CN113561964A - Parking control method and system - Google Patents
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- CN113561964A CN113561964A CN202110884953.9A CN202110884953A CN113561964A CN 113561964 A CN113561964 A CN 113561964A CN 202110884953 A CN202110884953 A CN 202110884953A CN 113561964 A CN113561964 A CN 113561964A
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- 230000004888 barrier function Effects 0.000 claims abstract description 9
- 108091008695 photoreceptors Proteins 0.000 claims description 84
- 238000001514 detection method Methods 0.000 claims description 58
- 238000003384 imaging method Methods 0.000 claims description 36
- 238000004590 computer program Methods 0.000 claims description 2
- 101150053299 Mark1 gene Proteins 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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Abstract
The invention discloses a parking control method and a parking control system, which belong to the technical field of automatic parking, wherein a binocular camera is used for detecting the distance between an obstacle and a parking space line so as to judge whether a parking space exists or not, and if so, automatic parking is carried out; in the automatic parking process of the vehicle, the distance between the obstacle and the parking space line is detected through the binocular cameras around the vehicle, the parking process is adjusted until the distance from the left side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the right side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the rear of the vehicle to the parking space edge line or other vehicle edge lines or obstacles and the distance from the front of the vehicle to the parking space edge line or other vehicle edge lines or obstacles meet the requirements, and the parking process is finished. The invention uses the binocular camera, can accurately detect the distance from the barrier to the camera, and can be applied to automatic parking of marking parking spaces and space parking spaces.
Description
Technical Field
The invention belongs to the technical field of automatic parking, and particularly relates to a parking control method and system.
Background
With the increase of motor vehicles, a series of problems such as road traffic accidents, parking difficulty and the like are generated while convenience is provided for life, and many of the accidents are caused by reversing. Meanwhile, the continuous increase of the automobile holding capacity brings huge challenges to the planning of parking lots and parking spaces in large and medium-sized cities, so that the parking environment is more and more complex, and the parking positions are more and more narrow. It is difficult for inexperienced or technically inexperienced drivers to safely, accurately and quickly complete parking operations under complex parking environments and narrow parking location conditions.
The automatic parking system can complete the detection of the parking space, control the vehicle to park in the space, completely liberate both hands and feet of the driver, avoid the parking accident caused by personal factors of the driver and solve the problem of 'difficult parking' of the driver with insufficient experience or technology, so that the research and development of the automatic parking system are works with practical significance and have extremely wide application prospect.
The current full-automatic parking system utilizes an ultrasonic radar to detect a space parking space and utilizes a fisheye camera to detect a marking parking space. However, on the one hand, the transmission speed of ultrasonic wave receives the influence of weather conditions very easily, and under the weather condition of difference, the transmission speed of ultrasonic wave is different, and propagation speed is slower moreover, when the car was gone at a high speed, uses ultrasonic ranging can't follow the car apart from real-time change of car, and ultrasonic radar measures the distance under the very high condition of speed and has certain limitation, and the error is great. On the other hand, the ultrasonic wave scattering angle is large, the directivity is poor, and when a target at a longer distance is measured, the echo signal is weak, so that the ultrasonic radar has no effect on complex environments of plane targets such as a vehicle line, a cliff and the like, and cannot adapt to all parking scenes. The fish eyes cannot accurately detect the distance, the depth of the target parking space cannot be obtained in the parking space detection stage, and the distance between the vehicle and the obstacle cannot be accurately judged in the parking stage, so that the parking success rate is influenced.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a parking control method and a parking control system, wherein a binocular camera is used, the distance from an obstacle to the camera can be accurately detected, the parking control method and the parking control system are used for searching parking spaces and detecting the obstacle in the parking process, and the parking control method and the parking control system can be simultaneously applied to automatic parking of lineation parking spaces and space parking spaces.
To achieve the above object, according to one aspect of the present invention, there is provided a parking control method including:
detecting the distance between the barrier and the parking space line through a binocular camera, further judging whether a parking space exists, and if so, automatically parking;
in the automatic parking process of the vehicle, the distance between an obstacle and a parking space line is detected by binocular cameras around the vehicle;
and adjusting the parking process according to the distance between the obstacles and the parking space line detected by the binocular cameras around the vehicle until the distance from the left side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the right side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the back of the vehicle to the parking space edge line or other vehicle edge lines or obstacles and the distance from the front of the vehicle to the parking space edge line or other vehicle edge lines or obstacles meet the requirements, and ending the parking process.
In some optional embodiments, during the automatic parking process of the vehicle, the distance between the obstacle and the parking space line is detected by binocular cameras around the vehicle, including:
for a binocular camera positioned at any edge of a vehicle, for a first camera and a second camera in the binocular camera, the width of a first photoreceptor of the first camera is the same as that of a second photoreceptor of the second camera, a vertical line from the first camera to the first photoreceptor is at the center point of the first photoreceptor, and a vertical line from the second camera to the second photoreceptor is at the center point of the second photoreceptor;
detecting any target point on the edge line in the detection range by the first camera and the second camera, generating a first imaging point on the first photoreceptor when the first camera detects the target point, and generating a second imaging point on the second photoreceptor when the second camera detects the target point;
and obtaining the distance from the centers of the first camera and the second camera to the target point by the distance between the first camera and the second camera, the distance from the first imaging point to the edge of the first photoreceptor, the distance from the second imaging point to the edge of the second photoreceptor and the vertical distance from the camera to the photoreceptor.
In some alternative embodiments, Dn is B × F/(X1-X2), where B is the distance between the first camera and the second camera, X1 is the distance from the first imaging point to the edge of the first photoreceptor, X2 is the distance from the second imaging point to the edge of the second photoreceptor, F is the vertical distance from the camera to the photoreceptor, and Dn is the distance from the center of the first camera and the second camera to the target point, i.e., the distance from the binocular camera to the detection point.
In some optional embodiments, the distance up to the left side of the vehicle to the parking space boundary line or other vehicle boundary line or obstacle, the distance to the right side of the vehicle to the parking space boundary line or other vehicle boundary line or obstacle, the distance to the parking space boundary line or other vehicle boundary line or obstacle from the rear of the vehicle, and the distance to the parking space boundary line or other vehicle boundary line or obstacle from the front of the vehicle are all sufficient, including:
after the two cameras on the left side of the vehicle detect N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and a first preset value is in a preset range;
after the two cameras on the right side of the vehicle detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and a second preset value is within the preset range;
after the two cameras in the vehicle rear bumper detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and a third preset value is in the preset range;
and after the two cameras in the front bumper of the vehicle detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and the fourth preset value is in the preset range.
In some optional embodiments, detect the distance of barrier and parking stall line through binocular camera, and then judge whether there is the parking stall, include:
acquiring a first distance from a binocular camera to a first edge line in a detection range for the binocular camera positioned at the edge of the vehicle and close to one side of the parking space;
acquiring a second distance from the binocular camera to a second edge line in the detection range, wherein the second edge line is far away from the first edge line;
and determining the parking space depth according to the difference value between the second distance and the first distance, and determining the parking space width according to the vehicle speed.
According to another aspect of the present invention, there is provided a parking control system including:
the parking space detection module is used for detecting the distance between the barrier and a parking space line through the binocular camera so as to judge whether a parking space exists or not, and if the parking space exists, automatic parking is carried out;
the parking distance detection module is used for detecting the distances between the obstacles and the parking space lines through binocular cameras around the vehicle in the automatic parking process of the vehicle;
and the parking control module is used for adjusting the parking process according to the obstacles and the distance of the parking space line detected by the binocular cameras around the vehicle until the distance from the left side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the right side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the back of the vehicle to the parking space edge line or other vehicle edge lines or obstacles and the distance from the front of the vehicle to the parking space edge line or other vehicle edge lines or obstacles meet the requirements, and the parking process is finished.
In some optional embodiments, the parking distance detection module is configured to detect a parking distance of a vehicle, where for a first camera and a second camera in the binocular camera, a first photoreceptor of the first camera and a second photoreceptor of the second camera have the same width, and a perpendicular line from the first camera to the first photoreceptor is at a center point of the first photoreceptor and a perpendicular line from the second camera to the second photoreceptor is at a center point of the second photoreceptor; detecting any target point on the edge line in the detection range by the first camera and the second camera, generating a first imaging point on the first photoreceptor when the first camera detects the target point, and generating a second imaging point on the second photoreceptor when the second camera detects the target point; and obtaining the distance from the centers of the first camera and the second camera to the target point by the distance between the first camera and the second camera, the distance from the first imaging point to the edge of the first photoreceptor, the distance from the second imaging point to the edge of the second photoreceptor and the vertical distance from the camera to the photoreceptor.
In some alternative embodiments, Dn is B × F/(X1-X2), where B is the distance between the first camera and the second camera, X1 is the distance from the first imaging point to the edge of the first photoreceptor, X2 is the distance from the second imaging point to the edge of the second photoreceptor, F is the vertical distance from the camera to the photoreceptor, and Dn is the distance from the center of the first camera and the second camera to the target point, i.e., the distance from the binocular camera to the detection point.
In some optional embodiments, the parking control module is configured to detect N target points on an edge line in a detection range by two cameras on the left side of the vehicle, and obtain that differences between distances from centers of the two cameras to the target points and a first preset value are within a preset range; after the two cameras on the right side of the vehicle detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and a second preset value is within the preset range; after the two cameras in the vehicle rear bumper detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and a third preset value is in the preset range; and after the two cameras in the front bumper of the vehicle detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and the fourth preset value is in the preset range.
According to another aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any of the above.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
judging parking positions through a binocular camera, and if the parking positions exist, automatically parking; in the automatic parking process of the vehicle, the distance between the obstacle and the parking space line is detected through the binocular cameras around the vehicle, the parking process is adjusted until the distance from the left side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the right side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the rear of the vehicle to the parking space edge line or other vehicle edge lines or obstacles and the distance from the front of the vehicle to the parking space edge line or other vehicle edge lines or obstacles meet the requirements, and the parking process is finished. The invention uses the binocular camera, can accurately detect the distance from the barrier to the camera, is used for searching parking spaces and detecting the barrier in the parking process, and can be simultaneously applied to automatic parking of lineation parking spaces and space parking spaces. The defects that an ultrasonic radar and a fisheye camera cannot accurately detect the distance can be overcome through the binocular camera, parking safety and parking success rate are improved, and the problem of environment perception under complex parking scenes (such as steel plates, horizontal planes, cliffs, uneven obstacles and extreme high and low temperatures) can be solved. The method can be simultaneously applied to the detection methods of the space parking place and the marking parking place, and the success rate of parking place identification is improved.
Drawings
Fig. 1 is a schematic flow chart of a parking control method according to an embodiment of the present invention;
fig. 2 is a schematic view illustrating a binocular camera according to an embodiment of the present invention;
fig. 3 is a schematic view of a binocular camera distance measurement provided by an embodiment of the present invention;
fig. 4 is a schematic diagram of parking space detection provided in the embodiment of the present invention;
fig. 5 is a schematic diagram of a parking control system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the present examples, "first", "second", etc. are used for distinguishing different objects, and are not used for describing a specific order or sequence.
Example one
Fig. 1 is a schematic flow chart of a parking control method according to an embodiment of the present invention, which is capable of detecting a parking pose that meets an individual requirement of a user, and uses a binocular camera as a sensor to detect distances from 4 edges of a vehicle to an obstacle, a parking space, or another vehicle, so that a parking system can determine whether a vehicle position meets a parking requirement. In the method shown in fig. 1, the following steps are included:
s1: detecting the distance between the barrier and the parking space line through a binocular camera, further judging whether a parking space exists, and if so, automatically parking;
s2: in the automatic parking process of the vehicle, the distance between an obstacle and a parking space line is detected by binocular cameras around the vehicle;
s3: and adjusting the parking process according to the distance between the obstacles and the parking space line detected by the binocular cameras around the vehicle until the distance from the left side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the right side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the back of the vehicle to the parking space edge line or other vehicle edge lines or obstacles and the distance from the front of the vehicle to the parking space edge line or other vehicle edge lines or obstacles meet the requirements, and ending the parking process.
As shown in fig. 2, 4 binocular cameras Camera1, Camera2, Camera3 and Camera4 may be installed at the middle point of the edge of the vehicle, and 1 of each of the cameras is installed at the front, the back, the left and the right, during the automatic parking process of the vehicle, the distance between the obstacle and the parking space line is detected by the binocular cameras, and the values of a, b, c and d are judged until the deviation between the values of a, b, c and d is within a preset range, so that the requirements of the parking system are met, and the parking process is ended. Wherein, a is the distance from the left side of the vehicle to the edge line of the parking space or other vehicle edge lines or obstacles, b is the distance from the right side of the vehicle to the edge line of the parking space or other vehicle edge lines or obstacles, c is the distance from the back of the vehicle to the edge line of the parking space or other vehicle edge lines or obstacles, and d is the distance from the front of the vehicle to the edge line of the parking space or other vehicle edge lines or obstacles.
As shown in fig. 3, in the automatic parking process of the vehicle, the detection of the distance between the obstacle and the parking space line by the binocular cameras around the vehicle includes:
for the binocular Camera positioned at any edge of the vehicle, for a first Camera Camera-1 and a second Camera Camera-2 in the binocular Camera, the width of a first photoreceptor of the first Camera is the same as that of a second photoreceptor of the second Camera, the vertical line from the first Camera to the first photoreceptor is at the center point of the first photoreceptor, and the vertical line from the second Camera to the second photoreceptor is at the center point of the second photoreceptor;
any target point Markn on the edge line in the detection range is detected by the first camera and the second camera, when the target point Markn is detected by the first camera, a first imaging point is generated on the first photoreceptor, and when the target point Markn is detected by the second camera, a second imaging point is generated on the second photoreceptor;
and obtaining the distance from the centers of the first camera and the second camera to the target point by the distance between the first camera and the second camera, the distance from the first imaging point to the edge of the first photoreceptor, the distance from the second imaging point to the edge of the second photoreceptor and the vertical distance from the camera to the photoreceptor.
And Dn is B multiplied by F/(X1-X2), wherein B is the distance between the first camera and the second camera, X1 is the distance from the first imaging point to the edge of the first photoreceptor, X2 is the distance from the second imaging point to the edge of the second photoreceptor, F is the vertical distance from the camera to the photoreceptor, and Dn is the distance from the centers of the first camera and the second camera to the target point Markn, namely the distance from the binocular camera to the detection point.
In the present embodiment, the distance up to the left side of the vehicle to the parking space borderline or other vehicle borderline or obstacle, the distance from the right side of the vehicle to the parking space borderline or other vehicle borderline or obstacle, the distance from the vehicle to the parking space borderline or other vehicle borderline or obstacle, and the distance from the vehicle to the parking space borderline or other vehicle borderline or obstacle satisfy the requirements, including:
after detecting N target points (marked as Markn (Mark1, Mark2, … MarkN, N is more than or equal to 1 and less than or equal to N) on the edge line in the detection range by two cameras on the left side of the vehicle, the difference between the distance Dn between the center of the two cameras and each target point and a first preset value is within a preset range (the convex point can be taken into consideration);
after the two cameras on the right side of the vehicle detect N target points (marked as Markn (Mark1, Mark2, … MarkN, N is more than or equal to 1 and less than or equal to N) on the edge line in the detection range, the difference between the distance Dn between the center of the two cameras and each target point and a second preset value is within a preset range (the convex point can be taken into consideration);
after the two cameras in the rear bumper of the vehicle detect N target points (marked as Markn (Mark1, Mark2, … MarkN, N is more than or equal to 1 and less than or equal to N) on the edge line in the detection range, the difference between the distance Dn between the center of the two cameras and each target point and a third preset value is in a preset range (the convex point can be taken into consideration);
after the two cameras in front of the vehicle detect the N target points (marked as Markn (Mark1, Mark2, … MarkN, N is more than or equal to 1 and less than or equal to N) on the edge lines in the detection range, the difference between the distance Dn between the center of the two cameras and each target point and the fourth preset value is in the preset range (the convex points can be taken into consideration).
The first preset value represents a preset value a, the second preset value represents a preset value b, the third preset value represents a preset value c, and the fourth preset value represents a preset value d, so that personalized customization of parking can be realized.
The preset range is used for indicating that the difference between the final parking pose and the parking pose preset by the user is within the preset range.
As shown in fig. 4, the parking space may be determined in the following manner:
acquiring a first distance from a binocular camera to a first edge line in a detection range for the binocular camera positioned at the edge of the vehicle and close to one side of the parking space;
acquiring a second distance from the binocular camera to a second edge line in the detection range, wherein the second edge line is far away from the first edge line;
and determining the parking space depth according to the difference value between the second distance and the first distance, and determining the parking space width according to the vehicle speed.
The distance from the binocular camera to the edge line in the detection range can be detected in the distance detection mode shown in fig. 3.
Specifically, as shown in fig. 4, 1 is a vehicle equipped with 4 binocular cameras, and 2 and 3 are obstacle vehicles. The vehicle 1 walks forward at speed v (t) and the binocular cameras detect. The parking space condition is calculated as follows: the parking space depth is D1-D2, and the parking space width is
Adopt two mesh camera detection methods to be applicable to simultaneously marking off parking stall and space parking stall.
Example two
Fig. 5 is a schematic diagram of a parking control system according to an embodiment of the present invention, including:
the parking space detection module 501 is configured to detect distances between obstacles and a parking space line through a binocular camera, and further determine whether a parking space exists, and if the parking space exists, automatically park the vehicle;
a parking distance detection module 502, configured to detect distances of obstacles and parking space lines through binocular cameras around the vehicle in an automatic parking process of the vehicle;
the parking control module 503 is configured to adjust a parking process according to the distance between the obstacle and the parking space line detected by the binocular cameras around the vehicle until the distance from the left side of the vehicle to the parking space edge line or the other vehicle edge line or the obstacle, the distance from the right side of the vehicle to the parking space edge line or the other vehicle edge line or the obstacle, the distance from the rear of the vehicle to the parking space edge line or the other vehicle edge line or the obstacle, and the distance from the front of the vehicle to the parking space edge line or the other vehicle edge line or the obstacle meet the requirements, and the parking process is ended.
In this embodiment, the parking distance detecting module 502 is configured to, for a binocular camera located at any edge of a vehicle, for a first camera and a second camera in the binocular camera, widths of a first photoreceptor of the first camera and a second photoreceptor of the second camera are the same, a perpendicular line from the first camera to the first photoreceptor is located at a center point of the first photoreceptor, and a perpendicular line from the second camera to the second photoreceptor is located at a center point of the second photoreceptor; detecting any target point on the edge line in the detection range by the first camera and the second camera, generating a first imaging point on the first photoreceptor when the first camera detects the target point, and generating a second imaging point on the second photoreceptor when the second camera detects the target point; and obtaining the distance from the centers of the first camera and the second camera to the target point by the distance between the first camera and the second camera, the distance from the first imaging point to the edge of the first photoreceptor, the distance from the second imaging point to the edge of the second photoreceptor and the vertical distance from the camera to the photoreceptor.
In the present embodiment, Dn is B × F/(X1-X2), where B is the distance between the first camera and the second camera, X1 is the distance from the first imaging point to the edge of the first photoreceptor, X2 is the distance from the second imaging point to the edge of the second photoreceptor, F is the vertical distance from the camera to the photoreceptor, and Dn is the distance from the center of the first camera and the second camera to the target point, i.e., the distance from the binocular camera to the detection point.
In this embodiment, the parking control module 503 is configured to detect N target points on an edge line in a detection range by two cameras on the left side of the vehicle, and obtain a difference between a distance from a center of each of the two cameras to each of the target points and a first preset value, where the difference is within a preset range; after the two cameras on the right side of the vehicle detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and a second preset value is within the preset range; after the two cameras in the vehicle rear bumper detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and a third preset value is in the preset range; and after the two cameras in the front bumper of the vehicle detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and the fourth preset value is in the preset range.
It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A parking control method characterized by comprising:
detecting the distance between the barrier and the parking space line through a binocular camera, further judging whether a parking space exists, and if so, automatically parking;
in the automatic parking process of the vehicle, the distance between an obstacle and a parking space line is detected by binocular cameras around the vehicle;
and adjusting the parking process according to the distance between the obstacles and the parking space line detected by the binocular cameras around the vehicle until the distance from the left side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the right side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the back of the vehicle to the parking space edge line or other vehicle edge lines or obstacles and the distance from the front of the vehicle to the parking space edge line or other vehicle edge lines or obstacles meet the requirements, and ending the parking process.
2. The method of claim 1, wherein detecting the distance between the obstacle and the lane line by binocular cameras around the vehicle during automatic parking of the vehicle comprises:
for a binocular camera positioned at any edge of a vehicle, for a first camera and a second camera in the binocular camera, the width of a first photoreceptor of the first camera is the same as that of a second photoreceptor of the second camera, a vertical line from the first camera to the first photoreceptor is at the center point of the first photoreceptor, and a vertical line from the second camera to the second photoreceptor is at the center point of the second photoreceptor;
detecting any target point on the edge line in the detection range by the first camera and the second camera, generating a first imaging point on the first photoreceptor when the first camera detects the target point, and generating a second imaging point on the second photoreceptor when the second camera detects the target point;
and obtaining the distance from the centers of the first camera and the second camera to the target point by the distance between the first camera and the second camera, the distance from the first imaging point to the edge of the first photoreceptor, the distance from the second imaging point to the edge of the second photoreceptor and the vertical distance from the camera to the photoreceptor.
3. The method of claim 2, wherein Dn is B × F/(X1-X2), where B is the distance between the first camera and the second camera, X1 is the distance from the first imaging point to the edge of the first photoreceptor, X2 is the distance from the second imaging point to the edge of the second photoreceptor, F is the vertical distance from the camera to the photoreceptor, and Dn is the distance from the center of the first camera and the second camera to the target point, i.e., the distance from the binocular camera to the detection point.
4. The method of claim 3, wherein the distance up to the left side of the vehicle to the parking space boundary line or other vehicle boundary line or obstacle, the distance to the parking space boundary line or other vehicle boundary line or obstacle from the right side of the vehicle, the distance to the parking space boundary line or other vehicle boundary line or obstacle from the rear of the vehicle, and the distance to the parking space boundary line or other vehicle boundary line or obstacle from the front of the vehicle are all satisfactory, including:
after the two cameras on the left side of the vehicle detect N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and a first preset value is in a preset range;
after the two cameras on the right side of the vehicle detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and a second preset value is within the preset range;
after the two cameras in the vehicle rear bumper detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and a third preset value is in the preset range;
and after the two cameras in the front bumper of the vehicle detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and the fourth preset value is in the preset range.
5. The method of claim 2, wherein detecting the distance between the obstacle and the parking space line by using the binocular camera to determine whether the parking space exists comprises:
acquiring a first distance from a binocular camera to a first edge line in a detection range for the binocular camera positioned at the edge of the vehicle and close to one side of the parking space;
acquiring a second distance from the binocular camera to a second edge line in the detection range, wherein the second edge line is far away from the first edge line;
and determining the parking space depth according to the difference value between the second distance and the first distance, and determining the parking space width according to the vehicle speed.
6. A parking control system characterized by comprising:
the parking space detection module is used for detecting the distance between the barrier and a parking space line through the binocular camera so as to judge whether a parking space exists or not, and if the parking space exists, automatic parking is carried out;
the parking distance detection module is used for detecting the distances between the obstacles and the parking space lines through binocular cameras around the vehicle in the automatic parking process of the vehicle;
and the parking control module is used for adjusting the parking process according to the obstacles and the distance of the parking space line detected by the binocular cameras around the vehicle until the distance from the left side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the right side of the vehicle to the parking space edge line or other vehicle edge lines or obstacles, the distance from the back of the vehicle to the parking space edge line or other vehicle edge lines or obstacles and the distance from the front of the vehicle to the parking space edge line or other vehicle edge lines or obstacles meet the requirements, and the parking process is finished.
7. The system of claim 6, wherein the parking distance detection module is configured to detect a binocular camera located at either edge of the vehicle, wherein for a first camera and a second camera of the binocular cameras, a first photoreceptor of the first camera and a second photoreceptor of the second camera have the same width, and a perpendicular from the first camera to the first photoreceptor is at a center point of the first photoreceptor and a perpendicular from the second camera to the second photoreceptor is at a center point of the second photoreceptor; detecting any target point on the edge line in the detection range by the first camera and the second camera, generating a first imaging point on the first photoreceptor when the first camera detects the target point, and generating a second imaging point on the second photoreceptor when the second camera detects the target point; and obtaining the distance from the centers of the first camera and the second camera to the target point by the distance between the first camera and the second camera, the distance from the first imaging point to the edge of the first photoreceptor, the distance from the second imaging point to the edge of the second photoreceptor and the vertical distance from the camera to the photoreceptor.
8. The system of claim 7, wherein Dn is B X F/(X1-X2), where B is the distance between the first camera and the second camera, X1 is the distance from the first imaging point to the edge of the first photoreceptor, X2 is the distance from the second imaging point to the edge of the second photoreceptor, F is the vertical distance from the camera to the photoreceptor, and Dn is the distance from the center of the first camera and the second camera to the target point, i.e., the distance from the binocular camera to the detection point.
9. The system according to claim 8, wherein the parking control module is configured to detect N target points on an edge line in a detection range by two cameras on a left side of the vehicle, and obtain that differences between distances from centers of the two cameras to the target points and the first preset value are within a preset range; after the two cameras on the right side of the vehicle detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and a second preset value is within the preset range; after the two cameras in the vehicle rear bumper detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and a third preset value is in the preset range; and after the two cameras in the front bumper of the vehicle detect the N target points on the edge line in the detection range, the obtained difference value between the distance from the center of the two cameras to each target point and the fourth preset value is in the preset range.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
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