CN111591283A

CN111591283A - Method, device and system for monitoring vehicle motion trail

Info

Publication number: CN111591283A
Application number: CN202010287126.7A
Authority: CN
Inventors: 高通; 尚岩巍; 白金彪; 魏宏; 范志超; 许东春; 马炳旭; 张永财; 高莎莎; 郝鹏
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2020-04-13
Filing date: 2020-04-13
Publication date: 2020-08-28
Also published as: WO2021208886A1

Abstract

The invention provides a method, a device and a system for monitoring a vehicle motion trail, which comprises the following steps: acquiring vehicle position data and target parking space position data; establishing a coordinate system for the vehicle according to the vehicle position data; determining the type of the target parking space and the relative position information of the target parking space and the vehicle according to the position data of the target parking space and the information of the coordinate system; and sending the relative position information, the information of the coordinate system and the type of the target parking space to the mobile terminal. In the invention, the vehicle can send the relative position information, the information of the coordinate system and the type of the target parking space determined according to the vehicle position data and the target parking space position data to the mobile terminal, so that the mobile terminal can generate the animation representing the vehicle motion track of the vehicle in the automatic parking process and display the animation to a user, and the user can obtain the vehicle motion track in real time through the mobile terminal and carry out corresponding operation, thereby improving the safety of the automatic parking process.

Description

Method, device and system for monitoring vehicle motion trail

Technical Field

The invention relates to the technical field of automobiles, in particular to a method, a device and a system for monitoring a vehicle motion track.

Background

With the improvement of living standard of people, automobiles become an indispensable tool for people to go out, but because the parking space of a city is limited, a parking space is searched in the limited parking space, and successful parking is a problem often faced by a driver, so that the remote control automatic parking technology is rapidly developed.

In the existing remote control automatic parking technology, after a mobile terminal is in communication connection with an automatic parking system controller of an automobile, a driver can start an automatic parking function by using the mobile terminal, so that automatic parking can be started, in the automatic parking process, after sensors of the automobile detect available parking spaces, the automatic parking system controller of the automobile automatically controls related systems of the automobile to complete the automatic parking process, or after the automatic parking system controller receives a control instruction input by a user through the mobile terminal, such as stopping or continuing automatic parking, the related systems of the automobile are controlled to execute corresponding actions, so that the automatic parking process is completed, and in the process, state information of the automobile, such as automatic parking, stopping parking and the like, can be displayed in the mobile terminal.

However, in the current scheme, only the state information of the vehicle is displayed in the mobile terminal, so that the user can only determine whether the vehicle is currently in a safe position by observing the actual running track of the vehicle relative to the parking space.

Disclosure of Invention

In view of this, the present invention aims to provide a method, an apparatus, and a system for monitoring a vehicle motion trajectory, so as to solve the problem in the prior art that in an automatic parking process, a user cannot obtain the vehicle motion trajectory in real time through a mobile terminal, so that the user cannot perform corresponding operations according to the vehicle motion trajectory in time, thereby resulting in a low safety in the automatic parking process.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a method for monitoring a motion track of a vehicle is applied to the vehicle, and comprises the following steps:

under the condition of receiving an automatic parking starting instruction, acquiring vehicle position data and target parking space position data acquired by a vehicle sensor;

establishing a coordinate system for the vehicle according to the vehicle position data;

determining the type of a target parking space and the relative position information of the target parking space and the vehicle in the coordinate system according to the position data of the target parking space and the information of the coordinate system;

and sending the relative position information, the information of the coordinate system and the type of the target parking space to a mobile terminal.

A method for monitoring a vehicle motion track is applied to a mobile terminal, and comprises the following steps:

receiving relative position information, information of a coordinate system and the type of a target parking space which are sent by a vehicle;

determining the motion track of the vehicle according to the relative position information and the information of the coordinate system;

generating an animation of the vehicle model running to the target parking space model along the motion track according to the motion track, a preset vehicle model and the target parking space model corresponding to the type of the target parking space;

and displaying the animation.

An apparatus for monitoring a motion trajectory of a vehicle, applied to the vehicle, the apparatus comprising:

the automatic parking system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring vehicle position data and target parking space position data acquired by a vehicle sensor under the condition of receiving an automatic parking starting instruction;

the establishing module is used for establishing a coordinate system aiming at the vehicle according to the vehicle position data;

the first determining module is used for determining the type of the target parking space and the relative position information of the target parking space and the vehicle in the coordinate system according to the target parking space position data and the information of the coordinate system;

and the first sending module is used for sending the relative position information, the information of the coordinate system and the type of the target parking space to a mobile terminal.

An apparatus for monitoring a motion trail of a vehicle, applied to a mobile terminal, the apparatus comprising:

the first receiving module is used for receiving the relative position information, the information of the coordinate system and the type of the target parking space sent by the vehicle;

the third determining module is used for determining the motion track of the vehicle according to the relative position information and the information of the coordinate system;

the first generation module is used for generating an animation of the vehicle model running to the target parking space model along the motion track according to the motion track, a preset vehicle model and the target parking space model corresponding to the type of the target parking space;

and the first display module is used for displaying the animation.

A system for monitoring a vehicle motion profile, the system comprising: the system comprises a vehicle and a mobile terminal, wherein the vehicle is in communication connection with the mobile terminal;

the method comprises the steps that under the condition that an automatic parking starting instruction is received by a vehicle, vehicle position data and target parking space position data collected by a vehicle sensor are obtained;

the vehicle establishes a coordinate system for the vehicle according to the vehicle position data;

the vehicle determines the type of a target parking space and the relative position information of the target parking space and the vehicle in the coordinate system according to the target parking space position data and the information of the coordinate system;

the vehicle sends the relative position information, the information of the coordinate system and the type of the target parking space to the mobile terminal;

the mobile terminal receives the relative position information, the information of the coordinate system and the type of the target parking space sent by the vehicle;

the mobile terminal determines the motion track of the vehicle according to the relative position information and the information of the coordinate system;

the mobile terminal generates an animation of the vehicle model running to the target parking space model along the motion track according to the motion track, a preset vehicle model and the target parking space model corresponding to the type of the target parking space;

and the mobile terminal displays the animation.

Compared with the prior art, the method, the device and the system for monitoring the vehicle motion trail have the following advantages:

the embodiment of the invention provides a method, a device and a system for monitoring a vehicle motion trail, which comprises the following steps: under the condition of receiving an automatic parking starting instruction, acquiring vehicle position data and target parking space position data acquired by a vehicle sensor; establishing a coordinate system for the vehicle according to the vehicle position data; determining the type of the target parking space and the relative position information of the target parking space and the vehicle in the coordinate system according to the position data of the target parking space and the information of the coordinate system; and sending the relative position information, the information of the coordinate system and the type of the target parking space to the mobile terminal. According to the invention, a vehicle can establish a coordinate system for the vehicle according to vehicle position data and target parking space position data acquired by a vehicle sensor, the type of the target parking space and relative position information between the vehicle and the target parking space in the coordinate system are determined, and the relative position information, the information of the coordinate system and the type of the target parking space are sent to the mobile terminal, so that the mobile terminal can generate animation representing the vehicle motion track of the vehicle in the automatic parking process according to the received relative position information, the information of the coordinate system and the type of the target parking space and display the animation to a user, so that the user can monitor the motion track of the vehicle in the parking process in real time through the mobile terminal, and can timely perform corresponding operation according to the vehicle motion track, thereby improving the safety of the automatic parking process.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a flowchart illustrating steps of a method for monitoring a vehicle motion trajectory according to an embodiment of the present invention;

FIG. 2 is a simplified schematic diagram of a system for monitoring a vehicle motion trajectory according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a display interface of a mobile terminal according to an embodiment of the present invention;

FIG. 4 is a flowchart illustrating steps of another method for monitoring a vehicle motion profile according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a motion trajectory according to an embodiment of the present invention;

FIG. 6 is a flowchart illustrating interaction steps of a method for monitoring a vehicle motion trajectory according to an embodiment of the present invention;

fig. 7 is a schematic diagram of another display interface of a mobile terminal according to an embodiment of the present invention;

fig. 8 is a schematic diagram of another display interface of a mobile terminal according to an embodiment of the present invention;

fig. 9 is a schematic diagram of displaying alarm information according to an embodiment of the present invention;

fig. 10 is a block diagram illustrating an apparatus for monitoring a motion trajectory of a vehicle according to an embodiment of the present invention;

fig. 11 is a block diagram of another apparatus for monitoring a motion trajectory of a vehicle according to an embodiment of the present invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1, a flowchart illustrating steps of a method for monitoring a vehicle motion trajectory according to an embodiment of the present invention is shown.

The embodiment of the invention provides a method for monitoring a vehicle motion track, which is applied to a vehicle.

Step 101, acquiring vehicle position data and target parking space position data collected by a vehicle sensor under the condition of receiving an automatic parking starting instruction.

In this step, the vehicle may acquire the vehicle position data and the target parking space position data collected by the vehicle sensor when receiving the automatic parking start instruction.

The automatic parking start instruction may include any one of an automatic parking start instruction and an automatic parking start instruction.

Specifically, referring to fig. 2, which shows an architecture diagram of a system for monitoring a vehicle motion trajectory according to an embodiment of the present invention, as shown in fig. 2, the automatic parking start instruction may be an automatic parking start instruction generated by an automatic parking system controller 50 (APA ECU) on the vehicle 40 after receiving a preset operation input by a user through a mobile phone software 10 (APP) in the mobile terminal 30 and acquiring gear information of the vehicle from a vehicle Transmission Control Unit 80(Transmission Control Unit, TCU).

Referring to fig. 2, an Electronic Stability Program (ESP) system 90 for vehicle body is used to feed back the information of the vehicle driving distance and perform braking, and if the user determines that the vehicle is in a dangerous state during automatic parking, the ESP90 of the vehicle may perform braking of the vehicle; the Transmission control unit 90 (TCU) is configured to feed back current gear information and perform target gear switching, and the automatic parking may include automatic parking and automatic parking processes, so that the vehicle may determine, according to the TCU90, which parking state the vehicle is currently in, thereby performing different operations; an Electric Power Steering (EPS) system 80 is used for feeding back Steering wheel angle information and executing Steering wheel rotation, and is used for adjusting the angle of a vehicle Steering wheel according to a received parking instruction in an automatic parking process, so that automatic parking can be successfully completed; and the Electronic Control Unit (ECU) is used for feeding back the state of the engine, executing engine flameout and carrying out state interaction with the PEPS.

In an embodiment of the present invention, the vehicle 40 may acquire the vehicle position data and the target parking space position data collected by the vehicle SENSOR 60(SENSOR) through the APAECU50, wherein the vehicle SENSOR 60 may include an ultrasonic SENSOR for detecting obstacles around the vehicle and an image SENSOR for detecting the environment around the vehicle.

Specifically, the process of acquiring the vehicle position data and the target parking space position data by the vehicle is to detect whether an effective space matched with the target parking space in size does not have an obstacle exists in the environment around the vehicle through a vehicle sensor, and determine the position data of the current position of the vehicle by taking the determined effective space as the target parking space, wherein the position data may be position data of the current positions of a plurality of components in the vehicle, such as position data of four sides of the vehicle.

Correspondingly, the target parking space position data can also be acquired through a vehicle sensor, for example, when the target parking space is an effective space with a rectangular structure, the target parking space position data can be position data of four sides of the target parking space.

Preferably, the effective space may be a space having a rectangular space size, the space size may be determined according to a specific vehicle model parameter, and the space size may be: 6 m 2.7 m.

And 102, establishing a coordinate system aiming at the vehicle according to the vehicle position data.

In this step, the vehicle may establish a coordinate system for the vehicle according to the acquired vehicle position data.

Optionally, the coordinate system may be a cartesian coordinate system, and referring to fig. 3, a schematic diagram of a display interface of a mobile terminal according to an embodiment of the present invention is shown, as shown in fig. 3, a coordinate system for the vehicle is established with an intersection point of an axis of a rear axle of the vehicle and a longitudinal center line of the vehicle as an origin, a direction in which the longitudinal center line points at a head of the vehicle as an X-axis positive direction, and a direction in which the axis points at a right-side vehicle body of the vehicle as a Y-axis positive direction, where the right-side vehicle body refers to a vehicle body on a right side of the vehicle when the tail of the vehicle points at the head of the vehicle.

Specifically, if the vehicle position data acquired by the vehicle is position data of four sides of the vehicle, since the size of the vehicle can be determined after the vehicle leaves the factory, the data of the rear axle of the vehicle and the longitudinal center line of the vehicle can be determined according to the position data of the four sides of the vehicle, and then the intersection point of the axis of the rear axle of the vehicle and the longitudinal center line of the vehicle is determined, the intersection point is used as the origin of the coordinate system, the direction in which the longitudinal center line points to the head of the vehicle is used as the positive X-axis direction of the coordinate system, and the direction in which the axis points to the right body of the vehicle is used as the positive Y-axis direction of the coordinate system, wherein the right body refers to the right body of the vehicle when the tail of the vehicle points to the head of.

And 103, determining the type of the target parking space and the relative position information of the target parking space and the vehicle in the coordinate system according to the position data of the target parking space and the information of the coordinate system.

In this step, the vehicle may determine the type of the target parking space and the relative position information of the target parking space and the vehicle in the coordinate system according to the acquired target parking space position data and by combining the coordinate system established in step 102.

Optionally, the types of the target parking spaces include a horizontal parking space type and a vertical parking space type.

Specifically, the vehicle determines the type of the target parking space according to the position data of the target parking space and the information of the coordinate system, which may be determined according to an included angle between a long edge of the target parking space and the positive direction of the X axis. As shown in fig. 3, if the target parking space acquired by the vehicle is C, the long edge of the target parking space is AB, an included angle between the long edge AB of the target parking space and the positive direction of the X-axis is α, and α is smaller than 90 degrees, so that the type of the target parking space is a horizontal parking space type.

Optionally, the relative position information includes: and the coordinate data of the calibration point of the target parking space in the coordinate system and the included angle between the target side edge of the target parking space and the Y axis.

Specifically, the process of determining the relative position information of the target parking space and the vehicle in the coordinate system by the vehicle according to the target parking space position data and the information of the coordinate system may be determining a fixed calibration point in the target parking space, coordinate data in the coordinate system, and an included angle between the target side edge of the target parking space and the Y axis of the coordinate system is determined, wherein, if the type of the target parking space is a horizontal parking space type, the target side edge of the target parking space is the long edge of the target parking space, if the type of the target parking space is a vertical parking space type, if the target parking space acquired by the vehicle is a horizontal parking space C and it is determined that a fixed calibration point in the target parking space is T, then the relative position information of the target parking space C and the vehicle in the coordinate system is: the coordinate data (E, F) of the index point T, and the angle beta between the target side AB and the Y-axis of the coordinate system.

It should be noted that after the type of the target parking space and the relative position information of the target parking space with the vehicle in the coordinate system are determined, the position of the target parking space displayed in the interface of the mobile terminal for monitoring the vehicle motion track can be uniquely determined, specifically, the position of the target parking space can be determined according to the coordinate data (E, F) of the designated point in the target parking space, the display shape of the target parking space can be determined according to the type of the target parking space, and the display angle of the target parking space can be determined according to the included angle between the target side edge of the target parking space and the Y axis of the coordinate system.

And 104, sending the relative position information, the information of the coordinate system and the type of the target parking space to a mobile terminal.

In the embodiment of the present invention, referring to fig. 2, the mobile terminal 30 and the vehicle 40 may perform communication connection and information transmission through bluetooth, specifically, the mobile terminal 30 may include a mobile phone APP10 and a software development Kit 20 (SDK), where the SDK20 and the vehicle bluetooth module 110 together form a bluetooth key for providing an interface for information interaction between the mobile phone APP10 and the vehicle bluetooth module 110 and performing secure encryption for communication; the vehicle 40 is provided with a bluetooth module 110, so the information transmission process between the mobile terminal and the vehicle is specifically as follows: the mobile phone APP10 forwards information to be transmitted to the Bluetooth module 110 on the vehicle 40 through the SDK20, and the Bluetooth module 110 sends the information to the APA ECU50 through the whole vehicle network, so that the APA ECU50 and each associated system in the vehicle can perform information transmission through the whole vehicle network, and thus, the two-way communication of data between the mobile phone APP10 and each associated system in the vehicle can be completed.

In this step, the vehicle may send the determined relative position information, the information of the coordinate system, and the type of the target parking space to the mobile phone APP10 in the mobile terminal 30 through the bluetooth module 110 and the SDK 20.

In summary, the method, the apparatus, and the system for monitoring the vehicle motion trajectory provided in the embodiments of the present invention are applied to a vehicle, and include: under the condition of receiving an automatic parking starting instruction, acquiring vehicle position data and target parking space position data acquired by a vehicle sensor; establishing a coordinate system for the vehicle according to the vehicle position data; determining the type of the target parking space and the relative position information of the target parking space and the vehicle in the coordinate system according to the position data of the target parking space and the information of the coordinate system; and sending the relative position information, the information of the coordinate system and the type of the target parking space to the mobile terminal. In the embodiment of the invention, the vehicle can establish a coordinate system for the vehicle according to the vehicle position data and the target parking space position data acquired by the vehicle sensor, determine the type of the target parking space, and the relative position information between the vehicle and the target parking space in the coordinate system, and send the relative position information, the information of the coordinate system and the type of the target parking space to the mobile terminal, so that the mobile terminal can generate the animation representing the vehicle motion track of the vehicle in the automatic parking process according to the received relative position information, the information of the coordinate system and the type of the target parking space, and display the animation to the user, so that the user can monitor the motion track of the vehicle in the parking process in real time through the mobile terminal, and can timely perform corresponding operation according to the vehicle motion track, and the safety of the automatic parking process is improved.

Referring to fig. 4, a flowchart illustrating steps of another method for monitoring a vehicle motion trajectory according to an embodiment of the present invention is shown.

The embodiment of the invention provides a method for monitoring a vehicle motion track, which is applied to a mobile terminal.

Step 201, receiving the relative position information, the information of the coordinate system and the type of the target parking space sent by the vehicle.

In this step, the mobile terminal may transmit the relative position information, the information of the coordinate system, and the type of the target parking space by the vehicle.

Specifically, referring to fig. 2, the vehicle may send the determined relative position information, the information of the coordinate system, and the type of the target parking space to the mobile phone APP10 in the mobile terminal 30 through the bluetooth module 110 and the SDK20, so that the mobile phone APP10 in the mobile terminal 30 may receive the relative position information, the information of the coordinate system, and the type of the target parking space determined by the vehicle.

And step 202, determining the motion track of the vehicle according to the relative position information and the information of the coordinate system.

In this step, the mobile terminal may determine, according to the received plurality of pieces of relative position information and the information of the coordinate system, a change situation of the position of the vehicle relative to the target parking space in the automatic parking process, so as to determine a motion trajectory of the vehicle in the automatic parking process.

Referring to fig. 5, a schematic diagram of a motion trajectory according to an embodiment of the present invention is shown, as shown in fig. 5, in an automatic parking process in which a vehicle is parked in a horizontal parking space from a current position, a motion trajectory of a certain point on the vehicle may be used as the motion trajectory of the vehicle, since a plurality of pieces of relative position information received by a mobile terminal are position information of a calibration point T in the horizontal parking space, and the calibration point T is an intersection point of an axis of a rear wheel axle of the vehicle and a longitudinal centerline of the vehicle when distances between respective side surfaces of the vehicle and respective side edges of the corresponding horizontal parking space are the same, that is, when the vehicle is completely parked at a center of a target parking space, a motion path P during the automatic parking process may be used as the motion trajectory of the vehicle.

Step 203, generating an animation of the vehicle model moving to the target parking space model along the motion track according to the motion track, a preset vehicle model and the target parking space model corresponding to the type of the target parking space.

In this step, the mobile terminal may generate an animation in which the vehicle model moves to the target parking space model along the motion trajectory according to the determined motion trajectory, a preset vehicle model, and the target parking space model corresponding to the type of the target parking space.

The vehicle model may be a picture of a vehicle preset in the mobile terminal, and the target parking space model may also be a picture of a parking space preset in the mobile terminal, referring to fig. 3, the vehicle model is a vehicle schematic diagram D with a certain size, and the target parking space model is a rectangular structure C with a certain size and a hatching filled inside.

Preferably, the vehicle model is always positioned in the middle of the display interface in the animation of the automatic parking process displayed in the display interface of the mobile terminal according to an image processing technology, so that a user can more conveniently see the state of the vehicle.

And step 204, displaying the animation.

In the step, the mobile terminal can display the animation in a display interface of the mobile terminal, so that a user can monitor the motion track of the vehicle in the parking process in real time through the animation displayed in the display interface of the mobile terminal.

In summary, the method, the apparatus, and the system for monitoring the vehicle motion trail provided by the embodiment of the present invention are applied to a mobile terminal, and include: receiving relative position information, information of a coordinate system and the type of a target parking space which are sent by a vehicle; determining the motion track of the vehicle according to the relative position information and the information of the coordinate system; generating an animation of a vehicle running to a target parking space model along the motion track according to the motion track, a preset vehicle model and the target parking space model corresponding to the type of the target parking space; and displaying the animation. In the embodiment of the invention, the vehicle can establish a coordinate system for the vehicle according to the vehicle position data and the target parking space position data acquired by the vehicle sensor, determine the type of the target parking space, and the relative position information between the vehicle and the target parking space in the coordinate system, and send the relative position information, the information of the coordinate system and the type of the target parking space to the mobile terminal, so that the mobile terminal can generate the animation representing the vehicle motion track of the vehicle in the automatic parking process according to the received relative position information, the information of the coordinate system and the type of the target parking space, and display the animation to the user, so that the user can monitor the motion track of the vehicle in the parking process in real time through the mobile terminal, and can timely perform corresponding operation according to the vehicle motion track, and the safety of the automatic parking process is improved.

Referring to fig. 6, a flowchart illustrating interaction steps of a method for monitoring a vehicle motion trajectory according to an embodiment of the present invention is shown.

The method for monitoring the vehicle motion trail provided by the embodiment of the invention is applied to a system comprising a mobile terminal and a vehicle for monitoring the vehicle motion trail.

Step 301, when the vehicle receives an automatic parking start instruction, acquiring vehicle position data and target parking space position data acquired by a vehicle sensor.

This step may specifically refer to step 101, which is not described herein again.

And step 302, the vehicle establishes a coordinate system for the vehicle by taking the intersection point of the axis of the rear wheel shaft of the vehicle and the longitudinal center line of the vehicle as an origin, the direction in which the longitudinal center line points to the head of the vehicle as the positive direction of the X axis, and the direction in which the axis points to the right body of the vehicle as the positive direction of the Y axis according to the vehicle position data.

In this step, the vehicle may create a Cartesian coordinate system based on the vehicle position data.

In the embodiment of the present invention, referring to fig. 3, a coordinate system for the vehicle is established with an intersection point of an axis of a rear wheel axle of the vehicle and a longitudinal center line of the vehicle as an origin, a direction in which the longitudinal center line points at a head of the vehicle as a positive X-axis direction, and a direction in which the axis points at a right side body of the vehicle as a positive Y-axis direction, the right side body being a body on a right side of the vehicle when pointing from a tail of the vehicle to the head of the vehicle.

And step 303, determining the type of the target parking space by the vehicle according to the target parking space position data and the information of the coordinate system.

In this step, the vehicle may determine the type of the target parking space based on the target parking space position data and the information of the coordinate system.

Optionally, the target parking space position data may include: in an implementation manner of the embodiment of the present invention, the step 303 may specifically include:

and a substep 3031, determining an included angle between a long edge in the target parking space and the positive direction of the X axis according to the position data of the target parking space and the information of the coordinate system.

In this step, since the target parking space has a rectangular structure, any one of the long sides of the target parking space may be determined, and an included angle between the long side and the positive direction of the X axis in the coordinate system may be determined, so as to determine the type of the target parking space according to the included angle.

And a substep 3032, determining the type of the target parking space as a horizontal parking space type under the condition that the included angle is less than or equal to 90 degrees.

In this step, if an included angle between the long side of the target parking space and the positive direction of the X axis in the coordinate system is less than or equal to 90 degrees, it may be determined that the type of the target parking space is a horizontal parking space type.

For example, referring to fig. 3, if the target parking space acquired by the vehicle is C, the long side of the target parking space is AB, the angle between the long side AB of the target parking space and the positive direction of the X-axis is α, and α is less than 90 degrees, the type of the target parking space is a horizontal parking space type.

And a substep 3033, determining the type of the target parking space as a vertical parking space type under the condition that the included angle is greater than 90 degrees.

In this step, if the included angle between the long edge of the target parking space and the positive direction of the X axis in the coordinate system is greater than 90 degrees, it may be determined that the type of the target parking space is the vertical parking space type.

For example, referring to fig. 7, a schematic diagram of another mobile terminal display interface according to the embodiment of the present invention is shown, where if the target parking space acquired by the vehicle is C, the long edge of the target parking space is AG, an included angle between the long edge AG of the target parking space and the positive direction of the X axis is α, and α is greater than 90 degrees, so that the type of the target parking space is a vertical parking space type.

For example, referring to fig. 8, a schematic diagram of another mobile terminal display interface according to an embodiment of the present invention is shown, where at this time, a vehicle is in an automatic parking process, a vehicle model D is located in a parking space model H before an automatic parking process is performed, if a target parking space acquired by the vehicle is C, a long edge of the target parking space is AB, an included angle between the long edge AB of the target parking space and a positive direction of an X axis is α, and α is greater than 90 degrees, so that the type of the target parking space is a vertical parking space type.

And 304, determining the relative position information of the target parking space and the vehicle in the coordinate system by the vehicle according to the target parking space position data and the information of the coordinate system.

Optionally, the calibration point of the target parking space is an intersection point of an axis of a rear wheel axle of the vehicle and a longitudinal center line of the vehicle when distances between each side of the vehicle and each corresponding side of the target parking space are the same.

Specifically, the process of determining the relative position information of the target parking space and the vehicle in the coordinate system by the vehicle according to the target parking space position data and the information of the coordinate system may be determining a fixed calibration point in the target parking space, coordinate data in the coordinate system, and an included angle between the target side edge of the target parking space and the Y axis of the coordinate system is determined, wherein, if the type of the target parking space is a horizontal parking space type, the target side edge of the target parking space is the long edge of the target parking space, if the type of the target parking space is a vertical parking space type, if the target parking space acquired by the vehicle is a horizontal parking space C and it is determined that a fixed calibration point in the target parking space is T, then the relative position information of the target parking space C and the vehicle in the coordinate system is: the coordinate data (E, F) of the index point T, and the angle beta between the target side AB and the Y-axis of the coordinate system. As shown in fig. 7, if the target parking space acquired by the vehicle is a vertical parking space C and it is determined that a fixed index point in the target parking space is T, the relative position information of the target parking space C and the vehicle in the coordinate system is: the coordinate data (E, F) of the index point T, and the angle beta between the target side AB and the Y-axis of the coordinate system.

And 305, the vehicle sends the relative position information, the information of the coordinate system and the type of the target parking space to a mobile terminal.

This step may specifically refer to step 104, which is not described herein again.

And step 306, the mobile terminal receives the relative position information, the information of the coordinate system and the type of the target parking space sent by the vehicle.

This step may specifically refer to step 201 described above, and is not described herein again.

And 307, the mobile terminal determines the motion track of the vehicle according to the relative position information and the information of the coordinate system.

This step may specifically refer to step 202 described above, and is not described here again.

And 308, generating an animation of the vehicle model running to the target parking space model along the motion track by the mobile terminal according to the motion track, a preset vehicle model and the target parking space model corresponding to the type of the target parking space.

This step may specifically refer to step 203, which is not described herein again.

Step 309, the mobile terminal displays the animation.

This step may specifically refer to step 204, which is not described herein again.

Step 310, a vehicle acquires obstacle data of the periphery of the vehicle, which is acquired by the vehicle sensor, and the installation position of the vehicle sensor on the vehicle.

In an embodiment of the present invention, after step 305, the vehicle may perform step 310.

In this step, the vehicle can detect whether there is an obstacle in the environment around the vehicle and the distance of the obstacle from the vehicle by an ultrasonic sensor in the vehicle.

In the embodiment of the invention, the vehicle can be respectively provided with a sensor No. 1 and a sensor No. 4 at the two sides of the head, a sensor No. 2 and a sensor No. 3 at the middle part of the head, a sensor No. 5 and a sensor No. 8 at the two sides of the tail, a sensor No. 6 and a sensor No. 7 at the middle part of the tail, and a plurality of sensors can respectively detect the obstacle data of the vehicle in a plurality of directions.

And 311, determining alarm information corresponding to the obstacle data by the vehicle according to a preset corresponding relation between the obstacle data and the alarm information.

In this step, after the vehicle acquires the obstacle data of the periphery of the vehicle detected by the vehicle sensor, the warning information corresponding to the obstacle data detected by the vehicle sensor may be determined according to a correspondence between the obstacle data and the warning information set in advance.

Specifically, referring to table 1, a preset corresponding relationship between obstacle data and alarm information provided by an embodiment of the present invention is shown, for example, for a number 1 sensor and a number 4 sensor respectively installed at two sides of a vehicle head, if a vehicle does not receive obstacle data collected and sent by the number 1 sensor and the number 4 sensor, that is, a signal received by the vehicle is "0-No", there is No corresponding alarm information; if the signals sent by the sensor No. 1 and the sensor No. 4 received by the vehicle are '0 x1: zone 1, 0-10 cm', the corresponding obstacle data are that the obstacle is detected in the area (namely zone 1) 0-10 cm away from the two sides of the vehicle head, and the corresponding alarm information is red; if the signals sent by the sensor No. 1 and the sensor No. 4 received by the vehicle are '0 x4: zone 4, 31-40 cm', the corresponding obstacle data are that the obstacle is detected in the area (namely zone 4) 31-40 cm away from the two sides of the vehicle head, and the corresponding alarm information is yellow; if the signals sent by the sensor No. 1 and the sensor No. 4 received by the vehicle are N/A, the fact that the area exceeds the preset detection range of the sensor is indicated, and no alarm information is generated correspondingly.

It should be noted that, because the installation positions of the sensors on the vehicle are different, the detection ranges preset for the sensors are also different in the automatic parking process, and the corresponding detection ranges can be determined as required, as shown in table 1, the sensors No. 1 and No. 4 only detect the obstacle data within a range of 51-60 cm from the two sides of the vehicle head, the sensors No. 2 and No. 3 only detect the obstacle data within a range of 91-100 cm from the middle of the vehicle head, the sensors No. 5 and No. 8 only detect the obstacle data within a range of 51-60 cm from the two sides of the vehicle tail, and the sensors No. 2 and No. 3 only detect the obstacle data within a range of 141-150 cm from the middle of the vehicle head.

TABLE 1

And step 312, the vehicle sends the alarm information and the installation position to the mobile terminal.

In the step, the vehicle can send the determined alarm information and the installation position to a mobile phone APP in the mobile terminal through the Bluetooth module and the SDK.

And 313, the mobile terminal receives the alarm information and the installation position sent by the automatic parking controller.

And step 314, adding the alarm information to a position corresponding to the installation position on the vehicle model in the animation by the mobile terminal according to the installation position to generate an alarm animation.

In this step, the mobile terminal may add the alarm information to a position corresponding to the installation position on the vehicle model in the generated animation through an image processing technique according to the received alarm information and the installation position of the vehicle sensor corresponding to the alarm information, thereby obtaining the alarm animation on which the alarm information is displayed.

Specifically, referring to fig. 9, a schematic diagram of displaying alarm information according to an embodiment of the present invention is shown, in an animation displayed by a mobile terminal, a vehicle model D corresponds to a vehicle in an automatic parking process, and therefore, the installation positions of the vehicle sensors in the vehicle are all corresponding to the vehicle model D, and the mobile terminal may add the received alarm information to the position corresponding to the installation position on the vehicle model in the generated animation through an image processing technique, so as to obtain an alarm animation displayed with the alarm information. For example, when the No. 5 sensor and the No. 8 sensor detect that obstacles exist in the ranges of 0-10 cm, 11-20 cm, 21-30 cm, 31-40 cm, 41-50 cm and 51-60 cm away from the two sides of the tail of the vehicle, alarm information generated respectively for the positions of 0-10 cm, 11-20 cm, 21-30 cm, 31-40 cm, 41-50 cm and 51-60 cm away from the two sides of the tail of the vehicle is as follows: red, yellow and yellow, and correspondingly, on both sides of the tail of the vehicle model D in fig. 9, the positions 0 to 30 cm away from the vehicle are displayed in red, and the positions 31 to 60 cm away from the vehicle are displayed in yellow. Therefore, the user can visually judge whether obstacles exist around the vehicle and the distance between the obstacles and the vehicle through the color information displayed around the vehicle model D, and whether the vehicle is in a safe state can be quickly and conveniently judged.

And step 315, displaying the alarm animation by the mobile terminal.

In the step, the mobile terminal can display the alarm animation in a display interface of the mobile terminal, so that a user can visually know the situation of obstacles around the vehicle while monitoring the motion track of the vehicle in the parking process in real time through the alarm animation displayed in the display interface of the mobile terminal, and judge the distance between the obstacles and the vehicle according to alarm information displayed in the alarm animation, so as to judge whether the vehicle is in a safe state at the moment, further execute corresponding operation and improve the safety of the automatic parking process.

In summary, the method, the apparatus, and the system for monitoring the vehicle motion trajectory provided in the embodiments of the present invention include: under the condition of receiving an automatic parking starting instruction, acquiring vehicle position data and target parking space position data acquired by a vehicle sensor; establishing a coordinate system for the vehicle according to the vehicle position data; determining the type of the target parking space and the relative position information of the target parking space and the vehicle in the coordinate system according to the position data of the target parking space and the information of the coordinate system; and sending the relative position information, the information of the coordinate system and the type of the target parking space to the mobile terminal. In the embodiment of the invention, the vehicle can establish a coordinate system for the vehicle according to the vehicle position data and the target parking space position data acquired by the vehicle sensor, determine the type of the target parking space, and the relative position information between the vehicle and the target parking space in the coordinate system, and send the relative position information, the information of the coordinate system and the type of the target parking space to the mobile terminal, so that the mobile terminal can generate the animation representing the vehicle motion track of the vehicle in the automatic parking process according to the received relative position information, the information of the coordinate system and the type of the target parking space, and display the animation to the user, so that the user can monitor the motion track of the vehicle in the parking process in real time through the mobile terminal, and can timely perform corresponding operation according to the vehicle motion track, and the safety of the automatic parking process is improved.

In addition, the mobile terminal can display the alarm animation in a display interface of the mobile terminal, so that a user can visually know the situation of obstacles around the vehicle while monitoring the motion track of the vehicle in the parking process in real time through the alarm animation displayed in the display interface of the mobile terminal, and judge the distance between the obstacles and the vehicle according to the alarm information displayed in the alarm animation, so as to judge whether the vehicle is in a safe state at the moment, further execute corresponding operation and improve the safety of the automatic parking process.

On the basis of the above embodiment, the embodiment of the invention also provides a device for monitoring the motion track of the vehicle.

Referring to fig. 10, a block diagram of a device for monitoring a vehicle motion trajectory according to an embodiment of the present invention is shown, and the device may specifically include the following modules:

the first obtaining module 401 is configured to obtain vehicle position data and target parking space position data, which are acquired by a vehicle sensor, when an automatic parking start instruction is received;

an establishing module 402, configured to establish a coordinate system for the vehicle according to the vehicle position data;

optionally, the establishing module 402 includes:

and the establishing submodule is used for establishing a coordinate system for the vehicle by taking the intersection point of the axis of the rear wheel shaft of the vehicle and the longitudinal central line of the vehicle as an origin, taking the direction of the longitudinal central line pointing to the head of the vehicle as the positive direction of an X axis and taking the direction of the axis pointing to the right body of the vehicle as the positive direction of a Y axis according to the vehicle position data.

A first determining module 403, configured to determine, according to the target parking space position data and the information of the coordinate system, a type of a target parking space and relative position information of the target parking space in the coordinate system with respect to the vehicle;

optionally, the target parking space position data includes: the target parking space is in a rectangular structure according to the position data of the four side edges of the target parking space;

the first determining module 403 includes:

the first determining submodule is used for determining an included angle between a long edge in the target parking space and the positive direction of the X axis according to the position data of the target parking space and the information of the coordinate system;

the second determining submodule is used for determining that the type of the target parking space is a horizontal parking space type under the condition that the included angle is smaller than or equal to 90 degrees;

and the third determining submodule is used for determining that the type of the target parking space is the vertical parking space type under the condition that the included angle is larger than 90 degrees.

A first sending module 404, configured to send the relative position information, the information of the coordinate system, and the type of the target parking space to a mobile terminal.

Optionally, the apparatus further comprises:

the second acquisition module is used for acquiring obstacle data around the vehicle, acquired by the vehicle sensor, and the installation position of the vehicle sensor on the vehicle;

the second determination module is used for determining alarm information corresponding to the obstacle data according to the preset corresponding relation between the obstacle data and the alarm information;

and the second sending module is used for sending the alarm information and the installation position to the mobile terminal.

In summary, the present application provides a device for monitoring a vehicle movement track, including: under the condition of receiving an automatic parking starting instruction, acquiring vehicle position data and target parking space position data acquired by a vehicle sensor; establishing a coordinate system for the vehicle according to the vehicle position data; determining the type of the target parking space and the relative position information of the target parking space and the vehicle in the coordinate system according to the position data of the target parking space and the information of the coordinate system; and sending the relative position information, the information of the coordinate system and the type of the target parking space to the mobile terminal. In the embodiment of the invention, the vehicle can establish a coordinate system for the vehicle according to the vehicle position data and the target parking space position data acquired by the vehicle sensor, determine the type of the target parking space, and the relative position information between the vehicle and the target parking space in the coordinate system, and send the relative position information, the information of the coordinate system and the type of the target parking space to the mobile terminal, so that the mobile terminal can generate the animation representing the vehicle motion track of the vehicle in the automatic parking process according to the received relative position information, the information of the coordinate system and the type of the target parking space, and display the animation to the user, so that the user can monitor the motion track of the vehicle in the parking process in real time through the mobile terminal, and can timely perform corresponding operation according to the vehicle motion track, and the safety of the automatic parking process is improved.

Referring to fig. 11, a block diagram of a structure of an apparatus for monitoring a vehicle motion trajectory, which is applied to a vehicle of a mobile terminal according to an embodiment of the present invention, is shown, and specifically includes the following modules:

the first receiving module 501 is configured to receive relative position information, information of a coordinate system, and a type of a target parking space sent by a vehicle;

a third determining module 502, configured to determine a motion trajectory of the vehicle according to the relative position information and the information of the coordinate system;

a first generating module 503, configured to generate an animation in which the vehicle model moves to the target parking space model along the motion trajectory according to the motion trajectory, a preset vehicle model, and the target parking space model corresponding to the type of the target parking space;

a first display module 504 for displaying the animation.

Optionally, the apparatus further comprises:

the second receiving module is used for receiving the alarm information and the installation position sent by the automatic parking controller;

the second generation module is used for adding the alarm information to a position, corresponding to the installation position, on the vehicle model in the animation according to the installation position to generate an alarm animation;

and the second display module is used for displaying the alarm animation.

In summary, the present application provides a device for monitoring a vehicle movement track, including: receiving relative position information, information of a coordinate system and the type of a target parking space which are sent by a vehicle; determining the motion track of the vehicle according to the relative position information and the information of the coordinate system; generating an animation of a vehicle running to a target parking space model along the motion track according to the motion track, a preset vehicle model and the target parking space model corresponding to the type of the target parking space; and displaying the animation. In the embodiment of the invention, the vehicle can establish a coordinate system for the vehicle according to the vehicle position data and the target parking space position data acquired by the vehicle sensor, determine the type of the target parking space, and the relative position information between the vehicle and the target parking space in the coordinate system, and send the relative position information, the information of the coordinate system and the type of the target parking space to the mobile terminal, so that the mobile terminal can generate the animation representing the vehicle motion track of the vehicle in the automatic parking process according to the received relative position information, the information of the coordinate system and the type of the target parking space, and display the animation to the user, so that the user can monitor the motion track of the vehicle in the parking process in real time through the mobile terminal, and can timely perform corresponding operation according to the vehicle motion track, and the safety of the automatic parking process is improved.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for monitoring a vehicle motion trajectory, applied to a vehicle, the method comprising:

2. The method of claim 1, wherein the step of establishing a coordinate system for the vehicle based on the vehicle location data comprises:

and establishing a coordinate system for the vehicle by taking the intersection point of the axis of the rear wheel shaft of the vehicle and the longitudinal center line of the vehicle as an origin, the direction in which the longitudinal center line points at the head of the vehicle as the positive direction of an X axis and the direction in which the axis points at the right side body of the vehicle as the positive direction of a Y axis according to the vehicle position data.

3. The method of claim 2, wherein the target slot location data comprises: the target parking space is in a rectangular structure according to the position data of the four side edges of the target parking space;

the step of determining the type of the target parking space according to the target parking space position data and the information of the coordinate system comprises the following steps:

determining an included angle between a long edge in the target parking space and the positive direction of the X axis according to the position data of the target parking space and the information of the coordinate system;

determining the type of the target parking space as a horizontal parking space type under the condition that the included angle is smaller than or equal to 90 degrees;

and determining the type of the target parking space as a vertical parking space type under the condition that the included angle is larger than 90 degrees.

4. The method of claim 2,

the relative position information includes: and the coordinate data of the calibration point of the target parking space in the coordinate system and the included angle between the target side edge of the target parking space and the Y axis.

5. The method of claim 4 wherein the target space index is the intersection of the axis of the rear axle of the vehicle and the longitudinal centerline of the vehicle at the same distance between each side of the vehicle and the corresponding side of the target space.

6. The method of claim 1, wherein after the step of sending the relative position information, the information of the coordinate system and the type of the target space to a mobile terminal, the method further comprises:

acquiring obstacle data of the periphery of a vehicle acquired by the vehicle sensor and the installation position of the vehicle sensor on the vehicle;

determining alarm information corresponding to the barrier data according to a preset corresponding relation between the barrier data and the alarm information;

and sending the alarm information and the installation position to the mobile terminal.

7. A method for monitoring a vehicle motion track is applied to a mobile terminal, and comprises the following steps:

and displaying the animation.

8. The method according to claim 7, wherein after the step of presenting the animation in the display interface of the mobile terminal, the method further comprises:

receiving alarm information and an installation position sent by the automatic parking controller;

adding the alarm information to a position, corresponding to the installation position, on the vehicle model in the animation according to the installation position, and generating an alarm animation;

and displaying the alarm animation.

9. An apparatus for monitoring a motion trajectory of a vehicle, applied to the vehicle, the apparatus comprising:

the automatic parking system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring vehicle position data and target parking space position data acquired by a vehicle sensor at preset time intervals under the condition of receiving an automatic parking starting instruction;

10. An apparatus for monitoring a motion trail of a vehicle, applied to a mobile terminal, the apparatus comprising:

and the first display module is used for displaying the animation.

11. A system for monitoring a vehicle motion profile, the system comprising: the vehicle and the mobile terminal are characterized in that the vehicle and the mobile terminal are in communication connection;

and the mobile terminal displays the animation.