CN112880696A - Parking system and method based on simultaneous mapping and positioning - Google Patents
Parking system and method based on simultaneous mapping and positioning Download PDFInfo
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- 238000003745 diagnosis Methods 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 12
- 238000010191 image analysis Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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Abstract
The invention provides a parking system and method based on simultaneous mapping and positioning, which comprises a cloud server and a plurality of vehicle-mounted terminals connected with the cloud server; the vehicle-mounted terminal comprises a processing module; the equipment comprises a vision module, an inertial navigation module, a data diagnosis module, a display module, a network communication module and the like which are connected with the processing module; the processing module is used for analyzing and obtaining parking space information and traffic semantic information of the current parking lot according to the image acquired by the vision module, constructing a local map of the current parking lot by combining the driving track acquired by the vision module, the data diagnosis module and the inertial navigation module, and then sending the local map to the cloud server through the network communication module; the cloud server is used for constructing a whole map of the current parking lot according to the local maps and pushing the whole map to the vehicle-mounted terminal for searching the parking space to display.
Description
Technical Field
The invention relates to the technical field of internet, in particular to a parking system and method based on simultaneous map building and positioning.
Background
At present, with the increase of the number of vehicles, parking also becomes a serious problem, especially in public places in cities, such as shopping malls and other public places, and in the weekend peak period, a lot of people need a long time to find parking spaces in the public places. The driver does not know the parking space use condition in the public place, if the driver has an empty parking space, where the empty parking space is, and the like, the basic information, so that the problems of difficult parking, time consumption for parking, and the like are caused, and the user experience and the occupied time are seriously influenced.
Most of the existing parking management modes only display the remaining conditions of the parking spaces of the parking lot on the spot through a display screen, and do not have detailed information such as the positions, occupation conditions and the like of the parking spaces. Some companies detect the use condition of the parking lot through basic equipment such as a camera arranged in the parking lot, upload data of the whole parking lot to a cloud end, and service providers integrate the data and distribute the data to required end users APP. However, the scheme needs to perform communication coordination on each specific parking lot, needs to obtain the permission of modification and the permission of sensing data, and has high construction cost and low popularization speed. It is desirable to provide a solution that improves the ease of parking while reducing the cost of the equipment.
Disclosure of Invention
The invention aims to provide a parking system and method based on simultaneous mapping and positioning, which are used for achieving the technical effect of improving parking convenience while reducing equipment cost.
In a first aspect, an embodiment of the invention provides a parking system based on simultaneous mapping and positioning, which comprises a cloud server and a plurality of vehicle-mounted terminals connected with the cloud server; the vehicle-mounted terminal comprises a processing module; a vision module connected with the processing module; the data diagnosis module is connected with the processing module; the inertial navigation module is connected with the processing module; the display module is connected with the processing module; and a network communication module connected with the processing module; the processing module is used for analyzing and obtaining parking space information and traffic semantic information of the current parking lot according to the images acquired by the vision module, constructing a local map of the current parking lot through a driving track acquired by the vision module, the data diagnosis module and the inertial navigation module in the driving process of the vehicle, and then sending the local map to the cloud server through the network communication module; the cloud server is used for constructing a whole map of the current parking lot according to the local maps and pushing the whole map to the vehicle-mounted terminal for searching the parking space to display.
Further, the parking system further comprises a mobile phone terminal connected with the cloud server; the mobile phone terminal is used for acquiring the parking space number and the parking space occupation information of the current parking lot through the camera and sending the parking space number and the parking space occupation information to the cloud server; and the cloud server is also used for updating the constructed integral map according to the parking space number and the parking space occupation information.
Further, the cloud server is also used for acquiring parking space occupation information of vehicles entering the garage and updating the whole map.
Further, the vehicle-mounted terminal further comprises a laser radar connected with the processing module, and the cloud server is further used for updating the whole map according to detection data of the laser radar.
Further, the information in the overall map at least includes the position, size, number of parking spaces, position of parking spaces, and identification of parking lots.
Further, the vehicle-mounted terminal also comprises a voice module connected with the processing module; the voice module is used for voice parking navigation.
In a second aspect, an embodiment of the present invention provides a parking method based on simultaneous mapping and positioning, which is applied to the parking system described above, and includes: acquiring an image acquired by a vision module in the process that any vehicle enters a current parking lot to park; obtaining parking space information and traffic semantic information of the current parking lot according to the image analysis, and constructing a local map of the current parking lot through a driving track obtained by the vision module, the data diagnosis module and the inertial navigation module in the driving process of the vehicle; and constructing a whole map of the current parking lot according to the local maps and pushing the whole map to a vehicle-mounted terminal for searching for the parking space to display.
Further, the method further comprises: acquiring a parking space number and parking space occupation information acquired by a mobile phone terminal; and updating the whole map according to the parking space number and the parking space occupation information.
Further, the method further comprises: and acquiring detection data of the laser radar and updating the constructed integral map according to the detection data.
The beneficial effects that the invention can realize are as follows: the parking system and the parking method based on simultaneous mapping and positioning can complete the construction of the complete map of each parking lot through the vehicle-mounted terminals and the cloud servers of a plurality of vehicles driving into the parking lot, and simultaneously can send the constructed map to the vehicle-mounted terminal searching for the parking space for display, so that a user can quickly find the parking lot with the nearby parking space, know the specific position of the parking space and park more conveniently and quickly.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of a parking system topology based on simultaneous mapping and positioning according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a map hierarchy provided in an embodiment of the present invention;
fig. 3 is a schematic flow chart of a parking method based on simultaneous mapping and positioning according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a parking lot overall map building process according to an embodiment of the present invention.
Icon: 10-a parking system; 100-a cloud server; 200-vehicle mounted terminal; 210-a processing module; 220-a vision module; 230-inertial navigation module; 240-data diagnostic module; 250-a display module; 260-network communication module; 270-laser radar; 280-a voice module; 300-mobile phone terminal.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic view of a parking system topology based on simultaneous mapping and positioning according to an embodiment of the present invention; fig. 2 is a schematic diagram of a map hierarchical structure according to an embodiment of the present invention.
In one implementation, the parking system 10 based on simultaneous mapping and positioning provided by the embodiment of the present invention includes a cloud server 100 and a plurality of vehicle-mounted terminals 200 connected to the cloud server 100; the in-vehicle terminal 200 includes a processing module 210; a vision module 220 connected to the processing module 210; a data diagnosis module 240 connected to the processing module 210; an inertial navigation module 230 connected to the processing module 210; a display module 250 connected to the processing module 210; and a network communication module 260 connected to the processing module 210; the processing module 210 is configured to analyze an image acquired by the vision module 220 to obtain parking space information and traffic semantic information of a current parking lot, construct a local map of the current parking lot according to a driving track acquired by the vision module 220, the data diagnosis module 240 and the inertial navigation module 230 in a vehicle driving process, and send the local map to the cloud server 100 through the network communication module 260; the cloud server 100 is configured to construct an overall map of the current parking lot according to the plurality of local maps and push the overall map to the vehicle-mounted terminal 200 searching for the parking space for display.
In the implementation process, one vehicle-mounted terminal 200 may be installed on each vehicle, and each vehicle-mounted terminal 200 is connected to the cloud server 100. When a user drives a vehicle to enter a parking lot to search for a parking space, the vehicle-mounted terminal 200 firstly constructs a local map of the current parking lot through a driving track acquired by the vision module 220, the inertial navigation module 230, the data diagnosis module 240 and the like and sends the local map to the cloud server 100, and then the cloud server 100 gradually constructs a complete map of the current parking lot according to fusion of the local maps constructed by a plurality of vehicles entering the parking lot and sends the complete map to the vehicle-mounted terminal 200 of the user searching for the parking space for display; meanwhile, in the process of constructing the complete map, the cloud server 100 may also send the map that is constructed at present in the parking lot to the vehicle-mounted terminal 200 of the user who is looking for the parking space for display. The displayed map at least comprises information such as the position, the size, the number of parking spaces, the positions of the parking spaces, the identification of the parking lots and the like. The vision module 220 obtains a driving track of the vehicle through a simultaneous localization and mapping (SLAM) algorithm; when the local map is constructed, the driving track acquired by the vision module 220, the driving track acquired by the inertial navigation module 230 and the driving track acquired by the data diagnosis module 240 are analyzed by using a map optimization algorithm, so that a more accurate local map is obtained.
Further, after the user seeking the parking space drives into the parking lot, the cloud server 100 may further obtain the image, the vehicle driving track, the mileage information, and the like acquired by the vehicle-mounted terminal 200 on the vehicle entering the parking lot, and then update the overall map of the parking lot and the parking space information in the overall map according to the information and the parking space occupation information of the vehicle entering the parking lot.
In one embodiment, the vision module 220 of the vehicle-mounted terminal 200 may be a binocular camera, and the processing module 210 may be a single chip microcomputer; the image collected by the binocular camera may adopt a BA Algorithm (BA) to construct constraints between multiple poses, the data of the inertial navigation module 230 adopts a pre-integration form to construct constraints between two poses, and timestamps of different types of frames are aligned by a linear difference method. When constructing the local map, the processing module 210 may extract information from the image obtained by the vision module 220 based on a deep learning algorithm to obtain information such as the parking space position, the parking space number, and the parking space occupation condition of the passing area of the vehicle; meanwhile, the processing module 210 may also identify parking lot identifiers (the parking lot identifiers include parking space numbers, direction boards, etc.) in the image to obtain traffic semantic information; then, the processing module 210 constructs a local map of the current parking lot by combining the vehicle driving track acquired by the inertial navigation module 230 and the mileage information acquired by the data diagnosis module 240.
Specifically, the processing module 210 triangulates feature points in the space through the binocular camera, the triangulated feature points including feature descriptors of three-dimensional coordinates and dimensions, denoted as (x, y, z, D); wherein x, y and z are three-dimensional coordinates, and D is a feature descriptor of the feature point. The relative position of the frame and the frame is estimated by tracking the characteristic points and adopting a PnP algorithm, and then the points with the position information and the descriptors are put into a map to be used as a basis for building the map. When the existence of the vehicle in the parking space is identified, the parking space frame in the image can be extracted through a deep learning algorithm, then the parking space frame is inwards contracted to identify the characteristic point of the central area of the parking space, and the existence of the vehicle in the parking space is analyzed.
As shown in fig. 2, in one embodiment, the map has a layered structure with three layers, including a physical information layer, a parking space information layer, and a traffic semantic layer. The physical information layer is the bottom layer, and describes physical information, and whether the space is passable or not is taken as main information, namely whether an obstacle exists at a point in the space represented by (x, y, z). The size and the spatial layout of the parking lot can be roughly described by the physical information layer, the parking lot is convenient to use in navigation, the map of the physical information layer is described by pictures or octree maps, in addition, the key pictures of the map are stored in the physical information layer and are collected by the vehicle-mounted terminal 200, the picture library of the parking lot can be constructed by the pictures, and each item of the picture library is as follows: picture information, position information corresponding to the picture, feature information of the picture, and the like. The parking space information layer is a middle layer and is used for drawing parking space information on the basis of the physical information layer; the parking space information comprises information such as a parking space central point, a vehicle head direction, a vehicle position width, a parking space number, whether a private parking space exists or not, whether a vehicle stops in the parking space or not and the like. The part of information is stored in a database in the form of a data table. The traffic semantic layer is a top layer and mainly solves the problem that road description inside the parking lot is linked with the outside of the parking lot, and ground traffic marking information, parking lot entrance and exit information, parking lot elevator position information and emergency channel information are mainly recorded. This information is also stored in the database in the form of a data table. The information of the parking space information layer and the traffic semantic layer can be obtained by extracting features of the pictures acquired by the vision module 220.
In one embodiment, the vehicle-mounted terminal 200 further includes a laser radar 270 (e.g., a single line laser radar 270) connected to the processing module 210, and the cloud server 100 is further configured to update the overall map according to detection data of the laser radar 270. Through the laser radar 270 who sets up, can assist under the texture is less, perhaps the relatively poor environment of light and construct the picture, improved the reliability of system, the precision of map also can be improved to the range finding data of acquireing simultaneously through laser radar 270.
In one embodiment, the parking system 10 further includes a cell phone terminal 300 connected to the cloud server 100; the mobile phone terminal 300 is configured to acquire a parking space number and parking space occupation information of a current parking lot through a camera, and send the parking space number and the parking space occupation information to the cloud server 100; the cloud server 100 is further configured to update the constructed overall map according to the parking space number and the parking space occupancy information.
In the implementation process, the user may establish a connection with the cloud server 100 through APP software set in the mobile phone terminal 300. After the mobile phone terminal 300 obtains the loaded and constructed parking lot map from the cloud server 100, the cloud server 100 may extract feature points from a picture obtained by a camera of the mobile phone terminal 300, retrieve the parking lot map by using a Bag of words (BoW) or VLAD method, and after some scenes in the parking lot map are retrieved, perform detailed positioning by using a pnp (productive point) algorithm and send the location to the mobile phone terminal 300; the mobile phone terminal 300 has positioning information and can also obtain surrounding static parking space information. The parking space condition in the map is updated through online detection, and then the parking space condition is uploaded to the cloud server 100 to update the dynamic state of the map.
In one embodiment, the in-vehicle terminal 200 further includes a voice module 280 connected to the processing module 210; the voice module 280 is used for voice parking navigation. When the user needs to find a parking space, the location and the map of the nearby parking lot may be acquired from the cloud server 100, and then the voice module 280 may perform voice navigation according to the parking lot selected by the user.
Referring to fig. 3 and fig. 4, fig. 3 is a schematic flow chart of a parking method based on simultaneous mapping and positioning according to an embodiment of the present invention; fig. 4 is a schematic diagram of a parking lot overall map building process according to an embodiment of the present invention.
In an implementation manner, an embodiment of the present invention further provides a parking method based on simultaneous mapping and positioning, and a specific flow thereof is as follows.
And S101, acquiring an image acquired by a vision module in the process that any vehicle enters the current parking lot to park.
And S102, obtaining parking space information and traffic semantic information of the current parking lot according to the image analysis, and constructing a local map of the current parking lot through a driving track obtained by the vision module, the data diagnosis module and the inertial navigation module in the driving process of the vehicle.
And S103, constructing a whole map of the current parking lot according to the local maps and pushing the whole map to a vehicle-mounted terminal for searching for a parking space to display.
As shown in fig. 4, the cloud server can gradually obtain the complete map of the parking lot through the local map of the parking lot obtained by the vehicle-mounted terminals on the plurality of vehicles, so that convenience in building the map of the parking lot is improved.
When a vehicle drives into the current parking lot, the processing module can firstly acquire the image acquired by the vision module; secondly, analyzing the acquired image to obtain parking space information and traffic semantic information of the current parking lot, and then constructing a local map of the current parking lot by combining the vehicle running track acquired by the inertial navigation module and the mileage information acquired by the data diagnosis module and sending the local map to a cloud server; and finally, the cloud server adopts a deep learning algorithm to gradually obtain an overall map of the current parking lot by fusing the local maps constructed by a plurality of vehicles entering the current parking lot, and sends the overall map to the vehicle-mounted terminal on the vehicle for subsequently searching the parking space.
Further, the method also comprises the steps of acquiring the parking space number and the parking space occupation information acquired by the mobile phone terminal; and updating the constructed integral map according to the parking space number and the parking space occupation information.
In the implementation process, the user can update the current parking lot to construct the whole map through the parking space number and the parking space occupation information acquired by the mobile phone terminal. Specifically, a map built in the current parking lot can be obtained from a cloud server before a mobile phone terminal enters the current parking lot, after a vehicle enters the current parking lot, feature points can be extracted from a picture obtained by a camera of the mobile phone terminal by the mobile phone terminal, the parking lot map is retrieved by a Bag of words algorithm (BoW) or a local aggregation Vector method (VLAD), and after some scenes in the parking lot map are retrieved, the parking lot map is positioned in detail by a PnP algorithm and sent to the mobile phone terminal; the mobile phone terminal has positioning information and can also obtain surrounding static parking space information. And the parking space condition in the map is updated through online detection, and then the dynamic state of the map is updated by uploading the parking space condition to a cloud server.
Further, the cloud server can also acquire detection data of the laser radar and update the whole map according to the detection data. The accuracy of the map can be improved through the acquired detection data, meanwhile, the map can be established in an auxiliary mode in an environment with few textures or poor light, and the reliability of the system is improved.
In summary, the embodiment of the present invention provides a parking system and method based on simultaneous mapping and positioning, including a cloud server and a plurality of vehicle terminals connected to the cloud server; the vehicle-mounted terminal comprises a processing module; the vision module is connected with the processing module; the data diagnosis module is connected with the processing module; the inertial navigation module is connected with the processing module; the display module is connected with the processing module; and a network communication module connected with the processing module; the processing module is used for analyzing and obtaining parking space information and traffic semantic information of the current parking lot according to the image acquired by the vision module, constructing a local map of the current parking lot through a driving track acquired by the vision module, the data diagnosis module and the inertial navigation module in the driving process of the vehicle, and then sending the local map to the cloud server through the network communication module; the cloud server is used for constructing a whole map of the current parking lot according to the local maps and pushing the whole map to the vehicle-mounted terminal for searching the parking space to display, so that the parking convenience of a user is improved.
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 (9)
1. A parking system based on simultaneous mapping and positioning is characterized by comprising a cloud server and a plurality of vehicle-mounted terminals connected with the cloud server; the vehicle-mounted terminal comprises a processing module; a vision module connected with the processing module; the data diagnosis module is connected with the processing module; the inertial navigation module is connected with the processing module; the display module is connected with the processing module; and a network communication module connected with the processing module; the processing module is used for analyzing and obtaining parking space information and traffic semantic information of the current parking lot according to the images acquired by the vision module, constructing a local map of the current parking lot through a driving track acquired by the vision module, the data diagnosis module and the inertial navigation module in the driving process of the vehicle, and then sending the local map to the cloud server through the network communication module; the cloud server is used for constructing a whole map of the current parking lot according to the local maps and pushing the whole map to the vehicle-mounted terminal for searching the parking space to display.
2. The parking system according to claim 1, further comprising a cell phone terminal connected to the cloud server; the mobile phone terminal is used for acquiring the parking space number and the parking space occupation information of the current parking lot through the camera and sending the parking space number and the parking space occupation information to the cloud server; and the cloud server is also used for updating the whole map according to the parking space number and the parking space occupation information.
3. The parking system of claim 1, wherein the cloud server is further configured to obtain parking space occupancy information of the vehicle entering the garage and update the overall map.
4. The parking system according to claim 1, wherein the vehicle-mounted terminal further comprises a laser radar connected with the processing module, and the cloud server is further configured to update the constructed overall map according to detection data of the laser radar.
5. The parking system of claim 1 wherein the information in the global map includes at least a location, a size, a number of slots, a location of a slot, and a parking lot identification of a parking lot.
6. The parking system of claim 1 wherein the vehicle terminal further comprises a voice module connected to the processing module; the voice module is used for voice parking navigation.
7. A parking method based on simultaneous mapping and positioning, applied to the parking system according to any one of claims 1 to 6, comprising:
acquiring an image acquired by a vision module in the process that any vehicle enters a current parking lot to park;
obtaining parking space information and traffic semantic information of the current parking lot according to the image analysis, and constructing a local map of the current parking lot through a driving track obtained by the vision module, the data diagnosis module and the inertial navigation module in the driving process of the vehicle;
and constructing a whole map of the current parking lot according to the local maps and pushing the whole map to a vehicle-mounted terminal for searching for the parking space to display.
8. The method of claim 7, further comprising:
acquiring a parking space number and parking space occupation information acquired by a mobile phone terminal;
and updating the constructed integral map according to the parking space number and the parking space occupation information.
9. The method of claim 7, further comprising:
and acquiring detection data of the laser radar and updating the whole map according to the detection data.
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| CN114373331A (en) * | 2022-01-11 | 2022-04-19 | 浙江吉利控股集团有限公司 | Cloud splicing method for learned parking lot data of vehicle |
| CN114743405A (en) * | 2022-03-29 | 2022-07-12 | 广州小鹏自动驾驶科技有限公司 | Parking space data processing method and device, electronic equipment and storage medium |
| CN114842662A (en) * | 2022-04-29 | 2022-08-02 | 重庆长安汽车股份有限公司 | Vehicle searching control method for underground parking lot and readable storage medium |
| CN115083200A (en) * | 2022-07-15 | 2022-09-20 | 广州小鹏自动驾驶科技有限公司 | Vehicle positioning method, vehicle, server, system and storage medium |
| CN115394116A (en) * | 2022-08-30 | 2022-11-25 | 上汽通用五菱汽车股份有限公司 | Parking space information sharing method and device, electronic equipment and readable storage medium |
| CN117091589A (en) * | 2023-10-20 | 2023-11-21 | 安徽蔚来智驾科技有限公司 | Method and device for matching parking space in high-precision map with charging pile and readable storage medium |
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