CN112824182A - Automatic parking method, automatic parking device, computer equipment and storage medium - Google Patents
Automatic parking method, automatic parking device, computer equipment and storage medium Download PDFInfo
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
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Abstract
The application relates to an automatic parking method, an automatic parking device, a computer device and a storage medium. The method comprises the following steps: receiving a parking space matching request, and acquiring a first all-round mosaic of the environment of a vehicle according to the parking space matching request; extracting first image feature points from the first all-round mosaic, and extracting first environment features from the first image feature points; matching the first environmental characteristic with the pre-stored parking space information; and when the characteristic information is successfully matched, obtaining the environment relative position information of the parking space from the pre-stored parking space information which is successfully matched. By adopting the method, the applicability of the parking scene and the success rate of parking can be improved.
Description
Technical Field
The present application relates to the field of image processing technologies, and in particular, to an automatic parking method and apparatus, a computer device, and a storage medium.
Background
In a real parking scene of a driver, some parking spaces are exclusive for users or parking spaces frequently, such as private parking spaces in a community or commercial taxi spaces. The traditional parking system can only search the parking spaces in the driving track when searching the parking spaces, but cannot identify which parking space is required by the driver. Therefore, the driver needs to observe the display on the vehicle and manually select the target parking space from the plurality of retrieved parking spaces, so that the behavior of the driver is greatly restricted.
In addition, because the camera is because of various reasons such as ambient lighting, barrier shelter from, reflection of light, the effective parking stall information can not be grabbed to traditional visual retrieval technique of parking, can't carry out the parking stall retrieval and produce the failure of parking, leads to the adaptability of scene of parking poor.
Disclosure of Invention
In view of the above, it is necessary to provide an automatic parking method, an automatic parking device, a computer device, and a storage medium, which can improve the applicability of a parking scene and improve the success rate of parking.
An automatic parking method includes:
receiving a parking space matching request, and acquiring a first all-round spliced graph of the environment where a vehicle is located according to the parking space matching request;
extracting first image feature points from the first all-round mosaic, and extracting first environment features from the first image feature points;
matching the first environment characteristic with the pre-stored parking space information;
and when the characteristic information is successfully matched, obtaining the environment relative position information of the parking stall from the pre-stored stall information which is successfully matched, and selecting the parking stall according to the environment relative position information.
The parking space information under some common scenes is stored in advance, when the parking space matching requirement is received, the environmental characteristics of the vehicle environment are extracted from the collected panoramic mosaic of the vehicle environment and are matched with the prestored parking space information, whether the current environment of the vehicle is matched with the environment of the prestored parking space is judged by comparing the environmental characteristics, and the position information of the parking space to be parked is determined from the matched prestored parking space information, so that the parking space position can be determined by comparing the environments under the condition that the parking space is difficult to search, and the applicability and the success rate of visual parking are improved
In one embodiment, after obtaining the environment relative position information of the parking space from the pre-stored space information, the method includes:
generating and outputting a parking instruction; and/or
And generating a parking space display page according to the environment relative position information, and sending the parking space display page to a display terminal for displaying. Therefore, the user can drive and park the vehicle by referring to the displayed parking space.
In one embodiment, after obtaining the environment relative position information of the parking space from the pre-stored space information, the method includes:
obtaining a current driving position, and obtaining a parking stall position according to the environment relative position information and the current driving position;
and sending the parking space position to a parking control system. Therefore, the parking control system can automatically park according to the parking position.
In one embodiment, the matching of the first environmental characteristic and the pre-stored parking space information includes:
calculating the feature matching degree of the first environmental feature and the environmental features in the pre-stored parking space information;
comparing the highest value in the feature matching degrees serving as a preselected feature matching degree with a preset matching threshold;
and when the preselected feature matching degree exceeds the preset matching threshold, judging the pre-stored parking space information corresponding to the preselected feature matching degree, and matching the pre-stored parking space information with the feature information of the first environment feature.
In one embodiment, the matching of the first environmental characteristic and the pre-stored parking space information includes:
acquiring a pre-stored parking scene identifier, generating a scene selection prompt according to the pre-stored parking scene identifier and outputting the scene selection prompt;
receiving a scene selection instruction corresponding to the scene selection prompt, reading a target parking scene identifier from the scene selection instruction, and searching prestored parking space information corresponding to the target parking scene identifier;
calculating the characteristic matching degree of the first environmental characteristic and the searched pre-stored parking space information;
and when the searched feature matching degree exceeds the preset matching threshold value, judging that the first environmental feature is matched with the searched feature information of the prestored parking space information.
In one embodiment, before receiving the parking space matching request, the method further includes:
receiving a parking space memory request, and acquiring a second ring-view splicing map of the environment where a vehicle is located according to the parking space memory request;
extracting second image feature points from the second around-the-eye mosaic, extracting second environment features from the second image feature points, and detecting whether the second environment features contain background features;
when the second environmental characteristics comprise the background characteristics, generating a parking space environmental map according to the environmental characteristics and sending the parking space environmental map to a display terminal;
when selection information returned by a display terminal is received, extracting the environment relative position of the parking space from the selection information, wherein the selection information is the information of the parking space obtained according to the parking space environment map;
and generating and storing pre-stored parking space information according to the environment characteristics and the environment relative position.
In one embodiment, the method further comprises:
and when the environmental characteristics do not contain the background characteristics, generating an environmental information acquisition failure prompt, and sending the environmental information acquisition failure prompt to a display terminal.
An automatic parking apparatus, the apparatus comprising:
the system comprises an image acquisition module, a first vehicle management module and a second vehicle management module, wherein the image acquisition module is used for receiving a parking space matching request and acquiring a first all-round spliced graph of the environment where a vehicle is located according to the parking space matching request;
the characteristic extraction module is used for extracting first image characteristic points from the first all-round mosaic and extracting first environment characteristics from the first image characteristic points;
the characteristic matching module is used for matching the first environmental characteristic with the pre-stored parking space information;
and the position acquisition module is used for acquiring the environment relative position information of the parking stall from the prestored stall information which is successfully matched when the characteristic information is successfully matched, and selecting the parking stall according to the environment relative position information.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the above method when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
According to the automatic parking method, the automatic parking device, the computer equipment and the storage medium, parking space information under some common scenes is stored in advance, when a parking space matching demand is received, the environmental characteristics of the vehicle environment are extracted from the collected perspective splicing map of the vehicle environment and are matched with the prestored parking space information in the environmental characteristics, whether the current environment where the vehicle is located is matched with the environment where the prestored parking space is located is judged by comparing the environmental characteristics, and the position information of the parking space to be parked is determined from the matched prestored parking space information, so that the position of the parking space can be determined by comparing the environments under the condition that the parking space is difficult to retrieve, the applicability and the success rate of visual parking are improved, the position of the parking space is directly determined without the need of a driver to observe the parking space, and the driving safety is improved.
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FIG. 1 is a diagram illustrating an exemplary implementation of an automatic parking method;
FIG. 2 is a flow diagram illustrating an exemplary method for automatic parking;
FIG. 3 is a diagram of environmental feature extraction, under an embodiment;
FIG. 4 is a schematic illustration of a parking space location in another embodiment;
FIG. 5 is a flowchart illustrating a parking space memorizing method according to another embodiment;
fig. 6 is a block diagram showing the construction of an automatic parking apparatus in one embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The automatic parking method provided by the application can be applied to the application environment shown in fig. 1. The Controller communicates with other vehicle electronic and electrical devices through a Controller Area Network (CAN), and the vehicle electronic and electrical system may include an Internet Protocol (IP) Interface Processor for vehicle communication and control, a HUT (multimedia host), a camera system, and the like. The method comprises the steps that a user can interact with a HUT, a parking space matching request is sent out through the HUT, the HUT sends the parking space matching request to a controller, the controller sends an environment acquisition instruction to a camera system, the camera system acquires an environment map of the environment where a vehicle is located, an all-round mosaic map is generated through image processing, the all-round mosaic map is sent to the controller, the controller receives the parking space matching request, and a first all-round mosaic map of the environment where the vehicle is located is acquired according to the parking space matching request; extracting first image feature points from the first all-round mosaic, and extracting first environment features from the first image feature points; matching the first environmental characteristic with the pre-stored parking space information; and when the characteristic information is successfully matched, obtaining the environment relative position information of the parking space from the pre-stored parking space information which is successfully matched. The controller can further calculate the current real position information of the parking space in the environment according to the relative environment information, and the real position information is sent to the IP to control the vehicle to park. The controller may include a processor and a memory, among other things.
In one embodiment, as shown in fig. 2, an automatic parking method is provided, which is exemplified by the application of the method to the controller in fig. 1, and includes the following steps:
When a user, such as a driver, has a parking demand and needs to park a vehicle into a specific parking space stored in the vehicle system, a parking space matching request can be sent out. Specifically, the user can send out the parking stall through carrying out the interactive operation with HUT (multi-media host computer), and the user can click the soft button of parking stall matching in the HUT, perhaps makes the parking stall matching request through voice command, and relevant system sends user's parking stall matching request to the controller like HUT. The user can also send the parking space matching request to a wireless communication system of the vehicle, such as a Bluetooth system, an Ethernet system and the like, through a personal portable terminal, such as a mobile phone, a tablet personal computer and the like, through a terminal Bluetooth or an Ethernet module and the like, and the wireless communication system sends the parking space matching request of the user to the controller.
After the controller receives the parking space matching request, a first all-round splicing map of the environment where the vehicle is located is collected through a camera system of the vehicle. In one embodiment, the camera system can comprise a plurality of fisheye cameras, the fisheye cameras are installed around the vehicle, the environmental images around the environment where the vehicle is located are collected through the fisheye cameras, the collected environmental images are sent to the controller, the controller is operated in an image compression mode, an image correction mode and the like, the environmental images shot by the single fisheye camera are spliced into a whole all-round fisheye view, and then the all-round fisheye view is converted into a horizontal real view to obtain the all-round spliced image. In other embodiments, the first all-around mosaic may be obtained in other manners.
The controller extracts the first image feature points, and after the controller extracts the first image feature points, the first image feature points are classified and divided according to the information of the image points to form different pixel point sets.
Specifically, before the controller extracts the image feature points, the controller may convert the first all-around mosaic image into a gray image, and establish a coordinate system in the gray image, and after the controller extracts the first image feature points, the controller may acquire gray values and coordinate values of the image feature points, and classify the image points according to information such as the gray values and the coordinate values of the image feature points. In other embodiments, other feature point classification methods may also be employed.
The controller compares the classified characteristic point set with a pre-stored characteristic point set, and accordingly a first environment characteristic parameter is identified. In one embodiment, a FAST feature point detection algorithm or a Harris corner detection algorithm or SIFT, SURF, and other algorithms may be used to detect the positions of feature points, and feature points may be described as feature point descriptors, such as SIFT, SURF descriptors, and the like, and feature point comparison and feature parameter extraction may be performed according to the descriptors.
The environment characteristic parameters may include characteristic parameters of the parking space and characteristic parameters of a background environment of the parking space. The characteristic parameters of the parking space may include a vehicle position line, a gear position line and the like, and the background parameters of the parking space may include parameters of background objects such as a wall line, a column line, a parking indicating line, an obstacle and the like. Further, the controller may obtain the first environmental characteristic according to the environmental characteristic parameter, for example, obtain characteristics such as a length of the parking space line, a length and a width of the parking space surrounded by the parking space lines, and a relative position of each parking space in a plurality of parking spaces according to the parking space line, and may calculate characteristics such as a size of a wall and a column, and a relative position of the wall and the column from each parking space according to parameters such as the wall line and the column line. As shown in fig. 3, which is a schematic diagram of the environmental feature extraction according to an embodiment, the controller may identify the parking space features, such as the parking space lines AB and a 'B', and may identify the background features, such as the parking space plates CDE, FGH, etc., near the parking space border lines.
And step 230, matching the first environment characteristic with the pre-stored parking space information.
The controller acquires prestored parking place information, and matches the extracted first environmental characteristic with the environmental characteristic in the prestored parking place information so as to judge whether the parking place environment where the current vehicle is located is a prestored parking place environment scene.
The pre-stored parking space information is information of environmental characteristics of environments where parking spaces of all parking scenes are stored in advance, and can be information of one scene or a plurality of scenes, and when the pre-stored parking space information only contains information of one scene, the controller only needs to judge whether the first environmental characteristics are matched with the pre-stored parking space information or not; when the pre-stored parking space information contains a plurality of scenes, the controller needs to match the first environmental characteristics with the pre-stored parking space information of the scenes one by one, and judges whether the pre-stored parking space information matched with the first environmental characteristics exists or not.
Because there may be reasons such as shelter from thing on parking stall light and the parking stall, the environmental characteristic that the controller was gathered compares the environmental characteristic that can gather with the ideal condition and probably has the condition of disappearance or difference, and the controller is when carrying out the feature matching with first environmental characteristic and prestore parking stall information, can calculate the matching degree of whole information, judges whether characteristic information matches through the matching degree of characteristic. Other methods may also be employed for feature matching.
And 240, when the characteristic information is successfully matched, obtaining the environment relative position information of the parking stall from the pre-stored stall information successfully matched, and selecting the parking stall according to the environment relative position information.
When the controller judges that the first environment characteristic is successfully matched with the pre-stored parking space information, the controller acquires the parking space identifier of the parking space from the pre-stored parking space information which is successfully matched, and acquires the environment relative position of the parking space corresponding to the parking space identifier. When the parking space information of each parking scene is prestored, the controller can record the parking space identification of the specific parking space in each scene. The environment relative position information may include relative positions of the parking stalls in all the stalls, for example, 7 stalls are transversely arranged, and the parking stall is located at stall 5; the parking space information also can comprise information such as relative position distances between the parking spaces and background features such as columns, wall surfaces, identification lines and the like.
The controller obtains the relative position between the parking stall and the vehicle according to the environment relative position information and the first all-round splicing map, and can further control the vehicle to park and store in the garage according to the relative position.
According to the automatic parking method, the controller prestores parking space information under some common scenes, when a parking space matching demand is received, the environmental characteristics of the vehicle environment are extracted from the collected perspective splicing map of the vehicle environment and are matched with prestored parking space information in the environmental characteristic matching mode, whether the current environment where the vehicle is located is matched with the environment where the prestored parking space is located is judged by comparing the environmental characteristics, and the position information of the parking space to be parked is determined from the matched prestored parking space information, so that the parking space position can be determined through environment comparison under the condition that parking space retrieval is difficult, the applicability and the success rate of visual parking are improved, the parking space position is directly determined, a driver does not need to observe the parking space, and the driving safety is improved.
In one embodiment, the step of obtaining the environment relative position information of the parking space from the prestored space information may further include: generating and outputting a parking instruction; and/or generating a parking space display page according to the environment relative position information, and sending the parking space display page to the display terminal for displaying.
The controller generates a parking instruction after acquiring the environment relative position of the parking space, and outputs the parking instruction, the controller can directly send the parking instruction to the vehicle control system, so that the vehicle control system stops control, the parking instruction can also be sent to the HUT system through voice playing prompt, and the prompt is displayed on the multimedia display terminal.
The controller generates a parking space display page according to the environment relative position, specifically, the controller may determine the specific position of the parking space according to the environment relative position information on the first spliced ring view, mark and display the parking position on the spliced ring view, and generate the parking space display page, where, as shown in fig. 4, the parking space 5 may be marked with different colors in the area where the parking space is located, and in other embodiments, the parking space display page may also be generated in other manners. The controller sends the generated parking space display page to a display terminal such as a HUT multimedia host for display, and can also send the generated parking space display page to a portable terminal of a user for display through a wireless network system such as a Bluetooth system and an Ethernet system. Therefore, the user can drive and park the vehicle by referring to the displayed parking space.
Further, the controller can determine the position of the parking space relative to the vehicle according to the environment relative position, send the parking space relative position to the navigation system, generate a parking route through calculation by the navigation system, display the parking route on a display terminal in a map navigation mode, or instruct a user to perform parking operation in a voice navigation mode and the like.
The method in the embodiment can be suitable for a scene where a driver drives, achieves automatic selection of the parking space through parking space matching, and prompts the user. The driver does not need to observe the position of the parking space all the time in the traveling process, and the driving convenience and safety of the user are improved.
In one embodiment, the step of obtaining the environment relative position information of the parking space from the prestored space information may further include: acquiring a current driving position, and acquiring a parking stall position according to the environment relative position information and the current driving position; and sending the parking space position to a parking control system.
The controller obtains a current driving position, the current driving position is a position where a vehicle is located at the current moment, and the parking position is calculated according to the current driving position and the relative environmental position information. And the controller sends the calculated parking space position to the parking control system, so that the parking control system can automatically park according to the parking space position.
Fig. 4 is a schematic diagram of a parking space according to an embodiment. When the controller acquires the first all-round mosaic image, a coordinate system of an acquisition position is established, the position of the vehicle at a point P1 is an image acquisition position, the center position of the vehicle at a point P1 is taken as an origin O, a coordinate system OXY is established by taking the traveling direction of the vehicle as an X axis, and the vehicle is generally viewed to travel along the X axis direction for simplifying the processing. And the controller determines the coordinate position of the parking space line of each parking space according to the original point position. When the controller is successfully matched to obtain that the parking space is the space 5, the coordinate position of the space 5 at the acquisition time can be obtained, the running distance S of the vehicle relative to the image acquisition time at the current time is obtained, a coordinate system is reestablished according to the fact that the central position of the vehicle at the current time, such as the position P2 in the figure, is the coordinate origin O ', and the coordinate of the space 5 under the XY coordinate system is converted into the coordinate position under the O' X 'Y' coordinate system according to the running relative distance S of the vehicle, so that the vehicle can be controlled to park according to the coordinate position.
The method in the embodiment is applicable to an automatic driving system, and the position of the parking stall at the current moment relative to the vehicle can be automatically calculated through automatic matching and relative position conversion of the parking stalls, so that the vehicle can be automatically driven to enter the target parking stall, parking stall selection and parking control are performed without other operations of a user, and the parking efficiency is improved.
In one embodiment, the step of matching the first environmental characteristic with the pre-stored parking space information may include: calculating the feature matching degree of the first environmental features and the environmental features in the pre-stored parking space information; comparing the highest value in the feature matching degrees serving as a preselected feature matching degree with a preset matching threshold; and when the preselected feature matching degree exceeds a preset matching threshold value, judging the pre-stored parking space information corresponding to the preselected feature matching degree, and matching the pre-stored parking space information with the feature information of the first environment feature.
The controller calculates the feature matching degree of the first environment feature and each pre-stored parking space information one by one, the feature matching degree can be obtained according to the proportion of the matched feature in the first environment feature, the controller can also divide the environment feature into a parking space feature and a background feature, different weights are set for the two features, the feature matching rate of each environment feature is calculated respectively, and then the total feature matching degree is calculated according to the feature matching rate and the respective corresponding weight. In other embodiments, the controller may also calculate the feature matching degree by other methods.
The controller selects the maximum characteristic matching degree from the plurality of pieces of pre-stored parking space information, the maximum characteristic matching degree is used as a pre-selected characteristic matching degree, the pre-selected characteristic matching degree is compared with a preset matching threshold value, the preset matching threshold value is a minimum boundary value for judging characteristic matching, when the controller judges that the pre-selected characteristic matching degree exceeds the preset matching threshold value, the pre-stored parking space information corresponding to the maximum value is judged to be matched with the characteristic information of the first environmental characteristic, and when the controller judges that the maximum characteristic matching degree does not exceed the preset matching threshold value, the controller judges that no parking space information matched with the first environmental characteristic exists in the pre-stored parking space information.
In one embodiment, before the controller obtains the preset matching threshold, it first detects whether the parking space characteristics in the first environment characteristics are complete, for example, it can detect whether the parking space lines are connected with each other or not in a closed manner, and when the parking space characteristics are complete, it can obtain the preset matching threshold with a higher value, and when the parking space characteristics are incomplete, it can obtain the preset matching threshold with a lower value.
In the method, the situation that the acquired environment image is influenced by the shooting environment at that time or other shelters and possibly has characteristic loss is considered, so that the characteristic matching is carried out instead of accurate matching in a characteristic matching degree mode, the method is suitable for more application scenes, and the scene applicability of parking matching is improved.
In one embodiment, in an embodiment, the step of matching the first environmental characteristic with the pre-stored parking space information may include: acquiring a pre-stored parking scene identifier, generating a scene selection prompt according to the pre-stored parking scene identifier and outputting the scene selection prompt; receiving a scene selection instruction corresponding to the scene selection prompt, reading a target parking scene identifier from the scene selection instruction, and searching prestored parking space information corresponding to the target parking scene identifier; calculating the characteristic matching degree of the first environmental characteristic and the searched pre-stored parking space information; and when the searched feature matching degree exceeds the preset matching threshold value, judging that the first environmental feature is matched with the searched feature information of the prestored parking space information.
The pre-stored parking scene identification is used for uniquely identifying the parking scene to which the parking stall belongs, and can be identified in a scene name and code mode. The parking scene can be a work garage, a community garage and the like. The controller obtains pre-stored parking scene identifications corresponding to the pre-stored parking space information, and generates scene selection prompts according to the pre-stored parking scene identifications, wherein the scene selection prompts comprise scene options of the pre-stored parking scenes. The controller may transmit the scene selection prompt to a display terminal of the vehicle or of the user's portable type for display, or may output the scene selection prompt in a voice manner.
After receiving the scene selection prompt, the user can select a parking scene, a scene selection instruction is generated after the scene selection instruction is selected, the corresponding display system or other multimedia hosts returns the scene selection instruction to the controller, the controller reads a target parking scene identifier selected by the user from the scene selection instruction, then searches for pre-stored parking space information corresponding to the target parking scene identifier, and calculates a new feature matching degree between the first environmental feature and the searched pre-stored parking space.
In the method, before feature matching, the user selects the current parking scene, so that only the first environmental feature is matched with the pre-stored parking space information of the scene selected by the user, the workload of matching calculation is effectively reduced, and the calculation accuracy can be improved by matching aiming at a specific scene.
In an embodiment, as shown in fig. 5, a flow chart of the parking space memory method in an embodiment is shown, which mainly includes the following steps:
and step 510, receiving a parking space memory request, and acquiring a second around view splicing map of the environment where the vehicle is located according to the parking space memory request.
When the user has parking stall memory demand to current scene of parking, can send parking stall memory request, specifically, the user can send parking stall memory request through carrying out the interactive operation with HUT (multimedia host), and the user can click the soft button of parking stall memory in the HUT, perhaps makes the parking stall memory request through voice command, and relevant system is like HUT sends user's parking stall memory request to the controller. The user can also send the parking stall memory request to a wireless communication system of the vehicle, such as a Bluetooth system, an Ethernet system and the like, through a personal portable terminal, such as a mobile phone, a tablet personal computer and the like, through a terminal Bluetooth or an Ethernet module and the like, and the wireless communication system sends the parking stall memory request of the user to the controller.
After the controller receives the parking space matching request, a second ring-vision splicing map of the environment where the vehicle is located is collected through a camera system of the vehicle. The manner of acquiring the second circled mosaic may refer to the manner described in the above embodiments, and is not described herein again.
The controller may refer to the manner of extracting the first image feature point and the first environmental feature described in the foregoing embodiments, and details thereof are not repeated herein. After the controller extracts the second environmental feature, it is detected whether the second environmental feature includes a background feature, where the background feature refers to a background feature of a surrounding environment where the parking space is located except the parking space feature, and may include features such as a wall, a column position line, and a parking indication line. Specifically, the controller may classify the extracted environmental features by means of deep learning, etc., determine the type of each feature, and further determine whether the second environmental feature includes a background feature.
In one embodiment, when the environmental characteristics do not include the background characteristics, an environmental information acquisition failure prompt is generated, and the environmental information acquisition failure prompt is sent to the display terminal.
When the controller detects that the second environmental characteristics do not contain the background characteristics, the acquired environmental characteristics are judged to be invalid, a memory failure prompt is generated, and a user is prompted, so that the user can further select to give up parking space memory operation or re-perform parking space memory. When the user selects to perform parking space memory again, the controller executes the step of collecting the all-round spliced map of the current environment of the vehicle according to the memory request again, and when the times of memory failure reach a preset threshold value, a memory invalid prompt is generated and prompts the user that the current environment cannot perform parking space memory.
And step 530, when the second environmental characteristics comprise background characteristics, generating a parking space environmental map according to the environmental characteristics and sending the parking space environmental map to the display terminal.
When the controller detects that the second environmental characteristics comprise background characteristics, the collected environmental characteristics are judged to be effective, the controller obtains parking space characteristic parameters and background characteristic parameters according to the collected environmental characteristics, a parking space environment map is generated according to the parking space characteristic parameters and the background characteristic parameters, and the parking space environment map comprises the collected specific sizes and position information of the parking spaces and the background objects.
The controller sends the parking space environment map to a display terminal for a user to select and determine a parking space which the user wants to memorize, and the display terminal can be a multimedia terminal on a vehicle and the like or a portable terminal device of the user. The user can select a plurality of parking spaces in the parking space environment map to confirm the target parking space, after the user selects and confirms, the display terminal generates selection information according to the selection of the user, and the selection information is sent to the controller.
And 540, when the selection information returned by the display terminal is received, extracting the environment relative position of the parking space from the selection information, wherein the selection information is the information of the parking space obtained according to the space environment map.
The controller receives selection information returned by the display terminal, and the terminal extracts the environment relative position of the selected parking space from the selection information, wherein the environment relative position can be the arrangement position of the parking spaces in all the collection spaces, or the coordinate position of the parking spaces in the environment splicing map, and the like.
And step 550, generating and storing pre-stored parking space information according to the environment characteristics and the environment relative position.
The controller can carry out parking space numbering on each parking space according to the sequence of the collected parking spaces, confirm the parking space numbering of the parking spaces according to the environment relative position and record the parking space numbering of the parking spaces. The controller obtains parameters such as positions and sizes of the parking space characteristics and the background characteristics according to the environment characteristics, pre-stored parking space information is generated according to the parking space characteristic parameters and the background characteristic parameters, parking space numbers of parking spaces are marked in the pre-stored parking space information, the pre-stored parking space information can be recorded in a standard data format, and the standard data format can be a preset data format such as key-value character strings and character string arrays.
The controller can automatically number and name the prestored parking space information and store the information, and can also generate a scene naming prompt to prompt a user to input a scene name or a number of the parking memory scene.
In the method, when a user wants to memorize the parking space, the controller can automatically acquire the current parking space environment, and after the user confirms the parking space, the parking space and the environment information are numbered and stored, so that a plurality of pieces of scene information can be simultaneously stored and recorded according to the requirements of the user, and scene matching and parking space selection can be automatically performed when the user parks the vehicle again.
It should be understood that although the various steps in the flow charts of fig. 2-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-5 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 6, there is provided an automatic parking apparatus including: image acquisition module 610, feature extraction module 620, feature matching module 630 and location acquisition module 640, wherein:
the image acquisition module 610 is configured to receive a parking space matching request and acquire a first all-round mosaic of an environment where a vehicle is located according to the parking space matching request.
And the feature extraction module 620 is configured to extract first image feature points from the first all-around mosaic, and extract first environment features from the first image feature points.
And the characteristic matching module 630 is configured to perform characteristic information matching on the first environment characteristic and the pre-stored parking space information.
And the position obtaining module 640 is configured to, when the feature information is successfully matched, obtain environment relative position information of the parking space from the pre-stored parking space information successfully matched, and select the parking space according to the environment relative position information.
In one embodiment, the automatic parking apparatus may further include:
and the parking indication module is used for generating and outputting a parking instruction.
And the page display module is used for generating a parking space display page according to the environment relative position information and sending the parking space display page to the display terminal for display.
In one embodiment, the automatic parking apparatus may further include:
and the position acquisition module is used for acquiring the current driving position and obtaining the parking space position according to the environment relative position information and the current driving position.
And the parking control module is used for sending the parking space position to the parking control system.
In one embodiment, the feature matching module may include:
and the matching calculation unit is used for calculating the characteristic matching degree of the first environmental characteristic and the environmental characteristics in each pre-stored parking space information.
And the threshold comparison unit is used for comparing the highest value in the feature matching degrees as a preselected feature matching degree with a preset matching threshold.
And the matching judgment unit is used for judging that the highest value in the feature matching degrees is used as the pre-stored parking space information corresponding to the pre-selected feature matching degrees and is matched with the feature information of the first environmental feature when the pre-selected feature matching degrees exceed the preset matching threshold.
In one embodiment, the feature matching module may include:
and the scene selection unit is used for acquiring the pre-stored parking scene identification, generating a scene selection prompt according to the pre-stored parking scene identification and outputting the scene selection prompt.
And the information searching unit is used for receiving a scene selection instruction corresponding to the scene selection prompt, reading a target parking scene identifier from the scene selection instruction, and searching the pre-stored parking space information corresponding to the target parking scene identifier.
And the matching calculation unit is used for calculating the characteristic matching degree of the first environment characteristic and the searched pre-stored parking space information.
And the matching judgment unit is used for judging that the first environmental characteristic is matched with the characteristic information of the searched prestored parking space information when the searched characteristic matching degree exceeds a preset matching threshold value.
In one embodiment, the automatic parking apparatus may further include:
and the memory request module is used for receiving the parking space memory request and acquiring a second ring-view splicing map of the environment where the vehicle is located according to the parking space memory request.
And the characteristic detection module is used for extracting second image characteristic points from the second around-the-eye splicing image, extracting second environment characteristics from the second image characteristic points and detecting whether the second environment characteristics contain background characteristics.
And the environment picture display module is used for generating the parking space environment picture according to the environment characteristics and sending the parking space environment picture to the display terminal when the second environment characteristics contain the background characteristics.
And the information extraction module is used for extracting the environment relative position of the parking space from the selection information when the selection information returned by the display terminal is received, wherein the selection information is the information of the parking space obtained according to the parking space environment map.
And the information storage module is used for generating and storing the pre-stored parking space information according to the environmental characteristics and the environmental relative position.
In one embodiment, the automatic parking apparatus may further include:
and the failure prompt module is used for generating an environmental information acquisition failure prompt and sending the environmental information acquisition failure prompt to the display terminal when the environmental characteristics do not contain the background characteristics.
For specific definitions of the automatic parking device, reference may be made to the above definitions of the automatic parking method, which are not described in detail herein. The respective modules in the above automatic parking apparatus may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a controller, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing automatic parking data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement an automatic parking method.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a computer device comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program: receiving a parking space matching request, and acquiring a first all-round mosaic of the environment of a vehicle according to the parking space matching request; extracting first image feature points from the first all-round mosaic, and extracting first environment features from the first image feature points; matching the first environmental characteristic with the pre-stored parking space information; and when the characteristic information is successfully matched, obtaining the environment relative position information of the parking stall from the prestored stall information which is successfully matched, and selecting the parking stall according to the environment relative position information.
In one embodiment, the processor, when executing the computer program, further performs the steps of: generating and outputting a parking instruction; and/or generating a parking space display page according to the environment relative position information, and sending the parking space display page to the display terminal for displaying.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a current driving position, and acquiring a parking stall position according to the environment relative position information and the current driving position; and sending the parking space position to a parking control system.
In one embodiment, when the processor executes the computer program to perform the step of matching the first environmental characteristic with the pre-stored parking space information, the processor is further configured to: calculating the feature matching degree of the first environment feature and the environment feature in each pre-stored parking space information, and comparing the highest value in the feature matching degree serving as a pre-selected feature matching degree with a preset matching threshold value; and when the highest value in the feature matching degrees is used as the pre-selected feature matching degree and exceeds a preset matching threshold value, judging that the highest value in the feature matching degrees is used as pre-stored parking space information corresponding to the pre-selected feature matching degree and is matched with the feature information of the first environment feature.
In one embodiment, when the processor executes the computer program to perform the step of matching the first environmental characteristic with the pre-stored parking space information, the processor is further configured to: acquiring a pre-stored parking scene identifier, generating a scene selection prompt according to the pre-stored parking scene identifier and outputting the scene selection prompt; receiving a scene selection instruction corresponding to the scene selection prompt, reading a target parking scene identifier from the scene selection instruction, and searching prestored parking space information corresponding to the target parking scene identifier; calculating the characteristic matching degree of the first environmental characteristic and the searched prestored parking space information; and when the searched characteristic matching degree exceeds a preset matching threshold value, judging that the first environmental characteristic is matched with the searched characteristic information of the prestored parking space information.
In one embodiment, the processor, when executing the computer program, further performs the steps of: receiving a parking space memory request, and acquiring a second around view splicing map of the environment where the vehicle is located according to the parking space memory request; extracting second image feature points from the second around-the-sight mosaic, extracting second environment features from the second image feature points, and detecting whether the second environment features contain background features; when the second environmental characteristics comprise background characteristics, generating a parking space environmental diagram according to the environmental characteristics and sending the parking space environmental diagram to a display terminal; and when selection information returned by a display terminal is received, extracting the environment relative position of the parking space from the selection information, wherein the selection information is the information of the parking space obtained according to the parking space environment map.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and when the environmental characteristics do not contain the background characteristics, generating an environmental information acquisition failure prompt, and sending the environmental information acquisition failure prompt to the display terminal.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: receiving a parking space matching request, and acquiring a first all-round mosaic of the environment of a vehicle according to the parking space matching request; extracting first image feature points from the first all-round mosaic, and extracting first environment features from the first image feature points; matching the first environmental characteristic with the pre-stored parking space information; and when the characteristic information is successfully matched, obtaining the environment relative position information of the parking stall from the prestored stall information which is successfully matched, and selecting the parking stall according to the environment relative position information.
In one embodiment, the computer program when executed by the processor further performs the steps of: generating and outputting a parking instruction; and/or generating a parking space display page according to the environment relative position information, and sending the parking space display page to the display terminal for displaying.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a current driving position, and acquiring a parking stall position according to the environment relative position information and the current driving position; and sending the parking space position to a parking control system.
In one embodiment, when the computer program is executed by the processor to perform the step of matching the first environmental characteristic with the pre-stored parking space information, the computer program is further configured to: calculating the feature matching degree of the first environment feature and the environment feature in each pre-stored parking space information, and comparing the highest value in the feature matching degree serving as a pre-selected feature matching degree with a preset matching threshold value; and when the highest value in the feature matching degrees is used as the pre-selected feature matching degree and exceeds a preset matching threshold value, judging that the highest value in the feature matching degrees is used as pre-stored parking space information corresponding to the pre-selected feature matching degree and is matched with the feature information of the first environment feature.
In one embodiment, when the computer program is executed by the processor to perform the step of matching the first environmental characteristic with the pre-stored parking space information, the computer program is further configured to: acquiring a pre-stored parking scene identifier, generating a scene selection prompt according to the pre-stored parking scene identifier and outputting the scene selection prompt; receiving a scene selection instruction corresponding to the scene selection prompt, reading a target parking scene identifier from the scene selection instruction, and searching prestored parking space information corresponding to the target parking scene identifier; calculating the characteristic matching degree of the first environmental characteristic and the searched prestored parking space information; and when the searched characteristic matching degree exceeds a preset matching threshold value, judging that the first environmental characteristic is matched with the searched characteristic information of the prestored parking space information.
In one embodiment, the computer program when executed by the processor further performs the steps of: receiving a parking space memory request, and acquiring a second around view splicing map of the environment where the vehicle is located according to the parking space memory request; extracting second image feature points from the second around-the-sight mosaic, extracting second environment features from the second image feature points, and detecting whether the second environment features contain background features; when the second environmental characteristics comprise background characteristics, generating a parking space environmental diagram according to the environmental characteristics and sending the parking space environmental diagram to a display terminal; and when selection information returned by a display terminal is received, extracting the environment relative position of the parking space from the selection information, wherein the selection information is the information of the parking space obtained according to the parking space environment map.
In one embodiment, the computer program when executed by the processor further performs the steps of: and when the environmental characteristics do not contain the background characteristics, generating an environmental information acquisition failure prompt, and sending the environmental information acquisition failure prompt to the display terminal.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An automatic parking method, the method comprising:
receiving a parking space matching request, and acquiring a first all-round spliced graph of the environment where a vehicle is located according to the parking space matching request;
extracting first image feature points from the first all-round mosaic, and extracting first environment features from the first image feature points;
matching the first environment characteristic with the pre-stored parking space information;
and when the characteristic information is successfully matched, obtaining the environment relative position information of the parking stall from the pre-stored stall information which is successfully matched, and selecting the parking stall to park according to the environment relative position information.
2. The method of claim 1, wherein after obtaining the environmental relative position information of the parking space from the pre-stored space information, the method comprises:
generating and outputting a parking instruction; and/or
And generating a parking space display page according to the environment relative position information, and sending the parking space display page to a display terminal for displaying.
3. The method of claim 2, wherein after obtaining the environmental relative position information of the parking space from the pre-stored space information, the method comprises:
obtaining a current driving position, and obtaining a parking stall position according to the environment relative position information and the current driving position;
and sending the parking space position to a parking control system.
4. The method of claim 1, wherein the matching the first environmental characteristic with the pre-stored parking space information comprises:
calculating the feature matching degree of the first environmental feature and the environmental features in the pre-stored parking space information;
comparing the highest value in the feature matching degrees serving as a preselected feature matching degree with a preset matching threshold;
and when the preselected feature matching degree exceeds the preset matching threshold, judging the pre-stored parking space information corresponding to the preselected feature matching degree, and matching the pre-stored parking space information with the feature information of the first environment feature.
5. The method of claim 4, wherein the matching the first environmental characteristic with the pre-stored parking space information comprises:
acquiring a pre-stored parking scene identifier, generating a scene selection prompt according to the pre-stored parking scene identifier and outputting the scene selection prompt;
receiving a scene selection instruction corresponding to the scene selection prompt, reading a target parking scene identifier from the scene selection instruction, and searching prestored parking space information corresponding to the target parking scene identifier;
calculating the characteristic matching degree of the first environmental characteristic and the searched pre-stored parking space information;
and when the searched feature matching degree exceeds the preset matching threshold value, judging that the first environmental feature is matched with the searched feature information of the prestored parking space information.
6. The method of claim 1, wherein before receiving the slot matching request, further comprising:
receiving a parking space memory request, and acquiring a second ring-view splicing map of the environment where a vehicle is located according to the parking space memory request;
extracting second image feature points from the second around-the-eye mosaic, extracting second environment features from the second image feature points, and detecting whether the second environment features contain background features;
when the second environmental characteristics comprise the background characteristics, generating a parking space environmental map according to the environmental characteristics and sending the parking space environmental map to a display terminal;
when selection information returned by a display terminal is received, extracting the environment relative position of the parking space from the selection information, wherein the selection information is the information of the parking space obtained according to the parking space environment map;
and generating and storing pre-stored parking space information according to the environment characteristics and the environment relative position.
7. The method of claim 6, further comprising:
and when the environmental characteristics do not contain the background characteristics, generating an environmental information acquisition failure prompt, and sending the environmental information acquisition failure prompt to a display terminal.
8. An automatic parking device, characterized by comprising:
the system comprises an image acquisition module, a first vehicle management module and a second vehicle management module, wherein the image acquisition module is used for receiving a parking space matching request and acquiring a first all-round spliced graph of the environment where a vehicle is located according to the parking space matching request;
the characteristic extraction module is used for extracting first image characteristic points from the first all-round mosaic and extracting first environment characteristics from the first image characteristic points;
the characteristic matching module is used for matching the first environmental characteristic with the pre-stored parking space information;
and the position acquisition module is used for acquiring the environment relative position information of the parking stall from the prestored stall information which is successfully matched when the characteristic information is successfully matched, and selecting the parking stall according to the environment relative position information.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113253963A (en) * | 2021-06-18 | 2021-08-13 | 广州小鹏汽车科技有限公司 | Parking lot vehicle model display method and device, vehicle-mounted terminal and storage medium |
| CN113525352A (en) * | 2021-06-21 | 2021-10-22 | 上汽通用五菱汽车股份有限公司 | Parking method of vehicle, vehicle and computer readable storage medium |
| CN113635890A (en) * | 2021-07-29 | 2021-11-12 | 江铃汽车股份有限公司 | Automatic parking control method and system, readable storage medium and vehicle |
| CN113734156A (en) * | 2021-08-25 | 2021-12-03 | 深圳市全景达科技有限公司 | 3D panoramic parking assistance method, system, terminal and storage medium |
| CN114013425A (en) * | 2021-09-29 | 2022-02-08 | 江铃汽车股份有限公司 | Remote parking control method, system, storage medium and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113253963A (en) * | 2021-06-18 | 2021-08-13 | 广州小鹏汽车科技有限公司 | Parking lot vehicle model display method and device, vehicle-mounted terminal and storage medium |
| CN113525352A (en) * | 2021-06-21 | 2021-10-22 | 上汽通用五菱汽车股份有限公司 | Parking method of vehicle, vehicle and computer readable storage medium |
| CN113635890A (en) * | 2021-07-29 | 2021-11-12 | 江铃汽车股份有限公司 | Automatic parking control method and system, readable storage medium and vehicle |
| CN113635890B (en) * | 2021-07-29 | 2022-10-25 | 江铃汽车股份有限公司 | Automatic parking control method and system, readable storage medium and vehicle |
| CN113734156A (en) * | 2021-08-25 | 2021-12-03 | 深圳市全景达科技有限公司 | 3D panoramic parking assistance method, system, terminal and storage medium |
| CN114013425A (en) * | 2021-09-29 | 2022-02-08 | 江铃汽车股份有限公司 | Remote parking control method, system, storage medium and device |
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