CN113253278B - Parking space identification method and device and computer storage medium - Google Patents
Parking space identification method and device and computer storage medium Download PDFInfo
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- CN113253278B CN113253278B CN202110470409.XA CN202110470409A CN113253278B CN 113253278 B CN113253278 B CN 113253278B CN 202110470409 A CN202110470409 A CN 202110470409A CN 113253278 B CN113253278 B CN 113253278B
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
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- G01S15/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
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Abstract
The embodiment of the application discloses a parking space identification method, a parking space identification device and a computer storage medium, and belongs to the technical field of automatic driving. The method comprises the following steps: acquiring distance sample information through an ultrasonic radar installed on an automobile, wherein the distance sample information is used for describing the distance between an obstacle detected by the ultrasonic radar and the automobile; determining a distance sample jumping point from the distance sample information, wherein the distance sample jumping point is used for describing the starting position and the ending position of an obstacle in the current environment; and carrying out parking space type matching according to the distance sample trip point and the stored automobile model sample so as to identify the parking space in the current environment of the automobile. According to the embodiment of the application, the distance sample jumping point is determined through the distance sample information of the ultrasonic radar, and the parking space type is matched according to the distance sample jumping point and the automobile model sample, so that the parking space is identified, the parking space identification cost is reduced, and the parking space identification accuracy is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of automatic driving, in particular to a parking space identification method, a parking space identification device and a computer storage medium.
Background
With the development of society, automobile development is more and more intelligent, wherein automatic parking is one of the intelligent performances of automobiles. One of the key technologies for automatic parking of automobiles is parking space identification.
At present, when parking space identification is performed, the parking space identification is generally performed through an image vision sensor or performed through a mode of combining the image vision sensor with an ultrasonic radar sensor. When the parking space is identified through the image vision sensor, the image can be acquired through the image vision sensor, and the acquired image is processed through an image algorithm, so that the parking space is identified. When carrying out the parking stall discernment through image vision sensor and ultrasonic radar sensor, image vision sensor gathers the image, and ultrasonic radar sensor can acquire ultrasonic radar data, later fuses the image of gathering and ultrasonic radar data, discerns the parking stall through the data after the fusion.
However, when the parking space is identified by the image vision sensor, an image algorithm is needed, the image algorithm is complex, and in the weather such as rainy and snowy weather, the acquired image may not be clear enough, so that the parking space identification may not be accurate enough. When the parking space recognition is carried out by combining the image vision sensor and the ultrasonic radar sensor, a data fusion algorithm is involved, the fusion algorithm is also complex, and the parking space recognition cost is high due to the combination of the two sensors.
Disclosure of Invention
The embodiment of the application provides a parking space identification method, a parking space identification device and a computer storage medium, which can be used for solving the problems of low parking space identification accuracy or high parking space identification cost in the related technology. The technical scheme is as follows:
In one aspect, a method for identifying a parking space is provided, and the method comprises the following steps:
Acquiring distance sample information through an ultrasonic radar installed on an automobile, wherein the distance sample information is used for describing the distance between an obstacle detected by the ultrasonic radar and the automobile;
determining a distance sample jumping point from the distance sample information, wherein the distance sample jumping point is used for describing the starting position and the ending position of an obstacle in the current environment;
And carrying out parking space type matching according to the distance sample trip point and the stored automobile model sample so as to identify the parking space in the current environment of the automobile.
In some embodiments, the determining a distance sample trip point from the distance sample information includes:
acquiring the body state information of the automobile;
According to the vehicle body state information, constructing a two-dimensional space coordinate system by taking any point in the space where the vehicle is located as an origin, taking the detection direction of the ultrasonic radar as a vertical axis and taking the running direction of the vehicle as a horizontal axis;
Filtering the distance sample information to filter sample information which does not meet the distance requirement in the distance sample information;
Constructing a distance curve in the two-dimensional space coordinate system through the filtered distance sample information;
the distance sample trip point is determined from the distance curve.
In some embodiments, the determining the distance sample trip point from the distance curve comprises:
dividing the distance curve into two sub-sample curves by taking a reference division point in the distance curve as a division basis, wherein the reference division point is any reference point which is not selected as the division basis, and the any reference point is a point corresponding to any distance sample information;
determining, for each reference point in each sub-sample curve, a mean square error for said each reference point;
The mean square error of each reference point in each sub-sample curve is added to obtain a residual value, the distance curve is divided into two sub-sample curves by taking a reference division point in the distance curve as a division basis, until the minimum residual value is obtained, or until N residual values which are greater than or equal to a residual threshold value are obtained, wherein N is a positive integer which is greater than or equal to 2;
When the minimum residual value is obtained, determining a reference point corresponding to the minimum residual value as the distance sample jump point; or when N residual values which are larger than or equal to the residual threshold value are obtained, determining the reference points corresponding to the N residual values as the distance sample jump points.
In some embodiments, the parking space type matching according to the distance sample trip point and the stored automobile model sample to identify a parking space in the current environment of the automobile comprises:
determining an obstacle outline corresponding to the distance sample jumping point according to the distance sample jumping point;
Determining a correlation between the obstacle profile and a stored automobile model sample;
Determining that the obstacle profile and the automobile model sample are successfully matched when the correlation between the obstacle profile and the automobile model sample is less than or equal to a correlation threshold;
Determining the type of the parking space corresponding to the automobile model sample as the type of the parking space in the current environment of the automobile;
And identifying the parking space in the current environment of the automobile according to the parking space type and the distance sample trip point.
In some embodiments, the identifying the parking space in the current environment of the automobile according to the space type and the distance sample trip point includes:
determining a space to be identified according to the distance sample jumping points, wherein the space to be identified is a space without barriers;
And when the space distance of the space to be identified is greater than or equal to the parking distance corresponding to the parking space type, determining the space to be identified as the parking space in the current environment of the automobile.
In another aspect, there is provided a parking space recognition apparatus, the apparatus including:
The acquisition module is used for acquiring distance sample information through an ultrasonic radar installed on an automobile, wherein the distance sample information is used for describing the distance between an obstacle detected by the ultrasonic radar and the automobile;
the determining module is used for determining a distance sample jumping point from the distance sample information, wherein the distance sample jumping point is used for describing the starting position and the ending position of an obstacle in the current environment;
And the identification module is used for identifying the parking space in the current environment of the automobile according to the distance sample trip point.
In some embodiments, the determining module comprises:
the acquisition sub-module is used for acquiring the body state information of the automobile;
The first construction submodule is used for constructing a two-dimensional space coordinate system by taking any point in the space where the automobile is located as an original point, taking the detection direction of the ultrasonic radar as a vertical axis and taking the running direction of the automobile as a horizontal axis according to the automobile body state information;
the filtering sub-module is used for carrying out filtering processing on the distance sample information so as to filter sample information which does not meet the distance requirement in the distance sample information;
The second construction submodule is used for constructing a distance curve through the filtered distance sample information in the two-dimensional space coordinate system;
and the first determination submodule is used for determining the distance sample jump point from the distance curve.
In some embodiments, the first determination submodule is to:
dividing the distance curve into two sub-sample curves by taking a reference division point in the distance curve as a division basis, wherein the reference division point is any reference point which is not selected as the division basis, and the any reference point is a point corresponding to any distance sample information;
determining, for each reference point in each sub-sample curve, a mean square error for said each reference point;
The mean square error of each reference point in each sub-sample curve is added to obtain a residual value, the distance curve is divided into two sub-sample curves by taking a reference division point in the distance curve as a division basis, until the minimum residual value is obtained, or until N residual values which are greater than or equal to a residual threshold value are obtained, wherein N is a positive integer which is greater than or equal to 2;
When the minimum residual value is obtained, determining a reference point corresponding to the minimum residual value as the distance sample jump point; or when N residual values which are larger than or equal to the residual threshold value are obtained, determining the reference points corresponding to the N residual values as the distance sample jump points.
In some embodiments, the identification module comprises:
A second determining submodule, configured to determine, according to the distance sample trip point, an obstacle profile corresponding to the distance sample trip point;
A third determination sub-module for determining a correlation between the obstacle profile and a stored automobile model sample;
a fourth determination submodule, configured to determine that the obstacle profile and the automobile model sample are successfully matched when a correlation between the obstacle profile and the automobile model sample is less than or equal to a correlation threshold;
a fifth determining submodule, configured to determine a parking space type corresponding to the automobile model sample as a parking space type of a parking space in an environment where the automobile is currently located;
and the identification sub-module is used for identifying the parking space in the current environment of the automobile according to the parking space type and the distance sample trip point.
In some embodiments, the identification submodule is to:
determining a space to be identified according to the distance sample jumping points, wherein the space to be identified is a space without barriers;
And when the space distance of the space to be identified is greater than or equal to the parking distance corresponding to the parking space type, determining the space to be identified as the parking space in the current environment of the automobile.
In another aspect, a computer storage medium is provided, where instructions are stored, where the instructions, when executed by a processor, implement any step in the above-mentioned parking space identification method.
The technical scheme provided by the embodiment of the application has the beneficial effects that at least:
According to the embodiment of the application, the distance sample jumping point can be determined through the distance sample information of the ultrasonic radar, and the starting position and the ending position of the obstacle in the current environment can be described by the distance sample jumping point, and the parking space type can be matched according to the distance sample jumping point and the automobile model sample, so that the parking space can be identified, the parking space identification cost is reduced, and the parking space identification accuracy is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an identification system architecture of a parking space according to an embodiment of the present application;
FIG. 2 is a flow chart of a parking space identification method provided by the embodiment of the application;
FIG. 3 is a flowchart of another parking space identification method provided by the embodiment of the application;
FIG. 4 is a schematic diagram of distance sample information in a two-dimensional space coordinate system according to an embodiment of the present application;
Fig. 5 is a schematic structural diagram of a parking space recognition device according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a determining module according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an identification module according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the following detailed description of the embodiments of the present application will be given with reference to the accompanying drawings.
Before explaining the identification method of the parking space provided by the embodiment of the application in detail, an application scene and a system architecture provided by the embodiment of the application are explained.
Firstly, an application scenario provided by the embodiment of the application is explained.
Along with the intelligent development of automobiles, the parking space is precisely one of the basic performances of the intelligent automobiles. Because the car is carrying out the parking stall discernment when carrying out the parking stall discernment, if carry out the parking stall discernment through image vision sensor, then because need use image algorithm and image algorithm is comparatively complicated to lead to the parking stall discernment process complicated, in such as rainy and snowy weather, the image of gathering moreover probably is not clear enough, leads to probably not accurate enough to the parking stall discernment. If the parking space recognition is carried out by combining the image vision sensor and the ultrasonic radar sensor, the data fusion algorithm is involved, the fusion algorithm is complex, and the parking space recognition cost is high due to the combination of the two sensors.
Based on the application scene, the embodiment of the application provides the parking space identification method with high reliability and simple identification process.
A system architecture provided by the present application is explained below.
Fig. 1 is a schematic diagram of an identification system architecture of a parking space provided by an embodiment of the present application, referring to fig. 1, the system architecture includes an ultrasonic radar 1 (or referred to as an ultrasonic radar sensor), an MCU controller 2, and a vehicle body controller 3. The ultrasonic radar 1 is in communication connection with pins of the MCU controller 2, and the MCU controller 2 is connected with the vehicle body controller 3.
The ultrasonic radar 1 is used for acquiring distance sample information between an automobile and an obstacle and sending the acquired distance sample information to the MCU controller 2, and the ultrasonic radar can acquire the distance sample information between the automobile and the obstacle according to the time length of the ultrasonic sensor pin ECHO high level sampled by the timer outside the MCU controller 2. The body controller 3 is configured to send body state information of the automobile to the MCU controller 2. The MCU controller 2 is used for receiving distance sample information sent by the ultrasonic radar 1 and car sound state information sent by the car body controller 3, establishing a two-dimensional space coordinate system according to the car body state information, determining a distance sample jumping point in the two-dimensional space coordinate system according to the distance sample information, and identifying a parking space in the current environment of the car according to the distance sample jumping point.
As an example, the MCU controller 2 can periodically (e.g., 30 ms) trigger a control command to the ultrasonic radar 1 to cause the ultrasonic radar to make an obstacle distance measurement. The MCU controller 2 CAN acquire the vehicle body state information of the vehicle body controller 3 through CAN communication, for example, acquire the current vehicle speed, steering angle, and the like.
As an example, the model of the ultrasonic radar 1 can be HCSR04, and the ultrasonic radar 1 is installed at a front bumper side position to measure the obstacle distance at both sides of the automobile body.
It will be appreciated by those skilled in the art that the above system architecture is merely exemplary, and that other modules, components, etc., as may be present in the present application or otherwise hereafter presented, are intended to be within the scope of the present application and are incorporated herein by reference.
Fig. 2 is a flowchart of a method for identifying a parking space, which is provided by the embodiment of the application, and the method for identifying the parking space can include the following steps:
step 201: distance sample information describing the distance between an obstacle detected by an ultrasonic radar and a car is acquired by the ultrasonic radar mounted on the car.
Step 202: and determining a distance sample jumping point from the distance sample information, wherein the distance sample jumping point is used for describing the starting position and the ending position of the obstacle in the current environment.
Step 203: and carrying out parking space type matching according to the distance sample trip point and the stored automobile model sample so as to identify the parking space in the current environment of the automobile.
According to the embodiment of the application, the distance sample jumping point can be determined through the distance sample information of the ultrasonic radar, and the starting position and the ending position of the obstacle in the current environment can be described by the distance sample jumping point, and the parking space type can be matched according to the distance sample jumping point and the automobile model sample, so that the parking space can be identified, the parking space identification cost is reduced, and the parking space identification accuracy is improved.
In some embodiments, determining a distance sample trip point from the distance sample information includes:
Acquiring body state information of the automobile;
According to the vehicle body state information, constructing a two-dimensional space coordinate system by taking any point in the space where the vehicle is located as an origin, taking the detection direction of the ultrasonic radar as a vertical axis and taking the running direction of the vehicle as a horizontal axis;
Filtering the distance sample information to filter out sample information which does not meet the distance requirement in the distance sample information;
Constructing a distance curve in the two-dimensional space coordinate system through the filtered distance sample information;
The distance sample trip point is determined from the distance curve.
In some embodiments, determining the distance sample trip point from the distance curve includes:
dividing the distance curve into two sub-sample curves by taking a reference dividing point in the distance curve as a dividing basis, wherein the reference dividing point is any reference point which is not selected as the dividing basis, and the any reference point is a point corresponding to any distance sample information;
Determining, for each reference point in each sub-sample curve, a mean square error for the each reference point;
The mean square error of each reference point in each sub-sample curve is added to obtain a residual value, the distance curve is divided into two sub-sample curves by taking a reference dividing point in the distance curve as a dividing basis, until the minimum residual value is obtained, or until N residual values which are greater than or equal to a residual threshold value are obtained, wherein N is a positive integer which is greater than or equal to 2;
When the minimum residual value is obtained, determining a reference point corresponding to the minimum residual value as the distance sample jump point; or when N residual values which are larger than or equal to the residual threshold value are obtained, determining the reference points corresponding to the N residual values as the distance sample jump points.
In some embodiments, the parking space type matching is performed according to the distance sample trip point and the stored automobile model sample, so as to identify the parking space in the current environment of the automobile, including:
Determining an obstacle outline corresponding to the distance sample jumping point according to the distance sample jumping point;
determining a correlation between the obstacle profile and a stored model sample of the vehicle;
When the correlation between the obstacle outline and the automobile model sample is smaller than or equal to a correlation threshold value, determining that the obstacle outline and the automobile model sample are successfully matched;
determining the type of the parking space corresponding to the automobile model sample as the type of the parking space in the current environment of the automobile;
and identifying the parking space in the current environment of the automobile according to the parking space type and the distance sample trip point.
In some embodiments, identifying a parking space in an environment in which the vehicle is currently located according to the space type and the distance sample trip point includes:
Determining a space to be identified according to the distance sample jumping points, wherein the space to be identified is a space without barriers;
and when the space distance of the space to be identified is greater than or equal to the parking distance corresponding to the parking space type, determining the space to be identified as the parking space in the current environment of the automobile.
All the above optional technical solutions may be combined according to any choice to form an optional embodiment of the present application, and the embodiments of the present application will not be described in detail.
Fig. 3 is a flowchart of a parking space identification method provided by the embodiment of the application, and the embodiment is illustrated by applying the parking space identification method to an automobile, and the parking space identification method can include the following steps:
step 301: the automobile obtains distance sample information through an installed ultrasonic radar.
The distance sample information is used to describe the distance between the obstacle detected by the ultrasonic radar and the automobile.
As one example, the car can acquire distance sample information by an installed ultrasonic radar when receiving a search instruction.
The search command is triggered when the driver is required to park the vehicle by a predetermined operation. The designation operation can be a click operation, a slide operation, a voice operation, a toggle operation, or the like.
As an example, the car can also acquire distance sample information by means of an installed ultrasonic radar after detecting that the car enters the parking lot.
In the case where the vehicle acquires distance sample information by the ultrasonic radar, the ultrasonic radar can acquire the distance sample information once every predetermined time interval, which can be set in advance, for example, 30 milliseconds or the like.
In some embodiments, the car can locate its own position by the locating device to obtain the current location and determine whether to enter the parking lot according to the current location.
Step 302: the car determines a distance sample trip point from the distance sample information.
It should be noted that the distance sample trip point is used to describe a start position and an end position of an obstacle located in the current environment.
As one example, the operation of the car to determine a distance sample trip point from the distance sample information includes: acquiring body state information of an automobile; according to the vehicle body state information, constructing a two-dimensional space coordinate system by taking any point in a space where the vehicle is located as an origin, taking the detection direction of the ultrasonic radar as a vertical axis and taking the running direction of the vehicle as a horizontal axis; filtering the distance sample information to filter sample information which does not meet the distance requirement in the distance sample information; constructing a distance curve in a two-dimensional space coordinate system through the filtered distance sample information; a distance sample trip point is determined from the distance curve.
In order to determine the jump point of the distance sample conveniently, the automobile can construct a two-dimensional space coordinate system, and because the ultrasonic radar is usually arranged at the side surface of the automobile front bumper, the automobile can acquire any point in the space where the automobile is located as an origin, and the two-dimensional space coordinate system is constructed by taking the detection direction of the ultrasonic radar as a vertical axis and taking the running direction of the automobile as a horizontal axis. For example, a car can establish a two-dimensional spatial coordinate system with the center of the car sound as the origin.
Because objects such as a grass and the like may exist in a parking lot, a large gap exists between the objects, when the ultrasonic radar of the automobile emits radar waves for distance detection, reflected waves can not be received after the radar waves are emitted, so that abnormal data exists in distance sample information, or some uneven objects may exist in the current environment of the automobile, the uneven objects may cause some clutter information acquired by the ultrasonic radar, and the clutter information may influence the identification of the automobile to a parking space, therefore, the automobile can carry out filtering processing on the distance sample information to filter sample information which does not meet the distance requirement in the distance sample information.
The distance requirement may be set as required in advance, for example, the distance requirement may be that the distance sample information is sample information that can receive the reflected wave, and/or the distance sample information is sample information that is greater than a first distance threshold and less than a second distance threshold, and the first distance threshold is less than the second distance threshold, and both the first distance threshold and the second distance threshold may be set in advance.
In some embodiments, the automobile can also construct a two-dimensional space coordinate system by taking any point in the space where the automobile is located as an origin, taking the detection direction of the ultrasonic radar as a longitudinal axis and taking the running direction of the automobile as a transverse axis according to the automobile body state information; and then constructing a sample curve in a two-dimensional space coordinate system according to the acquired distance sample information, and then carrying out filtering processing on the sample curve to obtain a distance curve.
In some embodiments, the operation of the vehicle to determine the distance sample trip point from the distance profile includes at least: and performing global search on the distance curve to obtain a distance sample trip point.
As one example, the operation of the car to determine the distance sample trip point from the distance profile can further include: dividing the distance curve into two sub-sample curves by taking a reference dividing point in the distance curve as a dividing basis, wherein the reference dividing point is any reference point which is not selected as the dividing basis, and any reference point is a point corresponding to any distance sample information; determining a mean square error for each reference point in each sub-sample curve; the mean square error of each reference point in each sub-sample curve is added to obtain a residual value, the distance curve is divided into two sub-sample curves by taking a reference dividing point in the distance curve as a dividing basis, until the minimum residual value is obtained, or until N residual values which are larger than or equal to a residual threshold value are obtained, wherein N is a positive integer which is larger than or equal to 2; when the minimum residual value is obtained, determining a reference point corresponding to the minimum residual value as a distance sample jump point; or when N residual values which are larger than or equal to the residual threshold value are obtained, determining the reference points corresponding to the N residual values as the distance sample jump points.
Because the distance sample information acquired by the automobile comprises a large amount of data, in order to improve the efficiency of determining the distance sample jump point, the automobile can divide the distance curve into two sub-sample curves by taking a reference division point in the distance curve as a division basis.
Since the statistical characteristics of the distance curve, such as average value, will be abrupt after passing the distance sample trip point, a large jump of statistical root mean square error will occur near the distance sample trip point. Thus, to determine the distance sample trip point, the car can determine the mean square error for each reference point in each sub-sample curve and add the mean square error for each reference point in each sub-sample curve to obtain the residual value.
As an example, when the distance curve is divided into two sub-sample curves and the m-th point in the distance curve is the reference division point, a curve between the 1 st to m-th reference points (excluding the m-th reference point) is referred to as a first sub-sample curve and a curve between the m-th to n-th reference points (including the n-th reference point) is referred to as a second sub-sample curve in accordance with the reference point acquisition order. The car can determine the residual value of the second sub-sample curve by the following first formula.
In the first formula (1), n is the number of reference points in the distance curve, m is the mth reference point in the n reference points, and x r is the distance information of the mth reference point.
In one implementation environment, when n distance sample information exists, that is, when n reference points exist, the distance information of the n reference points is x 1、x2…xn, the reference point x m is selected as a reference division point, and m < n, the residual value of the second sub-sample curve is the result calculated by the above first formula.
Since there is a start position and an end position of an obstacle and there is more than one obstacle in the current environment, in order to determine all distance sample jumping points, the automobile needs to change the reference division point positions and repeatedly determine the residual value of each sub-sample curve to determine the minimum residual value, or in order to obtain a plurality of distance sample jumping points, a residual threshold can also be set, so that N residual values greater than or equal to the residual threshold are obtained, and then N distance sample jumping points are obtained.
It should be noted that, the residual threshold value can be set in advance according to the requirement, for example, the residual threshold value can be 15m, 20m, or the like.
In one implementation environment, referring to fig. 4 (a), the automobile can construct a sample curve according to the acquired distance sample information in a two-dimensional space coordinate system, then the automobile performs filtering processing on the sample curve to obtain a distance curve shown in fig. 4 (b), and the automobile determines 5 distance sample jumping points from the distance curve, referring to fig. 4 (c), wherein the 5 distance sample jumping points are the starting position and the ending position of an obstacle scanned by an ultrasonic radar.
The method is worth of a plurality of people, and because the statistical characteristic information of the distance sample information is adopted for extraction, the starting position of the obstacle can be identified more accurately, and the accuracy of the parking space position information is improved.
Step 303: and the automobile identifies the parking space in the current environment of the automobile according to the jump point of the distance sample.
Because some environments have empty places, but the empty places may be spaces such as sidewalks, etc. where parking is impossible, even if the automobile recognizes that the space capable of parking exists in the current environment, the spaces are not parking spaces, and random parking may cause traffic violations. Therefore, the vehicle needs to determine the validity of the parking space in the environment, that is, the vehicle needs to determine that the space in the current environment is the parking space, rather than the space where parking is not allowed, such as a sidewalk. In general, when other vehicles parked in the parking space already exist in the current environment, the space in the current environment can be determined to be the effective parking space with a high probability, and the other vehicles parked in the parking space have a certain rule in the distance change. Therefore, in order to determine that an effective parking space exists in the current environment of the automobile, the automobile can identify the parking space in the current environment of the automobile according to the distance sample trip point.
As an example, the automobile can directly determine the parking space in the current environment according to the distance sample trip point, and can also perform space type matching according to the distance sample trip point and the stored automobile model sample, so as to identify the parking space in the current environment of the automobile.
As an example, the operation of the automobile to perform parking space type matching according to the distance sample trip point and the stored automobile model sample to identify the parking space in the current environment of the automobile at least includes: determining an obstacle outline corresponding to the distance sample jumping point according to the distance sample jumping point; determining a correlation between the obstacle profile and the stored automobile model sample; when the correlation between the obstacle outline and the automobile model sample is smaller than or equal to a correlation threshold value, determining that the obstacle outline and the automobile model sample are successfully matched; determining the type of the parking space corresponding to the automobile model sample as the type of the parking space of the automobile in the current environment; and identifying the parking space in the current environment of the automobile according to the type of the parking space and the jump point of the distance sample.
Since the obstacle in the current environment may or may not be other automobile, when the obstacle in the current environment is other automobile, it can be stated that the space in the current environment is a parking space rather than a space where parking is not allowed, such as a sidewalk. Therefore, the automobile can determine that the matching of the obstacle profile and the automobile model sample is successful according to the obstacle profile corresponding to the distance sample jump point and when the correlation between the obstacle profile and the automobile model sample is greater than or equal to the correlation threshold.
It should be noted that the correlation threshold value can be set in advance according to the requirement, for example, the correlation threshold value can be 90%, 95%, 99%, or the like.
When the correlation between the obstacle outline and the automobile model sample is greater than or equal to the correlation threshold, the obstacle outline is the automobile outline, and the obstacle is other automobiles, so that the automobile can determine the type of the parking space corresponding to the automobile model sample as the type of the parking space in the current environment of the automobile.
It should be noted that, the automobile model sample and the parking space type corresponding to the automobile model sample can be set in advance and stored. The parking space types include vertical parking spaces, horizontal parking spaces, and the like.
In one implementation environment, referring to fig. 4 (d), after the automobile calculates the correlation between the profile of the obstacle and the automobile model sample, a correlation diagram as shown in fig. 4 (d) can be obtained, and it can be determined through fig. 4 (d) that there are 3 other automobiles already parked in the parking space in the current environment.
As an example, the operation of the automobile to identify the parking space in the current environment of the automobile according to the parking space type and the distance sample trip point at least includes: determining a space to be identified according to the distance sample jumping points, wherein the space to be identified is a space without barriers; when the space distance of the space to be identified is greater than or equal to the parking distance corresponding to the parking space type, determining that the space to be identified is the parking space in the current environment of the automobile.
Because the distance sample trip point is used for describing the starting position and the ending position of the obstacle in the current environment, the automobile can determine whether a space capable of allowing parking exists between any two adjacent obstacles according to the distance sample trip point, that is, the automobile can determine the space to be identified according to the distance sample trip point.
In some embodiments, the automobile can determine whether any distance sample trip point is a start position or an end position of the obstacle, for example, when the distance sample trip point is detected as a trip point with a distance from small to large, the distance sample trip point is a point of the start position of the obstacle, and when the distance sample trip point is detected as a trip point with a distance from large to small, the distance sample trip point is determined as the end position of the obstacle; according to the distance sample jumping points, the automobile can detect the space distance between two adjacent obstacles; when the distance between two adjacent obstacles (namely, the space distance of the space to be identified) is larger than or equal to the parking distance corresponding to the parking space type, determining the space to be identified as the parking space in the current environment of the automobile.
It should be noted that, according to different parking space types, for example, the parking distance is also different, for example, when the parking space type is a horizontal parking space, the corresponding parking distance is 6 meters, 6.5 meters, and the like, and when the parking space type is a vertical parking space, the corresponding parking distance is 2 meters, 2.1 meters, and the like.
It is worth to say that, because the correlation calculation can be carried out on the obstacle outline and the automobile model sample, a large number of automobile model samples can be matched rapidly, and different parking space searching scenes can be adapted, the feature extraction of the obstacle outline is simplified, and the calculated amount is reduced.
Step 304: after the parking space is identified, the vehicle is parked into the identified parking space.
As an example, after the car identifies the parking space, a parking path can be planned according to the position of the parking space and the current position of the car, and the car is controlled to automatically park according to the parking path.
As an example, after the car identifies the parking space, the position of the parking space can be prompted by the prompt information, so that the driver can drive the car into the parking space according to the prompt of the prompt information.
The prompt information can be a prompt information of combination of voice, text and image.
In the embodiment of the application, the automobile can extract the statistical characteristics of the distance sample information of the ultrasonic radar so as to determine the distance sample jump point, and the distance sample jump point can describe the starting position and the ending position of the obstacle positioned in the current environment, so that the parking space can be effectively identified by carrying out correlation calculation on the outline of the obstacle and the automobile model sample according to the distance sample jump point, thereby reducing the parking space identification cost and improving the accuracy of parking space identification.
Fig. 5 is a schematic structural diagram of a parking space recognition device according to an embodiment of the present application, where the parking space recognition device may be implemented by software, hardware, or a combination of the two. This recognition device of parking stall can include: an acquisition module 501, a determination module 502 and an identification module 503.
An acquisition module 501 for acquiring distance sample information by an ultrasonic radar installed in an automobile, the distance sample information describing a distance between an obstacle detected by the ultrasonic radar and the automobile;
a determining module 502, configured to determine a distance sample trip point from the distance sample information, where the distance sample trip point is used to describe a start position and an end position of an obstacle located in the current environment;
And the identifying module 503 is configured to perform parking space type matching according to the distance sample trip point and the stored automobile model sample, so as to identify a parking space in the current environment where the automobile is located.
In some embodiments, referring to fig. 6, the determining module 502 includes:
the obtaining submodule 5021 is used for obtaining the body state information of the automobile;
the first construction submodule 5022 is used for constructing a two-dimensional space coordinate system by taking any point in the space where the automobile is located as an original point, taking the detection direction of the ultrasonic radar as a vertical axis and taking the running direction of the automobile as a horizontal axis according to the automobile body state information;
The filtering submodule 5023 is used for carrying out filtering processing on the distance sample information so as to filter sample information which does not meet the distance requirement in the distance sample information;
A second construction submodule 5024, configured to construct a distance curve from the filtered distance sample information in the two-dimensional space coordinate system;
A first determining submodule 5025 is configured to determine the distance sample trip point from the distance curve.
In some embodiments, the first determining submodule 5025 is configured to:
dividing the distance curve into two sub-sample curves by taking a reference division point in the distance curve as a division basis, wherein the reference division point is any reference point which is not selected as the division basis, and the any reference point is a point corresponding to any distance sample information;
determining, for each reference point in each sub-sample curve, a mean square error for said each reference point;
The mean square error of each reference point in each sub-sample curve is added to obtain a residual value, the distance curve is divided into two sub-sample curves by taking a reference division point in the distance curve as a division basis, until the minimum residual value is obtained, or until N residual values which are greater than or equal to a residual threshold value are obtained, wherein N is a positive integer which is greater than or equal to 2;
When the minimum residual value is obtained, determining a reference point corresponding to the minimum residual value as the distance sample jump point; or when N residual values which are larger than or equal to the residual threshold value are obtained, determining the reference points corresponding to the N residual values as the distance sample jump points.
In some embodiments, referring to fig. 7, the identifying module 503 includes:
a second determining submodule 5031, configured to determine, according to the distance sample trip point, an obstacle profile corresponding to the distance sample trip point;
a third determination submodule 5032 for determining a correlation between the obstacle profile and a stored car model sample;
A fourth determination submodule 5033 for determining that the obstacle profile and the automobile model sample are successfully matched when the correlation between the obstacle profile and the automobile model sample is less than or equal to a correlation threshold;
A fifth determining submodule 5034, configured to determine a parking space type corresponding to the automobile model sample as a parking space type of a parking space in an environment where the automobile is currently located;
And the identification submodule 5035 is used for identifying the parking space in the current environment of the automobile according to the parking space type and the distance sample trip point.
In some embodiments, the identification sub-module 5035 is configured to:
determining a space to be identified according to the distance sample jumping points, wherein the space to be identified is a space without barriers;
And when the space distance of the space to be identified is greater than or equal to the parking distance corresponding to the parking space type, determining the space to be identified as the parking space in the current environment of the automobile.
In the embodiment of the application, the automobile can extract the statistical characteristics of the distance sample information of the ultrasonic radar so as to determine the distance sample jump point, and the distance sample jump point can describe the starting position and the ending position of the obstacle positioned in the current environment, so that the parking space can be effectively identified by carrying out correlation calculation on the outline of the obstacle and the automobile model sample according to the distance sample jump point, thereby reducing the parking space identification cost and improving the accuracy of parking space identification.
It should be noted that: the parking space recognition device provided in the above embodiment is only exemplified by the division of the above functional modules when recognizing the parking space, and in practical application, the above functional allocation may be completed by different functional modules according to needs, i.e., the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the apparatus for identifying a parking space provided in the foregoing embodiment and the method embodiment for identifying a parking space belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment and are not described herein again.
The embodiment of the application also provides a non-transitory computer readable storage medium, when the instructions in the storage medium are executed by the processor of the server, the server can execute the identification method of the parking space provided by the embodiment.
The embodiment of the application also provides a computer program product containing instructions, which when run on the server, causes the server to execute the method for identifying the parking space provided by the embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing description of the preferred embodiments of the present application is not intended to limit the embodiments of the present application, but is intended to cover any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the embodiments of the present application.
Claims (6)
1. The method for identifying the parking space is characterized by comprising the following steps:
Acquiring distance sample information through an ultrasonic radar installed on an automobile, wherein the distance sample information is used for describing the distance between an obstacle detected by the ultrasonic radar and the automobile;
acquiring the body state information of the automobile; according to the vehicle body state information, constructing a two-dimensional space coordinate system by taking any point in the space where the vehicle is located as an origin, taking the detection direction of the ultrasonic radar as a vertical axis and taking the running direction of the vehicle as a horizontal axis; filtering the distance sample information to filter sample information which does not meet the distance requirement in the distance sample information; constructing a distance curve in the two-dimensional space coordinate system through the filtered distance sample information;
Dividing the distance curve into two sub-sample curves by taking a reference division point in the distance curve as a division basis, wherein the reference division point is any reference point which is not selected as the division basis before, and the any reference point is a point corresponding to any distance sample information;
determining, for each reference point in each sub-sample curve, a mean square error for said each reference point;
Adding the mean square error of each reference point in each sub-sample curve to obtain a residual value, and returning to the step of dividing the distance curve into two sub-sample curves by taking a reference division point in the distance curve as a division basis until the minimum residual value is obtained or until N residual values which are greater than or equal to a residual threshold value are obtained, wherein N is a positive integer which is greater than or equal to 2;
when the minimum residual value is obtained, determining a reference point corresponding to the minimum residual value as a distance sample jump point; or when N residual values which are larger than or equal to the residual threshold value are obtained, determining the reference points corresponding to the N residual values as the distance sample jump points, wherein the distance sample jump points are used for describing the starting position and the ending position of the obstacle in the current environment;
And carrying out parking space type matching according to the distance sample trip point and the stored automobile model sample so as to identify the parking space in the current environment of the automobile.
2. The method of claim 1, wherein said performing a parking space type match based on said distance sample trip point and stored car model samples to identify a parking space in an environment in which said car is currently located comprises:
determining an obstacle outline corresponding to the distance sample jumping point according to the distance sample jumping point;
Determining a correlation between the obstacle profile and a stored automobile model sample;
Determining that the obstacle profile and the automobile model sample are successfully matched when the correlation between the obstacle profile and the automobile model sample is less than or equal to a correlation threshold;
Determining the type of the parking space corresponding to the automobile model sample as the type of the parking space in the current environment of the automobile;
And identifying the parking space in the current environment of the automobile according to the parking space type and the distance sample trip point.
3. The method of claim 2, wherein the identifying the parking space in the current environment of the vehicle based on the space type and the distance sample trip point comprises:
determining a space to be identified according to the distance sample jumping points, wherein the space to be identified is a space without barriers;
And when the space distance of the space to be identified is greater than or equal to the parking distance corresponding to the parking space type, determining the space to be identified as the parking space in the current environment of the automobile.
4. A parking space identification device, the device comprising:
The acquisition module is used for acquiring distance sample information through an ultrasonic radar installed on an automobile, wherein the distance sample information is used for describing the distance between an obstacle detected by the ultrasonic radar and the automobile;
the determining module is used for determining a distance sample jumping point from the distance sample information, wherein the distance sample jumping point is used for describing the starting position and the ending position of an obstacle in the current environment;
the identification module is used for carrying out parking space type matching according to the distance sample jump points and the stored automobile model samples so as to identify parking spaces in the current environment of the automobile;
the determining module includes:
the acquisition sub-module is used for acquiring the body state information of the automobile;
The first construction submodule is used for constructing a two-dimensional space coordinate system by taking any point in the space where the automobile is located as an original point, taking the detection direction of the ultrasonic radar as a vertical axis and taking the running direction of the automobile as a horizontal axis according to the automobile body state information;
the filtering sub-module is used for carrying out filtering processing on the distance sample information so as to filter sample information which does not meet the distance requirement in the distance sample information;
The second construction submodule is used for constructing a distance curve through the filtered distance sample information in the two-dimensional space coordinate system;
a first determining submodule for determining the distance sample trip point from the distance curve;
the first determination submodule is used for:
Dividing the distance curve into two sub-sample curves by taking a reference division point in the distance curve as a division basis, wherein the reference division point is any reference point which is not selected as the division basis before, and the any reference point is a point corresponding to any distance sample information;
determining, for each reference point in each sub-sample curve, a mean square error for said each reference point;
Adding the mean square error of each reference point in each sub-sample curve to obtain a residual value, and returning to the step of dividing the distance curve into two sub-sample curves by taking a reference division point in the distance curve as a division basis until the minimum residual value is obtained or until N residual values which are greater than or equal to a residual threshold value are obtained, wherein N is a positive integer which is greater than or equal to 2;
When the minimum residual value is obtained, determining a reference point corresponding to the minimum residual value as the distance sample jump point; or when N residual values which are larger than or equal to the residual threshold value are obtained, determining the reference points corresponding to the N residual values as the distance sample jump points.
5. The apparatus of claim 4, wherein the identification module comprises:
A second determining submodule, configured to determine, according to the distance sample trip point, an obstacle profile corresponding to the distance sample trip point;
A third determination sub-module for determining a correlation between the obstacle profile and a stored automobile model sample;
a fourth determination submodule, configured to determine that the obstacle profile and the automobile model sample are successfully matched when a correlation between the obstacle profile and the automobile model sample is less than or equal to a correlation threshold;
a fifth determining submodule, configured to determine a parking space type corresponding to the automobile model sample as a parking space type of a parking space in an environment where the automobile is currently located;
and the identification sub-module is used for identifying the parking space in the current environment of the automobile according to the parking space type and the distance sample trip point.
6. A computer storage medium having stored thereon instructions which, when executed by a processor, implement the steps of the method of any of the preceding claims 1 to 3.
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| CN115376358B (en) * | 2022-07-18 | 2023-12-05 | 英博超算(南京)科技有限公司 | Ultrasonic parking space detection based on finite state machine |
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