CN111532260A - Parking space detection performance evaluation method and electronic equipment - Google Patents
Parking space detection performance evaluation method and electronic equipment Download PDFInfo
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Abstract
The invention provides a parking space detection performance evaluation method and computing equipment. Furthermore, the position accuracy of the obstacles around the vehicle, which is obtained based on the method provided by the invention, is high, the evaluation efficiency of the parking space detection performance can be effectively improved, and a reference is provided for an automatic parking system based on the parking space detection function.
Description
Technical Field
The invention relates to the technical field of vehicle evaluation, in particular to a parking space detection performance evaluation method and electronic equipment.
Background
Along with the continuous improvement of science and technology, the intelligent function of car is also more and more, for example, unmanned car can automatic identification parking stall and automatic parking. When the automobile is automatically parked, parking spaces around the automobile need to be accurately identified so as to ensure that the automobile can be accurately parked and warehoused.
Therefore, a system for evaluating the performance of the parking space detection function of the vehicle is extremely necessary. However, it is difficult to evaluate whether the performance of the function meets the standard in real time and efficiently in the function development process, a large amount of repeated work such as manual measurement is needed, and the same problem exists for the acceptance check of a user.
Disclosure of Invention
The invention provides a parking space detection performance evaluation method to overcome the problems or at least partially solve the problems.
According to one aspect of the invention, a parking space detection performance evaluation method is provided, which comprises the following steps:
establishing a measured coordinate system and a vehicle coordinate system based on a parking space detection performance evaluation system established in a preset test field;
determining an obstacle arranged in the preset test site, and acquiring an obstacle outline coordinate graph of the obstacle in the measurement coordinate system, which is detected by the parking space detection performance evaluation system;
obtaining a barrier detection result of a parking space detection system of a detected vehicle on the preset test site, wherein the barrier detection result comprises a barrier detection coordinate value under the vehicle coordinate system;
converting the obstacle detection coordinate value in the vehicle coordinate system into an obstacle coordinate value to be evaluated in the measurement coordinate system;
and evaluating the coordinate value of the obstacle to be evaluated based on the obstacle contour coordinate graph, and taking an evaluation result as an evaluation result of the parking space detection performance of the detected vehicle.
Optionally, the parking space detection performance evaluation system includes a base station subsystem, a detected vehicle mobile station subsystem, an obstacle vehicle mobile station subsystem, and a mobile dotting mobile station subsystem;
the base station subsystem comprises a first main antenna; the first main antenna is arranged at any point selected in a preset test field;
the subsystem of the mobile station of the tested vehicle comprises the tested vehicle, a second main antenna and a first auxiliary antenna; the second main antenna and the first auxiliary antenna are fixed on the roof of the detected vehicle, the ground projection point of the second main antenna is superposed with the ground projection point of the rear shaft of the detected vehicle, the first auxiliary antenna is positioned in front of the second main antenna, and the projection line of the connecting line of the second main antenna and the first auxiliary antenna on the ground is superposed with the projection line of the middle shaft of the detected vehicle on the ground;
the barrier vehicle mobile station subsystem comprises a barrier vehicle, a third main antenna and a second auxiliary antenna; the third main antenna and the second auxiliary antenna are fixed in the vehicle of the barrier vehicle, a ground projection point of the third main antenna is superposed with a ground projection point of a rear shaft of the barrier vehicle, the second auxiliary antenna is positioned in front of the third main antenna, and a projection line of a connecting line of the third main antenna and the second auxiliary antenna on the ground is superposed with a projection line of a middle shaft of the barrier vehicle on the ground;
the mobile dotting mobile station subsystem comprises a fourth main antenna.
Optionally, establishing the measurement coordinate system and the vehicle coordinate system comprises:
establishing a two-dimensional measurement coordinate system by taking the position of the first main antenna in the preset test site as an original point, the positive north direction as the x-axis direction and the positive west direction as the y-axis direction;
for a detected vehicle, establishing a two-dimensional detected vehicle coordinate system by taking the position of a second main antenna of the detected vehicle mobile station subsystem as a coordinate origin, taking the direction from a connecting line of the second main antenna and a first auxiliary antenna to the head of the detected vehicle as an x-axis direction, and the left direction of a vehicle body as a y-axis direction;
and for the barrier vehicle, establishing a two-dimensional barrier vehicle coordinate system by taking the position of a third main antenna of the barrier vehicle mobile station subsystem as a coordinate origin, taking the connecting line of the third main antenna and a second auxiliary antenna as an x axis towards the head square of the detected vehicle, and taking the sitting direction of the vehicle body as a y axis.
Optionally, the obstacle comprises an obstacle vehicle, a wall and/or a curb;
the acquiring of the obstacle contour coordinate graph of the obstacle in the measurement coordinate system, which is detected by the parking space detection performance evaluation system, includes:
for the obstacle vehicle, obtaining coordinate values of a fourth main antenna in the mobile dotting mobile station subsystem at intervals along the outline of the obstacle vehicle in the obstacle vehicle coordinate system, converting the coordinate values into a measurement coordinate system through coordinate conversion, and generating an outline coordinate graph of the obstacle vehicle in the measurement coordinate system;
and for the wall surface and/or the road edge, obtaining coordinate values of a fourth main antenna in the mobile dotting mobile station subsystem at the measurement coordinate system along the interval placement position of the wall surface and/or the road edge, and generating a contour coordinate graph of the wall surface and/or the road edge.
Optionally, the parking space detection system for obtaining the detected vehicle is right to the obstacle detection result of the preset test site, including:
and obtaining the coordinate values of the obstacle contour points of the detected vehicle in the coordinate system of the detected vehicle, which are detected by the parking space detection system of the detected vehicle at each moment.
Optionally, converting the obstacle detection coordinate values in the vehicle coordinate system into the obstacle coordinate values to be evaluated in the measurement coordinate system, includes:
acquiring the relative position relation between the coordinate system of the vehicle to be detected and the measurement coordinate system detected by the parking space detection performance evaluation system at each moment; the relative position relation comprises a position coordinate of an original point of the measured vehicle coordinate system in the measurement coordinate system and an included angle between an x axis of the measured vehicle coordinate system and the x axis of the measurement coordinate system;
selecting coordinate values and relative position relations of the obstacle contour points at all moments with the detection time difference between the parking space detection system of the detected vehicle and the parking space detection performance evaluation system smaller than set time, and generating a plurality of groups of observation samples;
and for any group of observation samples, converting the coordinate values of the obstacle contour points into coordinate values of the obstacle contour points under the measurement coordinate system based on the relative position relationship to obtain coordinate values of a plurality of obstacles to be evaluated.
Optionally, the obstacle contour plot consists of a plurality of obstacle contour points;
evaluating the parking space detection performance of the detected vehicle based on the obstacle contour coordinate graph and the obstacle coordinate value to be evaluated comprises the following steps:
for any obstacle coordinate value to be evaluated, selecting two obstacle contour points closest to the obstacle coordinate value to be evaluated in the obstacle contour coordinate graph, and calculating the vertical distance between the obstacle coordinate value to be evaluated and a connecting line of the two obstacle contour points;
and evaluating the coordinate values of the obstacles to be evaluated according to the vertical distance corresponding to the coordinate values of the obstacles to be evaluated.
Optionally, the evaluating the obstacle coordinate values to be evaluated according to the vertical distance corresponding to each obstacle coordinate point to be evaluated includes:
recording a plurality of to-be-evaluated obstacle coordinate values with the vertical distance smaller than the set distance as qualified to-be-evaluated obstacle coordinate values;
and evaluating the coordinate value of the obstacle to be evaluated based on the proportion of the qualified coordinate value of the obstacle to be evaluated in the coordinate value of the obstacle to be evaluated.
Optionally, the evaluating the parking space detection performance of the detected vehicle according to the vertical distance corresponding to the coordinate value of each obstacle to be evaluated includes:
calculating an average of a plurality of the vertical distances;
and evaluating the coordinate value of the obstacle to be evaluated according to the average value.
Optionally, the evaluating the parking space detection performance of the detected vehicle according to the vertical distance corresponding to the coordinate value of each obstacle to be evaluated includes:
calculating a standard deviation of a plurality of the vertical distances;
and evaluating the parking space detection performance of the detected vehicle according to the standard deviation.
According to another aspect of the present invention, there is also provided an electronic device, including a processor and a memory, where at least one instruction, at least one program, a code set, or an instruction set is stored in the memory, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the parking space detection performance evaluation method according to any one of the above items.
The invention provides a parking space detection performance evaluation method and electronic equipment. Furthermore, the position accuracy of the obstacles around the vehicle, which is obtained based on the method provided by the embodiment of the invention, is high, the evaluation efficiency of the parking space detection performance can be effectively improved, and a reference is provided for an automatic parking system based on the parking space detection function.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic flow chart of a parking space detection performance evaluation method according to an embodiment of the invention;
FIG. 2 is a schematic plan view of a pre-defined test site according to an embodiment of the invention;
FIG. 3 is a system for evaluating parking space detection performance according to an embodiment of the present invention;
FIG. 4 is a schematic view of a measurement coordinate system according to an embodiment of the invention;
FIG. 5 is a schematic view of a vehicle coordinate system according to an embodiment of the invention;
FIG. 6 is a schematic diagram of obstacle vehicle contour plot acquisition according to an embodiment of the present invention;
fig. 7 is a schematic diagram of an obstacle contour plot according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 1 is a schematic flow chart of a parking space detection performance evaluation method according to an embodiment of the present invention, and as can be seen from fig. 1, the parking space detection performance evaluation method provided by the embodiment of the present invention may include:
step S102, establishing a measured coordinate system and a vehicle coordinate system based on a parking space detection performance evaluation system established in a preset test field;
step S104, determining the obstacles arranged in a preset test field, and acquiring an obstacle outline coordinate graph of the obstacles detected by the parking space detection performance evaluation system in a measurement coordinate system;
step S106, obtaining the obstacle detection result of the parking space detection system of the detected vehicle to a preset test site, wherein the obstacle detection result comprises an obstacle detection coordinate value under a vehicle coordinate system;
step S108, converting the obstacle detection coordinate value under the vehicle coordinate system into the obstacle coordinate value to be evaluated under the measurement coordinate system;
and step S110, evaluating the coordinate value of the obstacle to be evaluated based on the obstacle outline coordinate graph, and taking the evaluation result as the evaluation result of the parking space detection performance of the detected vehicle.
The embodiment of the invention provides a parking space detection performance evaluation method, which is used for realizing the evaluation of the parking space detection performance of a detected vehicle by accurately obtaining the coordinate values of obstacles around the detected parking space and evaluating the coordinates by utilizing an obstacle outline coordinate graph to obtain an evaluation result. The scheme provided by the embodiment of the invention is used for evaluating the parking space detection performance of the parking space detection system of the vehicle to be detected.
In step S102, a parking space detection performance evaluation system that needs to be set up in a preset test site establishes a measurement coordinate system and a vehicle coordinate system. The preset test site in this embodiment may include multiple types of obstacles (such as obstacle vehicles, road edges, wall surfaces, and the like) and different types of parking spaces, and specifically, the design may be selected according to different test requirements, which is not limited in this respect. Fig. 2 is a schematic diagram of a preset test site according to an embodiment of the invention.
As shown in fig. 2 and fig. 3, the parking space detection performance evaluation system built in the preset test site may include a base station subsystem, a tested vehicle mobile station subsystem, an obstacle vehicle mobile station subsystem, and a mobile dotting mobile station subsystem. Besides the above description, the parking space detection performance evaluation system may further include a data processing module, a parking space detection performance evaluation module, and a visualization module. The data processing module can realize data processing among the subsystems and the parking space detection performance evaluation module is mainly used for executing the flow of the parking space detection performance evaluation method provided by the embodiment. And the visualization module can display the obstacle profile map acquired based on the mobile dotting mobile station subsystem and the evaluation result of the parking space detection performance evaluation module. The connection relationship between the modules and the subsystems can be as shown in fig. 3.
The base station subsystem can be matched with a tested vehicle mobile station subsystem, an obstacle vehicle mobile station subsystem and a mobile dotting mobile station subsystem, and the base station subsystem can be composed of equipment capable of receiving global satellite positioning system satellite signals (such as a Beidou positioning satellite system) and equipment capable of calculating and outputting real-time dynamic differential signals. In an embodiment of the present invention, a base station subsystem comprises a first main antenna; the first main antenna is arranged at any point selected in a preset test field. It should be noted that the first main antenna is located at a fixed position of the preset test site, and is not shielded from the antennas of other mobile station subsystems, and the position is kept still in the whole test process.
When the measurement coordinate system is established, as shown in fig. 4, a two-dimensional measurement coordinate system is established with the position of the first main antenna in the preset test site as an origin, the north direction as the x-axis direction, and the west direction as the y-axis direction.
In an optional embodiment of the invention, the subsystem of the mobile station of the tested vehicle comprises the tested vehicle, a second main antenna and a first auxiliary antenna; the second main antenna and the first auxiliary antenna are fixed on the roof of the vehicle to be detected, the center of the second main antenna is superposed with the center of the rear shaft of the vehicle to be detected at a ground projection point at the ground projection point, the first auxiliary antenna is positioned in front of the second main antenna, and the projection line of the connecting line of the second main antenna and the first auxiliary antenna on the ground is superposed with the projection line of the central shaft of the vehicle to be detected on the ground. The distance between the second main antenna and the first auxiliary antenna is larger than 1m, the second main antenna and the first auxiliary antenna are ensured to be on the same horizontal line as far as possible, and the relative position of the whole testing process is ensured to be unchanged.
For a vehicle to be measured, when a corresponding coordinate system of the vehicle to be measured is established, a two-dimensional coordinate system of the vehicle to be measured is established, with the position of a second main antenna of a mobile station subsystem of the vehicle to be measured as a coordinate origin (a circle of the position of the coordinate origin in fig. 5 indicates the position of the second main antenna), a connecting line of the second main antenna and a first auxiliary antenna (a circle of the right side of the position of the coordinate origin in fig. 5 indicates the position of the first auxiliary antenna) in the direction of the head of the vehicle to be measured as an x-axis direction, and the left side direction of the vehicle body as a y-axis direction. As shown in fig. 5, and the vehicle coordinate system is updated in real time following the vehicle movement position.
In an alternative embodiment of the invention, the obstacle vehicle mobile station subsystem comprises an obstacle vehicle, a third primary antenna, a second secondary antenna; the third main antenna and the second auxiliary antenna are fixed on the roof of the barrier vehicle, the center of the third main antenna is superposed with the center of the rear shaft of the barrier vehicle at a ground projection point at the ground projection point, the second auxiliary antenna is positioned in front of the third main antenna, and the projection line of the connecting line of the third main antenna and the second auxiliary antenna on the ground is superposed with the projection line of the middle shaft of the barrier vehicle on the ground. The distance between the third main antenna and the second auxiliary antenna is larger than 1m, the third main antenna and the second auxiliary antenna are ensured to be on the same horizontal line as far as possible, and the relative position of the whole test process is ensured to be unchanged.
The obstacle vehicles in the embodiment can be arranged according to different requirements, the obstacle vehicle mobile station subsystem comprises two obstacle vehicle mobile station subsystems, each obstacle vehicle mobile station subsystem comprises one obstacle vehicle, and the two obstacle vehicles can be combined to put various parking spaces meeting requirements for use in detecting the parking spaces.
When a vehicle coordinate system is established for the obstacle vehicle, a two-dimensional obstacle vehicle coordinate system is established by taking the position of a third main antenna of a mobile station subsystem of the obstacle vehicle as a coordinate origin, taking the connecting line of the third main antenna and a second auxiliary antenna as an x axis towards the head square of the detected vehicle, and taking the vehicle body sitting direction as a y axis, and the reference is shown in fig. 5. And the vehicle coordinate system is updated in real time along with the moving position of the vehicle.
The mobile dotting mobile station subsystem comprises a fourth main antenna and is mainly used for making a coordinate graph of the outline of the obstacle vehicle, the road edge, the wall surface and other related obstacles.
In addition to the above description, the base station subsystem, the detected vehicle mobile station subsystem, the obstacle vehicle mobile station subsystem and the mobile dotting mobile station subsystem may be provided with a satellite signal receiving and calculating unit and a wireless communication unit, and based on the ultrasonic radar, the satellite signal receiving and the communication connection with other subsystems are respectively realized.
The parking space detection performance evaluation system in the embodiment of the invention can be started simultaneously along with the parking space detection function, and developers drive the detected vehicle to perform parking space detection performance evaluation based on the parking space detection performance evaluation. When the parking space detection performance evaluation is started, the base station subsystem is started and set to be in a base station mode, the wireless communication unit of the base station subsystem is in a base station receiving mode, and the base station subsystem selects and supports multi-mobile-station communication.
In an optional embodiment of the present invention, the obstacle in step S104 may include an obstacle vehicle, a wall surface and/or a road edge, and the obstacle contour coordinate graph is composed of a plurality of obstacle contour points.
For the obstacle vehicle, when acquiring the obstacle contour coordinate graph of the obstacle detected by the parking space detection performance evaluation system in the measurement coordinate system, the coordinate values (the abscissa and the ordinate in the vehicle coordinate system) of the fourth main antenna in the mobile dotting mobile station subsystem at the obstacle vehicle coordinate system along the contour of the obstacle vehicle at intervals may be acquired, and the coordinate values are converted into the measurement coordinate system through coordinate conversion, so as to generate the contour coordinate graph of the obstacle vehicle in the measurement coordinate system, as shown in fig. 6. For the placement position of the fourth main antenna (not shown in the figure), the positions of all hollow points on the edge of the outline of the obstacle vehicle in fig. 6 can be referred to ensure that the outline of the vehicle can be described, a straight line part can be replaced by two points, the interval between every point of a curve part is not more than 5cm, and the outline of the obstacle vehicle can be obtained by sequentially connecting all the outline points of the obstacle vehicle. The contour plot of the obstacle vehicle may consist of a plurality of contour points of the vehicle, each of which may be mapped to a specific contour point on the obstacle vehicle coordinate system. In the above, the position of the fourth main antenna is the position of the contour point to be acquired, the coordinates of the position of the antenna, that is, the coordinates of each contour point, can be obtained through the positioning data acquired by the fourth main antenna, and then the contour coordinate points corresponding to each placement position are connected clockwise to obtain the contour of the obstacle vehicle.
For the wall surface and/or the road edge, coordinate values of the fourth main antenna in the mobile dotting mobile station subsystem at the measuring coordinate system along the interval placement position of the wall surface and/or the road edge can be obtained, and a contour coordinate graph of the wall surface and/or the road edge is generated.
In practical application, a fourth main antenna can be placed on the road edge, the position of the fourth main antenna is the position of the contour point required to be collected, the coordinate of the position of the antenna can be obtained through positioning data obtained by the antenna, the fourth main antenna is placed every 5cm, the coordinate of one contour point is obtained, and the coordinates of all the contour points on the road edge are recorded. And displaying the road edge contour coordinate graph in the visualization module. And for the wall surface, placing a fourth main antenna every 5cm away from the wall surface at a fixed distance, and subtracting the fixed distance from the obtained coordinate value of the contour point to obtain the coordinate of the contour point of the wall surface.
After the contour coordinate graph of the obstacle is obtained, the evaluation of the parking space detection function of the detected vehicle can be executed.
In the steps S106 to S108, an obstacle detection result of the parking space detection system of the vehicle to be detected on the preset test site including the obstacle detection coordinate value in the vehicle coordinate system needs to be obtained, and the obstacle detection coordinate value is converted into the obstacle coordinate value to be evaluated in the measurement coordinate system.
Specifically, the obstacle detection result of the vehicle under test may be realized by: and obtaining the coordinate values of the obstacle contour points of the detected vehicle in the detected vehicle coordinate system detected by the parking space detection system of the detected vehicle at each moment. In this embodiment, the coordinate value of the obstacle contour point in the measured vehicle coordinate system may be expressed as (xvcil, yvccil), where v represents the measured vehicle coordinate system, c represents the contour, i represents the time i, and the last i represents the first contour point of the obstacle.
Converting the obstacle detection coordinate values into obstacle coordinate values to be evaluated in the measurement coordinate system may include:
s1-1, acquiring the relative position relation between the coordinate system of the vehicle to be detected and the measurement coordinate system detected by the parking space detection performance evaluation system at each moment; the relative position relationship comprises the position coordinates of the origin of the measured vehicle coordinate system in the measurement coordinate system and the included angle between the x axis of the measured vehicle coordinate system and the x axis of the measurement coordinate system, for example, the measured vehicle can be positioned by an ultrasonic radar, and then the origin of the measured vehicle coordinate system and the relationship between the x axis and the measurement coordinate system are determined.
The relative position relationship may be expressed as (xtrj, ytrj, yawtrj), where "xtrj" and "ytrj" denote the position of the origin (the second main antenna) of the coordinate system of the vehicle to be measured in the measurement coordinate system, "yawtrj" denotes the angle between the x-axis of the coordinate system of the vehicle to be measured and the x-axis of the measurement coordinate system, t denotes the measurement coordinate system, r denotes the mobile station, and j denotes the time j.
And S1-2, selecting the coordinate values and the relative position relation of the outline points of the obstacle at each moment when the difference between the detection moments of the parking space detection system and the parking space detection performance evaluation system of the detected vehicle is less than the set time, and generating a plurality of groups of observation samples.
And selecting the coordinate values of the contour points of the obstacle and the positions and postures of the coordinate system of the detected vehicle, which have a difference of less than a set time (such as 10 milliseconds) between the time i and the time j (namely the relative position relationship mentioned in the step S2), as k groups of observation samples, and recording the k groups of observation samples as (xvcilk, yvccilk), (xtrjk, ytrjk, yawtrjk), wherein k represents the kth observation sample meeting the requirement. In the embodiment, the combination of the coordinate value of the outline point of the obstacle and the pose of the coordinate system of the detected vehicle, the difference between the moment i and the moment j being less than the set time, is selected to establish the observation samples, so that the coordinate value of the outline point of the obstacle and the pose of the coordinate system of the detected vehicle in each group of observation samples are ensured to be acquired at the same time as much as possible by the parking space detection system and the parking space detection performance evaluation system, and errors caused by the poses of the parking space detection system and the parking space detection performance evaluation system at different moments and the coordinate system of the detected vehicle are avoided.
And S1-3, for any group of observation samples, converting the coordinate values of the obstacle contour points into coordinate values of the obstacle contour points under a measurement coordinate system based on the relative position relationship, and obtaining coordinate values of a plurality of obstacles to be evaluated.
Further, for the k-th observation sample, after rotating yawtrjk around the vehicle coordinate system counterclockwise, the coordinate values of the x axis and the y axis are added with xtrjk and ytrjk, respectively, to obtain the coordinate values of the contour point of the obstacle under the measurement coordinate system: (xtcilk, ytcilk).
As introduced above, the obstacle contour plot consists of a plurality of contour points of the obstacle. In an optional embodiment of the present invention, when the step S110 evaluates the coordinate values of the obstacle to be evaluated based on the obstacle contour coordinate graph, the method may include:
s2-1, for any one obstacle coordinate value to be evaluated, selecting two obstacle contour points closest to the obstacle coordinate value to be evaluated in the obstacle contour coordinate graph, and calculating the vertical distance between the obstacle coordinate value to be evaluated and a connecting line of the two obstacle contour points;
and S2-2, evaluating the coordinate values of the obstacles to be evaluated according to the vertical distance corresponding to the coordinate values of the obstacles to be evaluated.
Using the kth obstacle coordinate value (xtcilk, ytcilk) meeting the time requirement in the measurement coordinate system obtained in the step S1-4, calculating the distance between the coordinate point in the measurement coordinate system corresponding to the obstacle coordinate value to be evaluated and the peripheral obstacle contour point to obtain two closest-distance obstacle contour points, calculating and recording the distance d between the (xtcilk, ytcilk) and the connecting line of the two points, and recording the required contour point if the maximum deviation distance 10cm between the required detected obstacle contour point and the real obstacle contour point is the detection result meeting the requirement. In this embodiment, the evaluated corresponding contour points are compared with the labels, and a point with a small difference between the two points is selected as a point meeting the requirement, so that the evaluation can be accurately performed.
Assuming that the whole test evaluation process has N measurement samples meeting the time requirement, and N contour points have the distance deviation within 10 cm. As shown in fig. 7, point a is a coordinate point in the measurement coordinate system corresponding to the coordinate value of the obstacle to be evaluated, two obstacle contour points closest to point a are a closest contour point 1 and a closest contour point 2, respectively, and the distance from point a to the connection line between the closest contour point 1 and the closest contour point 2 is calculated to be 5cm, which indicates that point a meets the requirement. Similarly, the other obstacle coordinate values to be evaluated are calculated and evaluated in the same manner.
In the embodiment of the invention, the evaluation of the coordinate values of all the obstacles to be evaluated can be realized by selecting three modes.
In the first mode, a plurality of to-be-evaluated obstacle coordinate values with the vertical distance smaller than the set distance are recorded as qualified to-be-evaluated obstacle coordinate values; and evaluating the coordinate values of the obstacles to be evaluated based on the proportion of the qualified coordinate values of the obstacles to be evaluated in the coordinate values of the obstacles to be evaluated. That is, the yield, N/N, indicates the ratio at which the ultrasonic detection result satisfies the requirement.
In a second way, the average value of a plurality of vertical distances is calculated; and evaluating the coordinate value of the obstacle to be evaluated according to the average value. The average value may represent an overall level of distance deviation of the detected profile and the real profile.
In a third mode, calculating standard deviations of a plurality of vertical distances; and evaluating the parking space detection performance of the detected vehicle according to the standard deviation. The standard deviation represents the fluctuation range of the distance deviation, i.e., the stability of detecting an obstacle.
In practical applications, when the coordinate value of the obstacle to be evaluated is evaluated, one or more of the three ways mentioned in the above embodiments may be selected, and the invention is not limited thereto.
The embodiment of the invention provides a method for evaluating the parking space detection performance, which is used for evaluating the parking space detection performance of a detected vehicle by accurately acquiring the coordinate values of obstacles around the detected vehicle and evaluating the coordinate values by utilizing a pre-acquired obstacle outline coordinate graph to obtain an evaluation result. Based on the method provided by the embodiment, the position information of the obstacles, such as the vehicle, the road edge and the wall surface around the parking space can be accurately provided in real time, real-time reference is provided for the automatic parking system based on the parking space detection function, and the performance of the function is evaluated. The parking space surrounding obstacle position accuracy is high, and the evaluation process has the characteristics of high efficiency and low cost. The method has an important function for evaluating or checking the performance of the parking space detection function, can be applied to actual development and test tasks as a production tool, and further can provide convenience for relevant companies and personnel such as a function development manufacturer, a system demand checking party and the like.
An alternative embodiment of the present invention further provides a computer-readable storage medium, wherein at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the storage medium, and the at least one instruction, at least one program, a set of codes, or a set of instructions is loaded by a processor and executes the laser point cloud registration method according to any one of the above embodiments.
An optional embodiment of the present invention further provides an electronic device, which includes a processor and a memory, where the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the laser point cloud registration method according to any one of the above embodiments.
It can be clearly understood by those skilled in the art that the specific working process of the system described above may refer to the corresponding process in the foregoing method embodiments, and for the sake of brevity, no further description is provided herein.
Those of ordinary skill in the art will understand that: the above-described method, if implemented in software and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computing device (e.g., a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention when the instructions are executed. And the aforementioned storage medium includes: u disk, removable hard disk, Read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disk, and other various media capable of storing program code.
Alternatively, all or part of the steps of implementing the foregoing method embodiments may be implemented by hardware (such as a computing device, e.g., a personal computer, a server, or a network device) associated with program instructions, which may be stored in a computer-readable storage medium, and when the program instructions are executed by a processor of the computing device, the computing device executes all or part of the steps of the method according to the embodiments of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments can be modified or some or all of the technical features can be equivalently replaced within the spirit and principle of the present invention; such modifications or substitutions do not depart from the scope of the present invention.
Claims (11)
1. A parking space detection performance evaluation method comprises the following steps:
establishing a measured coordinate system and a vehicle coordinate system based on a parking space detection performance evaluation system established in a preset test field;
determining an obstacle arranged in the preset test site, and acquiring an obstacle outline coordinate graph of the obstacle in the measurement coordinate system, which is detected by the parking space detection performance evaluation system;
obtaining the obstacle detection result of the parking space detection system of the detected vehicle on the preset test site; the obstacle detection result comprises an obstacle detection coordinate value in the vehicle coordinate system;
converting the obstacle detection coordinate value in the vehicle coordinate system into an obstacle coordinate value to be evaluated in the measurement coordinate system;
and evaluating the coordinate value of the obstacle to be evaluated based on the obstacle contour coordinate graph, and taking an evaluation result as an evaluation result of the parking space detection performance of the detected vehicle.
2. The method of claim 1, wherein the parking space detection performance evaluation system comprises a base station subsystem, a subsystem of a detected vehicle mobile station, a subsystem of an obstacle vehicle mobile station, and a subsystem of a mobile dotting mobile station;
the base station subsystem comprises a first main antenna; the first main antenna is arranged at any point selected in a preset test field;
the subsystem of the mobile station of the tested vehicle comprises the tested vehicle, a second main antenna and a first auxiliary antenna; the second main antenna and the first auxiliary antenna are fixed on the roof of the vehicle to be detected, the center of the second main antenna is superposed with the center of the rear shaft of the vehicle to be detected at a ground projection point at the ground projection point, the first auxiliary antenna is positioned in front of the second main antenna, and the projection line of the connecting line of the second main antenna and the first auxiliary antenna on the ground is superposed with the projection line of the middle shaft of the vehicle to be detected on the ground;
the barrier vehicle mobile station subsystem comprises a barrier vehicle, a third main antenna and a second auxiliary antenna; the third main antenna and the second auxiliary antenna are fixed on the roof of the barrier vehicle, the center of the third main antenna is superposed with the center of the rear shaft of the barrier vehicle at a ground projection point, the second auxiliary antenna is positioned in front of the third main antenna, and the projection line of the connecting line of the third main antenna and the second auxiliary antenna on the ground is superposed with the projection line of the middle shaft of the barrier vehicle on the ground;
the mobile dotting mobile station subsystem comprises a fourth main antenna.
3. The method of claim 2, wherein establishing a measurement coordinate system and a vehicle coordinate system comprises:
establishing a two-dimensional measurement coordinate system by taking the position of the first main antenna in the preset test site as an original point, the positive north direction as the x-axis direction and the positive west direction as the y-axis direction;
for a detected vehicle, establishing a two-dimensional detected vehicle coordinate system by taking the position of a second main antenna of the detected vehicle mobile station subsystem as a coordinate origin, taking the direction from a connecting line of the second main antenna and a first auxiliary antenna to the head of the detected vehicle as an x-axis direction, and the left direction of a vehicle body as a y-axis direction;
and for the barrier vehicle, establishing a two-dimensional barrier vehicle coordinate system by taking the position of a third main antenna of the barrier vehicle mobile station subsystem as a coordinate origin, taking the connecting line of the third main antenna and a second auxiliary antenna as an x axis towards the head square of the detected vehicle, and taking the sitting direction of the vehicle body as a y axis.
4. The method of claim 3, wherein the obstacle comprises an obstacle vehicle, a wall surface, and/or a curb;
the acquiring of the obstacle contour coordinate graph of the obstacle in the measurement coordinate system, which is detected by the parking space detection performance evaluation system, includes:
for the obstacle vehicle, obtaining coordinate values of a fourth main antenna in the mobile dotting mobile station subsystem at intervals along the outline of the obstacle vehicle in the obstacle vehicle coordinate system, converting the coordinate values into a measurement coordinate system through coordinate conversion, and generating an outline coordinate graph of the obstacle vehicle in the measurement coordinate system;
and for the wall surface and/or the road edge, obtaining coordinate values of a fourth main antenna in the mobile dotting mobile station subsystem at the measurement coordinate system along the interval placement position of the wall surface and/or the road edge, and generating a contour coordinate graph of the wall surface and/or the road edge.
5. The method of claim 3, wherein the obtaining of the obstacle detection result of the parking space detection system of the vehicle under test on the preset test site comprises:
and obtaining the coordinate values of the obstacle contour points of the detected vehicle in the coordinate system of the detected vehicle, which are detected by the parking space detection system of the detected vehicle at each moment.
6. The method of claim 5, wherein converting the obstacle detection coordinate values in the vehicle coordinate system to obstacle coordinate values to be evaluated in the measurement coordinate system comprises:
acquiring the relative position relation between the coordinate system of the vehicle to be detected and the measurement coordinate system detected by the parking space detection performance evaluation system at each moment; the relative position relation comprises a position coordinate of an original point of the measured vehicle coordinate system in the measurement coordinate system and an included angle between an x axis of the measured vehicle coordinate system and the x axis of the measurement coordinate system;
selecting coordinate values and relative position relations of the obstacle contour points at all moments with the detection time difference between the parking space detection system of the detected vehicle and the parking space detection performance evaluation system smaller than set time, and generating a plurality of groups of observation samples;
and for any group of observation samples, converting the coordinate values of the obstacle contour points into coordinate values of the obstacle contour points under the measurement coordinate system based on the relative position relationship to obtain coordinate values of a plurality of obstacles to be evaluated.
7. The method of claim 6, wherein the obstacle contour plot consists of a plurality of obstacle contour points;
evaluating the parking space detection performance of the detected vehicle based on the obstacle contour coordinate graph and the obstacle coordinate value to be evaluated comprises the following steps:
for any obstacle coordinate value to be evaluated, selecting two obstacle contour points closest to the obstacle coordinate value to be evaluated in the obstacle contour coordinate graph, and calculating the vertical distance between the obstacle coordinate value to be evaluated and a connecting line of the two obstacle contour points;
and evaluating the coordinate values of the obstacles to be evaluated according to the vertical distance corresponding to the coordinate values of the obstacles to be evaluated.
8. The method according to claim 7, wherein evaluating the obstacle coordinate values to be evaluated according to the vertical distance corresponding to each obstacle coordinate point to be evaluated comprises:
recording a plurality of to-be-evaluated obstacle coordinate values with the vertical distance smaller than the set distance as qualified to-be-evaluated obstacle coordinate values;
and evaluating the coordinate value of the obstacle to be evaluated based on the proportion of the qualified coordinate value of the obstacle to be evaluated in the coordinate value of the obstacle to be evaluated.
9. The method of claim 7, wherein evaluating the parking space detection performance of the vehicle under test according to the vertical distance corresponding to each obstacle coordinate value to be evaluated comprises:
calculating an average of a plurality of the vertical distances;
and evaluating the coordinate value of the obstacle to be evaluated according to the average value.
10. The method of claim 7, wherein evaluating the parking space detection performance of the vehicle under test according to the vertical distance corresponding to each obstacle coordinate value to be evaluated comprises:
calculating a standard deviation of a plurality of the vertical distances;
and evaluating the parking space detection performance of the detected vehicle according to the standard deviation.
11. An electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the parking space detection performance evaluation method according to any one of claims 1 to 10.
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