radar
Parking stall profile and practical parking stall profile out thereby reduces vehicle and moors success rate into parking stall there are deviation.
Summary of the invention
The embodiment of the invention discloses a kind of modification method of parking stall profile and device, vehicle, storage mediums, can subtract
Deviation between the small parking stall profile determined using radar and practical parking stall profile, improve vehicle moor into parking stall at
Power.
First aspect of the embodiment of the present invention discloses a kind of modification method of parking stall profile, which comprises
After obtaining parking stall first profile using radar scanning parking stall, with the parking stall first profile and described stop
The corner point of parking stall first profile is foundation, determines several separations on the corresponding axis of vehicle pose；
According to real time position, the real time position corresponding amendment direction of the vehicle on the axis, described stop
The scanning element that parking stall first profile, the corner point and axis amendment real time scan arrive, obtains modified target parking
Position profile point；Wherein, the corresponding amendment direction of the real time position is according to the real time position and several described separations
Positional relationship and the relative bearing on vehicle and the parking stall determine；
Modified the second profile of parking stall is obtained according to multiple modified parking stall profile points.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described to stop using radar scanning
After parking stall obtains parking stall first profile, with the corner point of the parking stall first profile and the parking stall first profile be according to
According to determining several separations on the corresponding axis of vehicle pose, comprising:
If being preset shape using the parking stall first profile that radar scanning parking stall obtains, the parking is determined
The corner point of position first profile；Wherein, the preset shape includes into right angle with the longitudinal edge on the parking stall to extension
The outer side edges edge stretched, the corner point are the intersection point of the longitudinal edge and the outer side edges edge；
Using the parking stall first profile and the corner point as foundation, if being determined on the corresponding axis of vehicle pose
Dry separation, several described separations include at least the first separation, the second separation and third separation；Wherein, institute
The intersection point for the extended line that the first separation is the axis and the longitudinal edge is stated, second separation is the corner point
For upright projection to the subpoint of the axis, the third separation is the friendship of the extended line on the axis and the outer side edges edge
Point.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described according to the vehicle in institute
State the corresponding amendment direction of real time position, the real time position on axis, the parking stall first profile, the corner point with
And the scanning element that the axis amendment real time scan arrives, obtain modified target parking position profile point, comprising:
If vehicle is located on the axis before first separation, according to the first real time position of vehicle, described
The corresponding amendment direction of first real time position and the first scanning element for arriving of the first angle amendment real time scan obtain modified the
One target parking position profile point；Wherein, the size of first angle with first real time position, the corner point and institute
State the equal in magnitude of the corresponding interior angle of third separation described in the triangle that third separation is vertex；
If vehicle is located on the axis between first separation and second separation, according to the of vehicle
The second scanning that the corresponding amendment direction of two real time positions, second real time position and the second angle amendment real time scan arrive
Point obtains modified second target parking position profile point；Wherein, second angle and the first specified angle complementary angle each other, institute
Stating the first specified angle is using second real time position, the corner point and the third separation as in the triangle on vertex
The corresponding interior angle of second real time position；
If vehicle is located on the axis between second separation and the third separation, according to the of vehicle
The third scanning that the corresponding amendment direction of three real time positions, the third real time position and third angle amendment real time scan arrive
Point obtains modified third target parking position profile point；Wherein, the size of the third angle is equal to the second specified angle and subtracts
90 degree, the second specified angle is using the third real time position, the corner point and the third separation as vertex
Triangle described in the corresponding interior angle of third real time position.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described on the axis of vehicle with
The parking stall first profile, the corner point are foundation, before determining several separations, the method also includes:
Determine the relative bearing of vehicle Yu the parking stall；
The first amendment direction and the second amendment direction are determined according to the relative bearing；Wherein, when the opposite side
When position indicates that the vehicle is located at the right front on the parking stall, first amendment direction is clockwise, second amendment
Direction is counterclockwise；When the relative bearing indicates that the vehicle is located at the left front on the parking stall, first amendment
Direction be it is counterclockwise, it is described second amendment direction be clockwise；
It is described on the axis of vehicle using the parking stall first profile, the corner point as foundation, determine several
After separation, the method also includes:
Determine that the corresponding amendment direction of first real time position is first amendment direction；
Determine that the corresponding amendment direction of second real time position is first amendment direction；
Determine that the corresponding amendment direction of the third real time position is second amendment direction.
As an alternative embodiment, in first aspect of the embodiment of the present invention, if the vehicle is positioned at described
On axis before first separation, according to the first real time position of vehicle, the corresponding amendment side of first real time position
To and the first scanning element for arriving of the first angle amendment real time scan, obtain modified first object parking stall profile point, comprising:
If vehicle is located on the axis before first separation, the first scanning element that real time scan is arrived is with vehicle
The first real time position be the center of circle by it is described first amendment direction rotate the first angle, obtain modified first object parking stall
Profile point；
If the vehicle is located on the axis between first separation and second separation, according to vehicle
The second real time position, second real time position it is corresponding amendment direction and the second angle amendment real time scan arrive second
Scanning element obtains modified second target parking position profile point, comprising:
If vehicle is located on the axis between first separation and second separation, real time scan is arrived
The second scanning element using the second real time position of vehicle as the center of circle by it is described first amendment direction rotate the second angle, corrected
The second target parking position profile point；
If the vehicle is located on the axis between second separation and the third separation, according to vehicle
Third real time position, the corresponding amendment direction of the third real time position and the third that arrives of third angle amendment real time scan
Scanning element obtains modified third target parking position profile point, comprising:
If vehicle is located on the axis between second separation and the third separation, real time scan is arrived
Third scanning element using the third real time position of vehicle as the center of circle by it is described second amendment direction rotate third angle, corrected
Third target parking position profile point.
Second aspect of the embodiment of the present invention discloses a kind of correcting device of parking stall profile, and the correcting device includes:
First determination unit, for after obtaining parking stall first profile using radar scanning parking stall, with the parking
The corner point of position first profile and the parking stall first profile is foundation, is determined on the corresponding axis of vehicle pose several
A separation；
Amending unit, for according to real time position of the vehicle on the axis, the real time position is corresponding repairs
The scanning element that positive direction, the parking stall first profile, the corner point and axis amendment real time scan arrive, is repaired
Positive target parking position profile point；Wherein, the corresponding amendment direction of the real time position be according to the real time position with it is described
What the positional relationship and vehicle of several separations and the relative bearing on the parking stall were determined；
Acquiring unit, for obtaining modified the second profile of parking stall according to multiple modified parking stall profile points.
As an alternative embodiment, in second aspect of the embodiment of the present invention, first determination unit includes:
First determines subelement, for being preset shape in the parking stall first profile obtained using radar scanning parking stall
When shape, the corner point of the parking stall first profile is determined；Wherein, the preset shape includes vertical with the parking stall
To edge at the outwardly extending outer side edges edge in right angle, the corner point is the intersection point of the longitudinal edge and the outer side edges edge；
Second determines subelement, is used for using the parking stall first profile and the corner point as foundation, in vehicle pose
Determine that several separations, several described separations include at least the first separation, the second separation on corresponding axis
With third separation；Wherein, first separation is the intersection point of the extended line of the axis and the longitudinal edge, described the
Two separations be the corner point upright projection to the axis subpoint, the third separation be the axis with it is described
The intersection point of the extended line on outer side edges edge.
The third aspect of the embodiment of the present invention discloses a kind of correcting device of parking stall profile, comprising:
It is stored with the memory of executable program code；
The processor coupled with the memory；
The processor calls the executable program code stored in the memory, executes the embodiment of the present invention the
The modification method of parking stall profile disclosed in one side.
Fourth aspect of the embodiment of the present invention discloses a kind of vehicle, the vehicle include second aspect of the embodiment of the present invention and
The correcting device of parking stall profile disclosed in the third aspect.
The 5th aspect of the embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein
The computer program makes the modification method of parking stall profile disclosed in computer execution first aspect of the embodiment of the present invention.
The 6th aspect of the embodiment of the present invention discloses a kind of computer program product, when the computer program product is calculating
When being run on machine, so that the computer executes some or all of any one method of first aspect step.
The aspect of the embodiment of the present invention the 7th disclose a kind of using distribution platform, and the application distribution platform is for publication calculating
Machine program product, wherein when the computer program product is run on computers, so that the computer executes first party
Some or all of any one method in face step.
Compared with prior art, the embodiment of the present invention has the advantages that with parking stall first profile and the parking
The corner point of position first profile is foundation, determines several separations on the corresponding axis of vehicle pose, can be by vehicle
The process of parking be divided into several stages, be different in different amendment directions used by the stage of parking；In vehicle
During parking, the real time position of vehicle, the corresponding amendment direction of the real time position, parking stall first profile, corner point are utilized
And axis, the scanning element that real time scan arrives can be corrected, modified parking stall profile point is obtained, so as to be repaired according to multiple
Positive parking stall profile point determines modified parking stall profile.As it can be seen that implementing the embodiment of the present invention, in parking process is to sweeping
The scanning element retouched is modified, and can obtain modified parking stall profile point, can obtain accurate parking stall profile,
And then it can be improved vehicle and moor accuracy rate into parking stall.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of exemplary diagram for aiding in illustrating scanning element the reason of there are position deviations disclosed by the embodiments of the present invention；
Fig. 2 is a kind of flow diagram of the modification method of parking stall profile disclosed by the embodiments of the present invention；
Fig. 3 is the flow diagram of the modification method of another parking stall profile disclosed by the embodiments of the present invention；
Fig. 4 is a kind of structural schematic diagram of the correcting device of parking stall profile disclosed by the embodiments of the present invention；
Fig. 5 is the structural schematic diagram of the correcting device of another parking stall profile disclosed by the embodiments of the present invention；
Fig. 6 is the structural schematic diagram of the correcting device of another parking stall profile disclosed by the embodiments of the present invention；
Fig. 7 is a kind of parking stall first profile disclosed by the embodiments of the present invention and the corresponding axis exemplary diagram of vehicle pose；
Fig. 8 is the correction example of scanning element when a kind of vehicle disclosed by the embodiments of the present invention is located at before the first separation
Figure；
Fig. 9 be a kind of vehicle disclosed by the embodiments of the present invention between the first separation and the second separation when scanning element
Correction example figure；
Figure 10 be a kind of vehicle disclosed by the embodiments of the present invention between the second separation and third separation when scanning
The correction example figure of point.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that term " first ", " second ", " third " in description and claims of this specification and
" 4th " etc. is not use to describe a particular order for distinguishing different objects.The term " includes " of the embodiment of the present invention
" having " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or list
The process, method, system, product or equipment of member those of are not necessarily limited to be clearly listed step or unit, but may include not having
There are other step or units being clearly listed or intrinsic for these process, methods, product or equipment.
The embodiment of the invention discloses a kind of modification method of parking stall profile and device, vehicle, storage mediums, can subtract
Deviation between the small parking stall profile determined using radar and practical parking stall profile, improve vehicle moor into parking stall at
Power.Attached drawing is combined below to be described in detail.
Embodiment one
Referring to Fig. 2, Fig. 2 is a kind of process signal of the modification method of parking stall profile disclosed by the embodiments of the present invention
Figure.As shown in Fig. 2, the modification method of the parking stall profile may comprise steps of.
201, vehicle is after obtaining parking stall first profile using radar scanning parking stall, with the parking stall first profile and
The corner point of the parking stall first profile is foundation, determines several separations on the corresponding axis of vehicle pose.
The embodiment of the present invention can be to be implemented by the carried-on-vehicle computer system on vehicle, specifically, carried-on-vehicle computer system
It may include the correcting device of parking stall profile, in addition, the embodiment of the present invention is also possible to by other control system/equipment reality
It applies, the embodiment of the present invention is not construed as limiting.
In the embodiment of the present invention, it will be understood that radar is the electronic equipment that target is detected using electromagnetic wave or ultrasonic wave etc.,
In the embodiment of the present invention, above-mentioned radar is mainly used for scanning the barrier on periphery, and feeds back the location information of barrier, specifically may be used
To be reversing radar, it is also possible to laser radar etc., the embodiment of the present invention is not construed as limiting.Reversing radar is generally by supersonic sensing
Device, controller and display or buzzer etc., wherein ultrasonic sensor is mainly used for sending and receiving ultrasonic signal, then
Signal is handled by controller, calculates the distance between vehicle and barrier and orientation, when sensor find out automobile away from
It when reaching risk distance with a distance from barrier, is sounded an alarm by display and/or buzzer, reminds driver.Laser thunder
Up to being generally made of the part such as emission system, reception system, information processing system, electric pulse is become light pulse and sent out by emission system
Be shot out, reception system again being reduced into electric pulse from the reflected light pulse of barrier, then by information processing system according to
Laser distance measuring principle calculates, and just obtains the distance from laser radar to barrier.
In the embodiment of the present invention, the corresponding axis of above-mentioned vehicle pose is vehicle when vehicle utilizes radar scanning parking stall
The axis at the place of pose.For example, referring to Fig. 7, Fig. 7 is a kind of parking stall first profile disclosed by the embodiments of the present invention
Axis exemplary diagram corresponding with vehicle pose, wherein straight line L is the corresponding axis of vehicle pose, and FEDC is radar scanning parking
The parking stall first profile that position obtains, point E are the corner point of parking stall first profile.It, can be with turning in the embodiment of the present invention
Point E and parking stall first profile FEDC is foundation, by making intersecting lens, making vertical line or other modes are determined on the linel
Several separations, so that the process of parking is divided into several stages.
202, vehicle is according to real time position, the real time position corresponding amendment direction of the vehicle on above-mentioned axis, parking
The scanning element that position first profile, above-mentioned corner point and axis amendment real time scan arrive, obtains modified target parking position wheel
Wide point, wherein the corresponding amendment direction of real time position is according to the positional relationship of real time position and several separations, Yi Jiche
It is determined with the relative bearing on parking stall.
In the embodiment of the present invention, it is possible to understand that, it is contemplated that it is more huge for vehicle volume relative scanning point, and it is of the invention
Embodiment is usually to be scanned acquisition scanning element with radar, therefore, is generally determined according to the installation site of radar in vehicle
The real time position, in addition it is also possible to which demand in the light of actual conditions chooses the position of other widgets in vehicle to determine this
Real time position.
In the embodiment of the present invention.Above-mentioned real time scan to scanning element be that ultrasonic wave that radar issues or laser etc. strike
Barrier position, and ultrasonic wave or laser etc. carry out the behavior of reflecting etc. at scanning element.
Referring to Fig. 1, Fig. 1 is a kind of aid illustration scanning element disclosed by the embodiments of the present invention the reason of there are position deviations
Exemplary diagram.As shown in Figure 1, FED is parking stall profile, fan-shaped region is the scanning area of the radar of vehicle right back, i.e. wave
Beam angle.It is appreciated that the point scanned in radar beam angular region is all during vehicle falls back towards parking stall direction and parks
It will be projected on the central axes of field angle, cause the position of the scanning element finally determined there are certain error, such as point a1 will be by
At projection to point a2.It is further known that during inclination of vehicle is mobile in parking stall, the parking stall determined using radar
Profile by be lines L2 in Fig. 1 shape, rather than actual parking stall lines of outline L1.As it can be seen that due to radar wave beam angle model
Enclosing the interior point scanned will all be projected on the central axes of field angle, and as vehicle is mobile, actual parking stall profile point
It can change with the deviation of directivity of field angle central axes, and then lead to the parking stall profile determined using radar and actually stop
There are deviations for parking stall profile；In addition, in Fig. 1, vehicle is parked since the right front on parking stall, if vehicle is from parking
When the left front of position starts to be moved backward, actual parking stall profile point and the deviation of directivity of field angle central axes are also different；
As it can be seen that in vehicle during parking, in conjunction with the real time position on axis of relative bearing and vehicle on vehicle and parking stall
The amendment direction that should be used when not being corrected to determine to scanning element enables to modified target parking position profile point more to connect
The corresponding practical parking stall profile point of nearly scanning element, improves accuracy rate.
203, vehicle obtains modified the second profile of parking stall according to multiple modified parking stall profile points.
In the embodiment of the present invention, it will be understood that by step 201 and step 202, correcting device can obtain multiple amendments
Parking stall profile point, these modified parking stall profile points be usually it is discrete, can be by multiple modified parking stall profiles
Point carries out curve fitting, or is handled by other means, and then can obtain modified the second profile of parking stall, it is seen then that
Modified the second profile of parking stall is than parking stall first profile closer to actual parking stall profile.
As it can be seen that implementing method described in Fig. 2, in parking process is modified the scanning element scanned, can obtain
Modified parking stall profile point is obtained, accurate parking stall profile can be obtained, and then can be improved vehicle and moor into parking stall
Accuracy rate.
Embodiment two
Referring to Fig. 3, Fig. 3 is the process signal of the modification method of another parking stall profile disclosed by the embodiments of the present invention
Figure.As shown in figure 3, the modification method of the parking stall profile may comprise steps of.
If being 301, preset shape using the parking stall first profile that radar scanning parking stall obtains, vehicle is determined
The corner point of parking stall first profile.
In the embodiment of the present invention, above-mentioned preset shape includes outwardly extending outer at right angle with the longitudinal edge on parking stall
Side edge, corner point are the intersection point of longitudinal edge and outer side edges edge.
For example, referring to Fig. 8, Fig. 8 is that a kind of vehicle disclosed by the embodiments of the present invention is located at before the first separation
When scanning element correction example figure, wherein parking stall first profile FEDC be above-mentioned preset shape a kind of example shapes,
In the first profile FEDC of parking stall DE be parking stall longitudinal edge, EF be indicate parking stall outer side edges edge, longitudinal edge and
The intersection point E on outer side edges edge is the corner point of parking stall first profile.
302, vehicle determines on the corresponding axis of vehicle pose using above-mentioned parking stall first profile and corner point as foundation
Several separations out, several separations include at least the first separation, the second separation and third separation.
In the embodiment of the present invention, above-mentioned first separation is the intersection point of the extended line of axis and longitudinal edge, the second boundary
Point is subpoint of the corner point upright projection to axis, and third separation is the intersection point of the extended line on axis and outer side edges edge, tool
Body sees Fig. 8, A1For the first separation, A2For the second separation, A3For third separation.
Common parking stall shape as shown in Figure 8 can be set as preset shape by 301~step 302 of implementation steps,
And plan the good preset corresponding separation division mode of shape in advance etc., when judgement parking stall first profile is preset shape
When, corresponding separation division mode can be called rapidly, and accuracy rate is high, and can accelerate to correct efficiency.
If 303, vehicle is located on axis before the first separation, vehicle is according to the first real time position of vehicle, first
The first scanning element that the corresponding amendment direction of real time position and the first angle amendment real time scan arrive, obtains modified first mesh
Mark parking stall profile point；Wherein, the size of the first angle with using the first real time position, corner point and third separation as vertex
The corresponding interior angle of third separation is equal in magnitude in triangle.
For example, referring to Fig. 8, point K1For the first real time position, P1For the first scanning element, α1For the first angle, Q1For
First object parking stall profile point.It is appreciated that vehicle is when being located on axis before the first separation, vehicle and parking stall away from
From farther out, radar can in field angle K1The side of vertical EF scans up barrier, and is projected to the axis of field angle
The first scanning element P is obtained on line1, according to the property of similar triangles and theorem " ∠ α1=∠ θ ", i.e., the first angle is big
It is small with using the big of the first real time position, corner point and third separation interior angle corresponding as third separation in the triangle on vertex
It is small equal.
If 304, vehicle is located on axis between the first separation and the second separation, vehicle is real according to the second of vehicle
When the corresponding amendment direction of position, the second real time position and the second scanning element for arriving of the second angle amendment real time scan, obtain
Modified second target parking position profile point；Wherein, complementary angle, the first specified angle are each other for the second angle and the first specified angle
Using the second real time position, corner point and third separation as the corresponding interior angle of the second real time position in the triangle on vertex.
For example, referring to Fig. 9, Fig. 9 is that a kind of vehicle disclosed by the embodiments of the present invention is located at the first separation and
The correction example figure of scanning element when between two separations, point K2For the second real time position, P2For the second scanning element, α2For the second folder
Angle, β1For the first specified angle, Q2For the second target parking position profile point.It is appreciated that vehicle is located at the first separation on axis
When between the second separation, scanning is arrived barrier by the left side of the field angle of radar, and is projected to the axis of field angle
The second scanning element P is obtained on line2.If the outer side edges of axis and parking stall first profile are θ along the angle of EF, with A3E is radius,
Length is r, then the calculation formula of ME can be such that
α2Calculating process can be such that using E point as origin, EA3For x-axis, EA1Coordinate system is established for y-axis, with A3K2E is
In the constituted triangle in vertex, A3E is radius, can calculate the second real time position K by the coordinate of point2To circle center distance
For A3K2, K similarly can be calculated by coordinate2E length；Known Atria corresponding angle when three can be acquired, then α2It calculates
Formula is as follows:
As it can be seen that the second angle α2With the first specified angle β1Complementary angle each other.
If 305, vehicle is located on axis between the second separation and third separation, vehicle is real according to the third of vehicle
When the corresponding amendment direction of position, the third real time position and third scanning element that arrives of third angle amendment real time scan, obtain
Modified third target parking position profile point；Wherein, the size of third angle is equal to the second specified angle and subtracts 90 degree, and second
Specified angle is corresponding using third real time position, corner point and third separation as third real time position in the triangle on vertex
Interior angle.
For example, referring to Fig. 10, Figure 10 be a kind of vehicle disclosed by the embodiments of the present invention be located at the second separation with
The correction example figure of scanning element when between third separation, point K3For third real time position, P3For third scanning element, α3For third
Angle, β2For the second specified angle, Q3For third target parking position profile point.It is appreciated that vehicle is located at the second boundary on axis
When between point and third separation, scanning is arrived barrier by the right side of the field angle of radar, and is projected into field angle
Third scanning element P is obtained on axis3.If the outer side edges of axis and parking stall first profile are θ along the angle of EF, with A3E is half
Diameter, length r, then the calculation formula of ME can be such that
With α2Calculating process similarly, α3Calculating process can be such that using E point as origin, EA3For x-axis, EA1For y-axis
Coordinate system is established, with A3K2E is made of in triangle vertex, A3E is radius, can calculate third by the coordinate of point
Real time position K3It is A to circle center distance3K3, K similarly can be calculated by coordinate3E length；Known Atria side can acquire three
The corresponding angle in side, due to β2For obtuse angle, then α3Calculation formula is as follows:
In conjunction with parking stall shape, vehicle with scanned in the real-time relative position on parking stall and radar beam angular region
To point all by the central axes for being projected onto field angle, can know, vehicle when on the different location on axis, arrive by scanning
Scanning element and the error of actual parking stall profile point be different, 303~step 305 of implementation steps, passing through separation will
The process of parking is divided into three phases, and each stage uses the scanning element correcting mode being adapted with the stage, so that obtain
Target parking profile point is more accurate.
As an alternative embodiment, the modification method of above-mentioned parking stall profile can also wrap before step 302
Include following steps:
It determines the relative bearing on vehicle and parking stall, and the first amendment direction and is determined according to the relative bearing
Two amendment directions；Wherein, when relative bearing instruction vehicle is located at the right front on parking stall, the first amendment direction is up time
Needle, the second amendment direction is counterclockwise；When relative bearing instruction vehicle is located at the left front on parking stall, the first amendment direction
To be counterclockwise, the second amendment direction is clockwise；And after step 302, the corresponding amendment side of the first real time position is determined
Direction is corrected to for first；Determine that the corresponding amendment direction of the second real time position is the first amendment direction；Determine the real-time position of third
Setting corresponding amendment direction is the second amendment direction.
It is appreciated that above-mentioned Fig. 8, Fig. 9 and makeover process shown in Fig. 10 are the right fronts that corresponding vehicle is located at parking stall
Scene, thus, it can be known that in Fig. 8 the corresponding amendment direction of the first real time position be it is clockwise, the second real time position is corresponding in Fig. 9
Amendment direction be it is clockwise, the corresponding amendment direction of third real time position is counterclockwise in Figure 10.
Further alternative, step 303 may include:
If vehicle is located on axis before the first separation, the first scanning element that real time scan is arrived is with the first of vehicle
Real time position rotates the first angle by the first amendment direction for the center of circle, obtains modified first object parking stall profile point；
And step 304 may include:
If vehicle is located at the second scanning element that on axis between the first separation and the second separation, real time scan is arrived
The second angle is rotated by the first amendment direction using the second real time position of vehicle as the center of circle, obtains modified second target parking position
Profile point；
And step 305 may include:
If vehicle is located at the third scanning element that on axis between the second separation and third separation, real time scan is arrived
Third angle is rotated by the second amendment direction using the third real time position of vehicle as the center of circle, obtains modified third target parking position
Profile point.
It is appreciated that the scanning element of radar description and the error of actual parking stall profile point essentially consist in the mistake in direction
Therefore scanning element need to only be rotated using the real time position of vehicle as the center of circle by amendment direction, be can be obtained more accurately by difference
Parking stall.
As it can be seen that implementing present embodiment, it is capable of detecting when the relative bearing on vehicle and parking stall, determines currently practical field
The amendment direction that scape should use, without manually being inputted, degree of intelligence is high；In addition, being clicked through by way of rotation to scanning
Row amendment, guarantee scanning element and between measurement apart from constant, it is convenient and efficient.
306, vehicle obtains modified the second profile of parking stall according to multiple modified parking stall profile points.
As it can be seen that method described in implementing Fig. 3, in parking process is modified the scanning element scanned, can obtain
Modified parking stall profile point is obtained, accurate parking stall profile can be obtained, and then can be improved vehicle and moor into parking stall
Accuracy rate.In addition, the process of parking directly is divided into three ranks by three separations when parking stall is preset shape
Section, accuracy rate is high, and can accelerate to correct efficiency.In addition, the process of parking is divided into three phases, every single order by separation
The scanning element correcting mode that Duan Caiyong and the stage are adapted, so that the target parking profile point obtained is more accurate.In addition, energy
Enough determine the amendment direction that currently practical scene should use, without human intervention, degree of intelligence is high；In addition, passing through rotation
Mode is modified scanning element, guarantee scanning element and between measurement apart from constant, it is convenient and efficient.
Embodiment three
Referring to Fig. 4, Fig. 4 is a kind of structural representation of the correcting device of parking stall profile disclosed by the embodiments of the present invention
Figure.The correcting device of the parking stall profile is applied to vehicle, and vehicle is allowed to execute any one parking stall Fig. 2~Fig. 3 wheel
Wide modification method.As shown in figure 4, the correcting device of the parking stall profile may include:
First determination unit 401, for being stopped after obtaining parking stall first profile using radar scanning parking stall with described
The corner point of parking stall first profile and the parking stall first profile is foundation, if determining on the corresponding axis of vehicle pose
Dry separation；
Amending unit 402, for according to real time position, the real time position corresponding amendment direction of the vehicle on axis,
The scanning element that parking stall first profile, corner point and axis amendment real time scan arrive, obtains modified target parking position profile
Point；Wherein, the corresponding amendment direction of real time position is the positional relationship and vehicle according to real time position and several separations
It is determined with the relative bearing on parking stall；
Acquiring unit 403, for obtaining modified the second profile of parking stall according to multiple modified parking stall profile points.
As it can be seen that implementing the correcting device of parking stall profile described in Fig. 4, in parking process is to the scanning element scanned
It is modified, modified parking stall profile point can be obtained, accurate parking stall profile can be obtained, and then can be improved
Vehicle moors the accuracy rate into parking stall.
Example IV
Referring to Fig. 5, Fig. 5 is the structural representation of the correcting device of another parking stall profile disclosed by the embodiments of the present invention
Figure.The correcting device of the parking stall profile is applied to vehicle, and vehicle is allowed to execute any one parking stall Fig. 2~Fig. 3 wheel
Wide modification method.Wherein, the correcting device of parking stall profile shown in fig. 5 is the amendment of parking stall profile as shown in Figure 4
What device optimized.Compared with the correcting device of parking stall profile shown in Fig. 4, parking stall profile shown in fig. 5
Correcting device in:
First determination unit 401 may include:
First determines subelement 4011, for being default in the parking stall first profile obtained using radar scanning parking stall
Shape when, determine the corner point of parking stall first profile；Wherein, preset shape include with the longitudinal edge on parking stall at
The outwardly extending outer side edges edge in right angle, corner point are the intersection point of longitudinal edge and outer side edges edge；
Second determines subelement 4012, using parking stall first profile, corner point as foundation, in the corresponding axis of vehicle pose
On determine several separations, several separations include at least the first separation, the second separation and third separation；Its
In, the first separation is the intersection point of the extended line of axis and longitudinal edge, and the second separation is corner point upright projection to axis
Subpoint, third separation is the intersection point of the extended line on axis and outer side edges edge.
Amending unit 402 may include:
First revise subelemen 4021, for when vehicle is located on axis before the first separation, according to the of vehicle
The first scanning element that the corresponding amendment direction of one real time position, the first real time position and the first angle amendment real time scan arrive,
Obtain modified first object parking stall profile point；Wherein, the size of the first angle with the first real time position, corner point and the
Three separations are the equal in magnitude of the corresponding interior angle of third separation in the triangle on vertex；
Second revise subelemen 4022 is used for when vehicle is located on axis between the first separation and the second separation,
It is arrived according to the second real time position of vehicle, the corresponding amendment direction of the second real time position and the second angle amendment real time scan
Second scanning element obtains modified second target parking position profile point；Wherein, the second angle and the first specified angle are remaining each other
Angle, the first specified angle are using the second real time position, corner point and third separation as the second real-time position in the triangle on vertex
Set corresponding interior angle；
Third revise subelemen 4023 is used for when vehicle is located on axis between the second separation and third separation,
It is arrived according to the third real time position of vehicle, the corresponding amendment direction of third real time position and third angle amendment real time scan
Third scanning element obtains modified third target parking position profile point；Wherein, the size of third angle is equal to the second specified angle
90 degree are subtracted, the second specified angle is using third real time position, corner point and third separation as in the triangle on vertex
The corresponding interior angle of three real time positions.
As an alternative embodiment, the correcting device of parking stall profile shown in fig. 5 can also include:
Second determination unit 404, for, using parking stall first profile, corner point as foundation, being determined on the axis of vehicle
Out before several separations, the relative bearing on vehicle and parking stall is determined；
Second determination unit 404 is also used to determine the first amendment direction and the second amendment direction according to relative bearing；
Wherein, when relative bearing instruction vehicle is located at the right front on parking stall, the first amendment direction is clockwise, the second amendment direction
It is counterclockwise；When relative bearing instruction vehicle is located at the left front on parking stall, the first amendment direction is counterclockwise, the second amendment
Direction is clockwise；
Third determination unit 405, for, using parking stall first profile, corner point as foundation, being determined on the axis of vehicle
Out after several separations, determine that the corresponding amendment direction of the first real time position is the first amendment direction；
Third determination unit 405 is also used to determine that the corresponding amendment direction of the second real time position is the first amendment direction；
Third determination unit 405 is also used to determine that the corresponding amendment direction of third real time position is the second amendment direction.
Further alternative, the first revise subelemen 4021 is used for when vehicle is located on axis before the first separation,
It is arrived according to the first real time position of vehicle, the corresponding amendment direction of the first real time position and the first angle amendment real time scan
First scanning element obtains the mode of modified first object parking stall profile point specifically:
First revise subelemen 4021, for when vehicle is located on axis before the first separation, real time scan to be arrived
The first scanning element rotate the first angle by the first amendment direction using the first real time position of vehicle as the center of circle, obtain modified the
One target parking position profile point；
Second revise subelemen 4022 is used for the root when vehicle is located on axis between the first separation and the second separation
The arrived according to the corresponding amendment direction of the second real time position of vehicle, the second real time position and the second angle amendment real time scan
Two scanning elements obtain the mode of modified second target parking position profile point specifically:
Second revise subelemen 4022 is used for when vehicle is located on axis between the first separation and the second separation,
By real time scan to the second scanning element using the second real time position of vehicle as the center of circle by first amendment direction rotate the second angle,
Obtain modified second target parking position profile point；
Third revise subelemen 4023 is used for the root when vehicle is located on axis between the second separation and third separation
The arrived according to the corresponding amendment direction of the third real time position of vehicle, third real time position and third angle amendment real time scan
Three scanning elements obtain the mode of modified third target parking position profile point specifically:
Third revise subelemen 4023 is used for when vehicle is located on axis between the second separation and third separation,
By real time scan to third scanning element using the third real time position of vehicle as the center of circle by second amendment direction rotate third angle,
Obtain modified third target parking position profile point.
As it can be seen that implementing present embodiment, correcting device is capable of detecting when the relative bearing on vehicle and parking stall, determines to work as
The amendment direction that preceding actual scene should use, without manually being inputted, degree of intelligence is high；In addition, by way of rotation pair
Scanning element is modified, guarantee scanning element and between measurement apart from constant, it is convenient and efficient.
As it can be seen that implementing the correcting device of parking stall profile described in Fig. 5, in parking process is to the scanning element scanned
It is modified, modified parking stall profile point can be obtained, accurate parking stall profile can be obtained, and then can be improved
Vehicle moors the accuracy rate into parking stall.In addition, will directly be parked by three separations when parking stall is preset shape
Journey is divided into three phases, and accuracy rate is high, and can accelerate to correct efficiency.In addition, the process of parking is divided by separation
Three phases, each stage use the scanning element correcting mode being adapted with the stage, the profile point so that target obtained is stopped
It is more accurate.In addition, correcting device is capable of determining that the amendment direction that currently practical scene should use, without human intervention, intelligence
It can degree height；In addition, be modified by way of rotation to scanning element, guarantee scanning element and between measurement apart from constant,
It is convenient and efficient.
Embodiment five
Referring to Fig. 6, Fig. 6 is the structural representation of the correcting device of another parking stall profile disclosed by the embodiments of the present invention
Figure.As shown in fig. 6, the correcting device of the parking stall profile may include:
It is stored with the memory 601 of executable program code；
The processor 602 coupled with memory 601；
Wherein, processor 602 calls the executable program code stored in memory 601, and it is any one to execute Fig. 2~Fig. 3
The modification method of kind parking stall profile.
The embodiment of the present invention discloses a kind of vehicle, which includes the amendment dress of any one parking stall profile of Fig. 4~Fig. 6
It sets.
A kind of computer readable storage medium is also disclosed in the embodiment of the present invention, stores computer program, wherein the calculating
Machine program makes computer execute the modification method of any one parking stall profile of Fig. 2~Fig. 3.
A kind of computer program product is also disclosed in the embodiment of the present invention, wherein when computer program product on computers
When operation, so that computer executes some or all of the method in such as above each method embodiment step.
The embodiment of the present invention is also disclosed a kind of using distribution platform, this is using distribution platform for issuing computer program production
Product, wherein when above-mentioned computer program product is run on computers, so that computer executes such as the above each method embodiment
In some or all of method step.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can
For carrying or any other computer-readable medium of storing data.
Above to a kind of modification method and device, vehicle, storage medium of parking stall profile disclosed by the embodiments of the present invention
It is described in detail, used herein a specific example illustrates the principle and implementation of the invention, the above reality
The explanation for applying example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology of this field
Personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this theory
Bright book content should not be construed as limiting the invention.
Claims (10)
1. a kind of modification method of parking stall profile, which is characterized in that the described method includes:
After obtaining parking stall first profile using radar scanning parking stall, with the parking stall first profile and the parking stall
The corner point of first profile is foundation, determines several separations on the corresponding axis of vehicle pose；
According to real time position, the real time position corresponding amendment direction, the parking stall of the vehicle on the axis
The scanning element that first profile, the corner point and axis amendment real time scan arrive, obtains modified target parking position wheel
Wide point；Wherein, the corresponding amendment direction of the real time position is the position according to the real time position and several separations
Set what the relative bearing on relationship and vehicle and the parking stall was determined；
Modified the second profile of parking stall is obtained according to multiple modified parking stall profile points.
2. the method according to claim 1, wherein described obtaining parking stall using radar scanning parking stall
After one profile, using the corner point of the parking stall first profile and the parking stall first profile as foundation, in vehicle pose pair
Several separations are determined on the axis answered, comprising:
If the parking stall first profile obtained using radar scanning parking stall is preset shape, the parking stall the is determined
The corner point of one profile；Wherein, the preset shape includes outwardly extending at right angle with the longitudinal edge on the parking stall
Outer side edges edge, the corner point are the intersection point of the longitudinal edge and the outer side edges edge；
Using the parking stall first profile and the corner point as foundation, several are determined on the corresponding axis of vehicle pose
Separation, several described separations include at least the first separation, the second separation and third separation；Wherein, described
One separation is the intersection point of the extended line of the axis and the longitudinal edge, and second separation is that the corner point is vertical
It projects to the subpoint of the axis, the third separation is the intersection point of the extended line on the axis and the outer side edges edge.
3. according to the method described in claim 2, it is characterized in that, the real-time position according to the vehicle on the axis
It sets, the corresponding amendment direction of the real time position, the parking stall first profile, the corner point and the axis are corrected in fact
When the scanning element that scans, obtain modified target parking position profile point, comprising:
If vehicle is located on the axis before first separation, according to the first real time position of vehicle, described first
The first scanning element that the corresponding amendment direction of real time position and the first angle amendment real time scan arrive, obtains modified first mesh
Mark parking stall profile point；Wherein, the size of first angle with first real time position, the corner point and described the
Three separations are the equal in magnitude of the corresponding interior angle of third separation described in the triangle on vertex；
It is real according to the second of vehicle if vehicle is located on the axis between first separation and second separation
When the corresponding amendment direction of position, second real time position and the second scanning element for arriving of the second angle amendment real time scan,
Obtain modified second target parking position profile point；Wherein, second angle and the first specified angle complementary angle each other, described
One specified angle is using second real time position, the corner point and the third separation as described in the triangle on vertex
The corresponding interior angle of second real time position；
It is real according to the third of vehicle if vehicle is located on the axis between second separation and the third separation
When the corresponding amendment direction of position, the third real time position and third scanning element that arrives of third angle amendment real time scan,
Obtain modified third target parking position profile point；Wherein, the size of the third angle subtracts nine equal to the second specified angle
Ten degree, the second specified angle is using the third real time position, the corner point and the third separation as vertex
The corresponding interior angle of third real time position described in triangle.
4. according to the method described in claim 3, it is characterized in that, it is described on the axis of vehicle with the parking stall first round
Wide, the described corner point is foundation, before determining several separations, the method also includes:
Determine the relative bearing of vehicle Yu the parking stall；
The first amendment direction and the second amendment direction are determined according to the relative bearing；Wherein, when the relative bearing refers to
When showing that the vehicle is located at the right front on the parking stall, first amendment direction is clockwise, second amendment direction
It is counterclockwise；When the relative bearing indicates that the vehicle is located at the left front on the parking stall, first amendment direction
To be counterclockwise, second amendment direction is clockwise；
It is described on the axis of vehicle using the parking stall first profile, the corner point as foundation, determine several boundary
After point, the method also includes:
Determine that the corresponding amendment direction of first real time position is first amendment direction；
Determine that the corresponding amendment direction of second real time position is first amendment direction；
Determine that the corresponding amendment direction of the third real time position is second amendment direction.
5. according to the method described in claim 4, it is characterized in that, if the vehicle is located on the axis described first point
Before boundary's point, repaired according to the first real time position of vehicle, the corresponding amendment direction of first real time position and the first angle
The first scanning element that positive real time scan arrives, obtains modified first object parking stall profile point, comprising:
If vehicle is located on the axis before first separation, the first scanning element that real time scan is arrived is with vehicle
First real time position rotates the first angle by first amendment direction for the center of circle, obtains modified first object parking stall profile
Point；
If the vehicle is located on the axis between first separation and second separation, according to the of vehicle
The second scanning that the corresponding amendment direction of two real time positions, second real time position and the second angle amendment real time scan arrive
Point obtains modified second target parking position profile point, comprising:
If vehicle is located on the axis between first separation and second separation, real time scan is arrived
Two scanning elements rotate the second angle by first amendment direction using the second real time position of vehicle as the center of circle, obtain modified the
Two target parking position profile points；
If the vehicle is located on the axis between second separation and the third separation, according to the of vehicle
The third scanning that the corresponding amendment direction of three real time positions, the third real time position and third angle amendment real time scan arrive
Point obtains modified third target parking position profile point, comprising:
If vehicle is located on the axis between second separation and the third separation, real time scan is arrived
Three scanning elements rotate third angle by second amendment direction using the third real time position of vehicle as the center of circle, obtain modified the
Three target parking position profile points.
6. a kind of correcting device of parking stall profile, which is characterized in that the correcting device includes:
First determination unit, for after obtaining parking stall first profile using radar scanning parking stall, with the parking stall
One profile and the corner point of the parking stall first profile are foundation, determine several points on the corresponding axis of vehicle pose
Boundary's point；
Amending unit, for according to real time position of the vehicle on the axis, the corresponding amendment side of the real time position
To, the parking stall first profile, the corner point and the scanning element that arrives of axis amendment real time scan, obtain modified
Target parking position profile point；Wherein, the corresponding amendment direction of the real time position be according to the real time position with it is described several
What the positional relationship and vehicle of a separation and the relative bearing on the parking stall were determined；
Acquiring unit, for obtaining modified the second profile of parking stall according to multiple modified parking stall profile points.
7. correcting device according to claim 6, which is characterized in that first determination unit includes:
First determines subelement, for being preset shape in the parking stall first profile obtained using radar scanning parking stall
When, determine the corner point of the parking stall first profile；Wherein, the preset shape includes the longitudinal direction with the parking stall
At the outwardly extending outer side edges edge in right angle, the corner point is the intersection point of the longitudinal edge and the outer side edges edge at edge；
Second determines subelement, for being corresponded in vehicle pose using the parking stall first profile and the corner point as foundation
Axis on determine several separations, several described separations include at least the first separation, the second separation and the
Three separations；Wherein, first separation is the intersection point of the extended line of the axis and the longitudinal edge, described second point
Boundary's point is subpoint of the corner point upright projection to the axis, and the third separation is the axis and the outside
The intersection point of the extended line at edge.
8. a kind of correcting device of parking stall profile, which is characterized in that the correcting device includes:
It is stored with the memory of executable program code；
The processor coupled with the memory；
The processor calls the executable program code stored in the memory, requires 1~5 for perform claim
The modification method of parking stall profile described in one.
9. a kind of vehicle, which is characterized in that the vehicle includes such as the described in any item parking stall profiles of claim 6 to 8
Correcting device.
10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage computer journey
Sequence, wherein the computer program makes the amendment of computer perform claim 1~5 described in any item parking stall profiles of requirement
Method.
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