CN113899339A - Distance detection method and device and vehicle - Google Patents
Distance detection method and device and vehicle Download PDFInfo
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Abstract
The embodiment of the invention discloses a distance detection method, a distance detection device and a vehicle, which are applied to the technical field of vehicles and can solve the problem of accurately detecting the distance between the vehicle and a limiting rod. The method comprises the following steps: when a vehicle is in a parking state, acquiring a first parking parameter of the vehicle at the current moment and a second parking parameter at the previous moment, wherein the parking parameters comprise: operating parameters, and/or, dimensions of the stop bar, the operating parameters including: acceleration, and angular velocity; determining the change rate of the parking parameters of the vehicle according to the first parking parameter and the second parking parameter; and determining the target distance between the vehicle and the limiting rod according to the parking parameter change rate and the distance classification model.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a distance detection method and device and a vehicle.
Background
In the process of parking, the vehicle can accurately identify the limiting rod in the parking space, and the parking vehicle can be better controlled by accurately detecting the distance between the limiting rods. At present, a common method is to identify and position the limiting rod through an ultrasonic radar signal, but due to the installation position of the limiting rod, the ultrasonic radar signal cannot accurately identify the limiting rod, so that the distance error of the limiting rod obtained through detection is large. Therefore, how to accurately detect the distance between the vehicle and the limiting rod becomes a problem which needs to be solved urgently.
Disclosure of Invention
The embodiment of the invention provides a distance detection method, a distance detection device and a vehicle, and aims to solve the problem of how to accurately detect the distance between the vehicle and a limiting rod in the prior art. In order to solve the above technical problem, the embodiment of the present invention is implemented as follows:
in a first aspect, a distance detection method is provided, the method including: when a vehicle is in a parking state, acquiring a first parking parameter of the vehicle at the current moment and a second parking parameter at the previous moment, wherein the parking parameters comprise: operating parameters, and/or, dimensions of the stop bar, the operating parameters comprising: acceleration, and angular velocity;
determining a parking parameter change rate of the vehicle according to the first parking parameter and the second parking parameter;
and determining the target distance between the vehicle and the limiting rod according to the parking parameter change rate and the distance classification model.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, before the obtaining, when the vehicle is in a parking state, a first parking parameter of the vehicle at a current time and a second parking parameter at a previous time, the method further includes:
obtaining parking test parameters corresponding to different moments and a test distance between the vehicle and a limiting rod;
and obtaining the distance classification model according to the parking test parameters and the test distances at different moments by a supervised learning algorithm.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the obtaining a first parking parameter of the vehicle at a current time and a second parking parameter at a previous time includes:
acquiring a first image at the current moment and a second image at the previous moment through a camera; identifying a first size of a stop bar in the first image and a second size of a stop bar in the second image;
and/or the presence of a gas in the gas,
and acquiring a first operating parameter at the current moment and a second operating parameter at the previous moment through the accelerometer and the gyroscope.
As an alternative implementation, in the first aspect of the embodiment of the present invention, in a case where the parking parameter includes a size of the gag lever post, the identifying a first size of the gag lever post in the first image and a second size of the gag lever post in the second image includes:
according to an image recognition algorithm, a first limiting rod area is recognized in the first image, and a second limiting rod area is recognized in the second image;
determining the first size according to the coordinates of the first limiting rod area in an image pixel coordinate system;
and determining the second size according to the coordinates of the second limiting rod area in the image pixel coordinate system.
As an alternative implementation, in the first aspect of the embodiment of the present invention, the determining a parking parameter change rate of the vehicle according to the first parking parameter and the second parking parameter includes:
determining a first duration between the current time and the last time;
determining the parking parameter variation in the first time length according to the first parking parameter and the second parking parameter;
and determining the parking parameter change rate of the vehicle according to the first time length and the parking parameter change amount.
As an alternative implementation, in the first aspect of the embodiment of the present invention, the determining a target distance between the vehicle and a stop lever according to the parking parameter change rate and the distance classification model includes:
determining a first distance between the vehicle and the limiting rod according to the parking parameter change rate and the distance classification model;
acquiring a tail image of the vehicle through a tail camera of the vehicle;
determining a second distance between the vehicle and the limiting rod according to the tail image under the condition that the limiting rod exists in the tail image;
determining the first distance as the target distance if a difference between the first distance and the second distance is less than a preset difference threshold.
As an alternative implementation, in the first aspect of the embodiment of the present invention, after determining the target distance between the vehicle and the stop lever, the method further includes:
and determining a target parking scheme corresponding to the target distance according to the target distance.
In a second aspect, there is provided a distance detection apparatus comprising: the system comprises an obtaining module, a storage module and a control module, wherein the obtaining module is used for obtaining a first parking parameter of a vehicle at the current moment and a second parking parameter of the vehicle at the previous moment when the vehicle is in a parking state, and the parking parameters comprise: operating parameters, and/or, dimensions of the stop bar, the operating parameters comprising: acceleration, and angular velocity;
the processing module is used for determining the change rate of the parking parameters of the vehicle according to the first parking parameter and the second parking parameter;
and the processing module is used for determining the target distance between the vehicle and the limiting rod according to the parking parameter change rate and the distance classification model.
In a third aspect, a distance detecting apparatus is provided, including:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the distance detection method in the first aspect of the embodiment of the present invention.
In a fourth aspect, a vehicle is provided that includes the distance detection device according to the second or third aspect of the embodiment of the invention.
In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program that causes a computer to execute the distance detection method in the first aspect of the embodiment of the present invention. The computer readable storage medium includes a ROM/RAM, a magnetic or optical disk, or the like.
A sixth aspect provides a computer program product for causing a computer to perform some or all of the steps of any one of the methods of the first aspect when the computer program product is run on the computer.
In a seventh aspect, an application publishing platform is provided for publishing a computer program product, wherein the computer program product, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in an embodiment of the present invention, a distance detection device may obtain a first parking parameter of a vehicle at a current time and a second parking parameter at a previous time when the vehicle is in a parking state, where the parking parameters include: operating parameters, and/or, the size of the stop bar; determining the change rate of the parking parameters of the vehicle between the previous moment and the current moment according to the first parking parameter and the second parking parameter; the distance detection device can input the parking parameter change rate into the distance classification model, so that the target distance between the vehicle and the limiting rod corresponding to the parking parameter change rate is determined. In the scheme, the distance detection device can determine the target distance at the current moment through the distance classification model according to the operating parameter change rate of the vehicle within a period of time and/or the size change rate of the limiting rod, and the scheme is irrelevant to the installation position of the limiting rod, so that the situation that the distance error is large due to the fact that the limiting rod cannot be identified can be avoided, and the accuracy of distance detection between the vehicle and the limiting rod is effectively improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a first schematic flow chart of a distance detection method according to an embodiment of the present invention;
fig. 2 is a schematic view one of images acquired by the distance detection device according to the embodiment of the present invention;
fig. 3 is a schematic diagram of an image acquired by the distance detection apparatus according to the embodiment of the present invention;
fig. 4 is a schematic flowchart illustrating a distance detection method according to an embodiment of the present invention;
fig. 5 is a first schematic structural diagram of a distance detection apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a distance detection apparatus according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first" and "second," and the like, in the description and in the claims of the present invention are used for distinguishing between different objects and not for describing a particular order of the objects. For example, the first parking parameter and the second parking parameter, etc. are used to distinguish between different parking parameters, rather than to describe a particular sequence of parking parameters.
The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that, in the embodiments of the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "e.g.," an embodiment of the present invention is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
In the related technology, the vehicle parking device can accurately identify the limiting rod in the parking space in the parking process, and can better control the parked vehicle by accurately detecting the distance of the limiting rod. At present, a common method is to identify and position the limiting rod through an ultrasonic radar signal, but due to the installation position of the limiting rod, the ultrasonic radar signal cannot accurately identify the limiting rod, so that the distance error of the limiting rod obtained through detection is large. Therefore, how to accurately detect the distance between the vehicle and the limiting rod becomes a problem which needs to be solved urgently.
In order to solve the above problem, embodiments of the present invention provide a distance detection method and apparatus, and a vehicle, where the distance detection apparatus may obtain a first parking parameter of the vehicle at a current time and a second parking parameter at a previous time when the vehicle is in a parking state, where the parking parameters include: operating parameters, and/or, the size of the stop bar; determining the change rate of the parking parameters of the vehicle between the previous moment and the current moment according to the first parking parameter and the second parking parameter; the distance detection device can input the parking parameter change rate into the distance classification model, so that the target distance between the vehicle and the limiting rod corresponding to the parking parameter change rate is determined. In the scheme, the distance detection device can determine the target distance at the current moment through the distance classification model according to the operating parameter change rate of the vehicle within a period of time and/or the size change rate of the limiting rod, and the scheme is irrelevant to the installation position of the limiting rod, so that the situation that the distance error is large due to the fact that the limiting rod cannot be identified can be avoided, and the accuracy of distance detection between the vehicle and the limiting rod is effectively improved.
The distance detection device according to the embodiment of the present invention may be a processing device provided in a vehicle, and the processing device may execute the distance detection method according to the embodiment of the present invention; the distance detection device may also be a control system of a vehicle, and the control system may execute the distance detection method provided in the embodiment of the present invention, and the embodiment of the present invention is not particularly limited.
The execution subject of the distance detection method provided in the embodiment of the present invention may be the distance detection apparatus, or may also be a functional module and/or a functional entity capable of implementing the distance detection method in the distance detection apparatus, which may be specifically determined according to actual use requirements, and the embodiment of the present invention is not limited. The following takes a distance detection device as an example to exemplarily explain a distance detection method provided by an embodiment of the present invention.
Example one
As shown in fig. 1, an embodiment of the present invention provides a distance detection method, which may include the following steps:
101. when the vehicle is in a parking state, a first parking parameter of the vehicle at the current moment and a second parking parameter at the previous moment are obtained.
In the embodiment of the present invention, when the distance detection device detects that the vehicle is in a parking state, that is, when the user starts an automatic parking function of the vehicle, the distance detection device may obtain a first parking parameter of the vehicle at the current time and a second parking parameter at the previous time.
Wherein the parking parameters include: operating parameters, and/or, dimensions of the stop bar, the operating parameters comprising: acceleration, and angular velocity.
Optionally, the distance detecting device obtains a first parking parameter of the vehicle at the current time and a second parking parameter at the previous time, and the method specifically includes the following implementation manners:
the implementation mode is as follows: under the condition that the parking parameters comprise the operation parameters, the distance detection device acquires the first operation parameter at the current moment and the second operation parameter at the previous moment through the accelerometer and the gyroscope.
In this implementation manner, the distance detection device may obtain acceleration data and angular velocity data of the vehicle in real time through an accelerometer and a gyroscope arranged in the vehicle, that is, obtain a first operation parameter at a current time and a second operation parameter at a previous time.
Wherein the first operating parameter comprises: a first acceleration and a first angular velocity; the second operating parameter includes: a second acceleration and a second angular velocity.
The implementation mode two is as follows: under the condition that parking parameters comprise the size of the limiting rod, the distance detection device collects a first image at the current moment and a second image at the previous moment through a camera; a first size of the stop bar in the first image and a second size of the stop bar in the second image are identified.
It should be noted that the tail of the vehicle may be provided with a camera, and the camera may collect an image behind the vehicle, that is, the camera may collect a limiting rod located behind the vehicle.
In this implementation, the size of the stop lever is the size of the stop lever in the image acquired by the camera, and is not the actual size of the stop lever, so that the size of the stop lever in the image acquired by the camera also changes as the vehicle moves during parking.
In the implementation mode, the distance detection device can acquire an image behind the vehicle in real time through the camera, namely acquiring a first image at the current moment and a second image at the previous moment; the distance detection device performs image recognition on the first image and the second image through an image recognition algorithm, and recognizes to obtain a first size of the limiting rod in the first image and a second size of the limiting rod in the second image.
Optionally, the frequency of the distance detection device for acquiring the image and the frequency of the identification image may be the same or different; namely, the distance detection device can carry out image recognition on an image every time one image is collected to obtain a limiting rod area in the image; the distance detection device may also acquire a plurality of images, and then perform image recognition on one of the images to obtain the stopper rod area in the image.
Further, the distance detecting device may identify a first size of the limiting rod in the first image and a second size of the limiting rod in the second image, and specifically may include: according to an image recognition algorithm, a first limiting rod area is recognized in a first image, and a second limiting rod area is recognized in a second image; determining a first size according to the coordinates of the first limiting rod area in an image pixel coordinate system; and determining a second size according to the coordinates of the second limiting rod area in the image pixel coordinate system.
It should be noted that after the distance detection device obtains the first image, the first image may be identified by an image identification algorithm to obtain a first limiting rod region of the limiting rod, and an image pixel coordinate system is established, and a pixel point in the first limiting rod region is represented by a coordinate, so as to obtain a first size; similarly, after the distance detection device obtains the second image, the second limiting rod area of the limiting rod can be identified and obtained in the second image through an image identification algorithm, an image pixel coordinate system is established, and pixel points in the second limiting rod area are represented by coordinates, so that the second size is obtained.
The image pixel coordinate system is established according to pixels of the image, the horizontal and vertical coordinates are pixel values, and the first size of the first limiting rod area is a pixel point set of the first limiting rod area in the first image; the second size of the second limiting rod area is a pixel point set of the second limiting rod area in the second image.
It should be noted that the pixel value of the camera arranged at the tail of the vehicle is not changed, so that the size of the limiting rod in the image acquired by the camera is changed along with the movement of the vehicle in the parking process.
Illustratively, fig. 2 shows a first image 21 acquired by the distance detection device at the current moment, and fig. 3 shows a second image 31 acquired by the distance detection device at the last moment. Since the first image 21 and the second image 31 are both captured by the same camera, the image pixel coordinate systems of the first image 21 and the second image 31 are the same. In fig. 2, the first stopper rod region 22 is a rectangular region 22, and as shown in fig. 2, the coordinates of the four end points of the first stopper rod region 22 are (16, 256), (16, 350), (996, 256), (996, 350), respectively, so that the first dimension of the first stopper rod region 22 is: 980 pixels long by 94 pixels wide; in fig. 3, the second stopper rod region 32 is a rectangular region 32, and as shown in fig. 3, the coordinates of the four end points of the second stopper rod region 32 are (248, 400), (248, 456), (916, 400), (916, 456), respectively, so that the second dimension of the second stopper rod region 32 is: 668 pixels long and 56 pixels wide.
The implementation mode is three: under the condition that the parking parameters comprise operation parameters and the size of the limiting rod, the distance detection device obtains a first operation parameter at the current moment and a second operation parameter at the previous moment through an accelerometer and a gyroscope; the distance detection device collects a first image at the current moment and a second image at the previous moment through the camera; a first size of the stop bar in the first image and a second size of the stop bar in the second image are identified.
It should be noted that an accelerometer and a gyroscope can be arranged in the vehicle, a camera can be arranged at the tail of the vehicle, the camera can acquire images behind the vehicle, and the camera can acquire a limiting rod behind the vehicle.
In this implementation, the size of the stop lever is the size of the stop lever in the image acquired by the camera, and is not the actual size of the stop lever, so that the size of the stop lever in the image acquired by the camera also changes as the vehicle moves during parking.
In the implementation mode, the distance detection device can acquire acceleration data and angular velocity data of the vehicle in real time through an accelerometer and a gyroscope, and a first operation parameter at the current moment and a second operation parameter at the previous moment are acquired; moreover, the distance detection device can acquire images behind the vehicle in real time through the camera, namely acquiring a first image at the current moment and a second image at the previous moment; the distance detection device performs image recognition on the first image and the second image through an image recognition algorithm, and recognizes to obtain a first size of the limiting rod in the first image and a second size of the limiting rod in the second image.
Wherein the first operating parameter comprises: a first acceleration and a first angular velocity; the second operating parameter includes: a second acceleration and a second angular velocity.
Optionally, the frequency of the distance detection device for acquiring the image and the frequency of the identification image may be the same or different; namely, the distance detection device can carry out image recognition on an image every time one image is collected to obtain a limiting rod area in the image; the distance detection device may also acquire a plurality of images, and then perform image recognition on one of the images to obtain the stopper rod area in the image.
Further, the distance detecting device may identify a first size of the limiting rod in the first image and a second size of the limiting rod in the second image, and specifically may include: according to an image recognition algorithm, a first limiting rod area is recognized in a first image, and a second limiting rod area is recognized in a second image; determining a first size according to the coordinates of the first limiting rod area in an image pixel coordinate system; and determining a second size according to the coordinates of the second limiting rod area in the image pixel coordinate system.
It should be noted that after the distance detection device obtains the first image, the first image may be identified by an image identification algorithm to obtain a first limiting rod region of the limiting rod, and an image pixel coordinate system is established, and a pixel point in the first limiting rod region is represented by a coordinate, so as to obtain a first size; similarly, after the distance detection device obtains the second image, the second limiting rod area of the limiting rod can be identified and obtained in the second image through an image identification algorithm, an image pixel coordinate system is established, and pixel points in the second limiting rod area are represented by coordinates, so that the second size is obtained.
The image pixel coordinate system is established according to pixels of the image, the horizontal and vertical coordinates are pixel values, and the first size of the first limiting rod area is a pixel point set of the first limiting rod area in the first image; the second size of the second limiting rod area is a pixel point set of the second limiting rod area in the second image.
It should be noted that the pixel value of the camera arranged at the tail of the vehicle is not changed, so that the size of the limiting rod in the image acquired by the camera is changed along with the movement of the vehicle in the parking process.
Illustratively, fig. 2 shows a first image 21 acquired by the distance detection device at the current moment, and fig. 3 shows a second image 31 acquired by the distance detection device at the last moment. Since the first image 21 and the second image 31 are both captured by the same camera, the image pixel coordinate systems of the first image 21 and the second image 31 are the same. In fig. 2, the first stopper rod region 22 is a rectangular region 22, and as shown in fig. 2, the coordinates of the four end points of the first stopper rod region 22 are (16, 256), (16, 350), (996, 256), (996, 350), respectively, so that the first dimension of the first stopper rod region 22 is: 980 pixels long by 94 pixels wide; in fig. 3, the second stopper rod region 32 is a rectangular region 32, and as shown in fig. 3, the coordinates of the four end points of the second stopper rod region 32 are (248, 400), (248, 456), (916, 400), (916, 456), respectively, so that the second dimension of the second stopper rod region 32 is: 668 pixels long and 56 pixels wide.
Through the optional implementation mode, the distance detection device can acquire acceleration data and angular velocity data of the vehicle at different moments through the accelerometer and the gyroscope, and/or the distance detection device can acquire images through the camera so as to identify the size of the limiting rod from the images; therefore, the distance detection device can obtain the first parking parameter which is accurate at the current moment and the second parking parameter which is accurate at the last moment.
102. And determining the parking parameter change rate of the vehicle according to the first parking parameter and the second parking parameter.
In this implementation, after the distance detection device obtains the first parking parameter at the current time and the second parking parameter at the previous time, the rate of change of the parking parameters between the previous time and the current time needs to be determined.
Optionally, the distance detecting device determines the parking parameter change rate of the vehicle according to the first parking parameter and the second parking parameter, and specifically may include: determining a first duration between a current time and a last time; determining the parking parameter variation in the first time length according to the first parking parameter and the second parking parameter; and determining the parking parameter change rate of the vehicle according to the first time length and the parking parameter change amount.
It should be noted that, according to the parking parameters, the foregoing steps may specifically include the following implementation manners:
the implementation mode is as follows: under the condition that the parking parameters include the operation parameters, after the distance detection device acquires the first acceleration and the first angular velocity at the current moment, and the second acceleration and the second angular velocity at the previous moment, the distance detection device can calculate the vehicle position change amount and the attitude change amount between the previous moment and the current moment through an Inertial Navigation System (INS), so as to obtain the vehicle position change rate and the attitude change rate between the previous moment and the current moment.
The inertial navigation system is a navigation parameter calculation system with a gyroscope and an accelerometer as sensitive devices, and can establish a navigation coordinate system according to the output of the gyroscope and calculate the speed and the position of the vehicle in the navigation coordinate system according to the output of the accelerometer.
In this implementation, the distance detection device may input the first acceleration and the first angular velocity at the current time, and the second acceleration and the second angular velocity at the previous time into the inertial navigation system, and the inertial navigation system calculates the first acceleration, the first angular velocity, the second acceleration, and the second angular velocity to obtain the vehicle position change amount and the attitude change amount between the previous time and the current time; the distance detection device calculates and obtains the vehicle position conversion rate between the current time and the previous time according to the vehicle position conversion amount and the first time length between the current time and the previous time; and the distance detection device calculates and obtains the attitude change rate between the current moment and the previous moment according to the attitude change quantity and the first time length between the current moment and the previous moment.
The implementation mode two is as follows: under the condition that parking parameters include the size of the limiting rod, after the distance detection device obtains the first size of the limiting rod at the current moment and the second size of the limiting rod at the previous moment, the distance detection device can calculate the size variation of the limiting rod between the previous moment and the current moment, and therefore the size variation rate of the limiting rod between the previous moment and the current moment is obtained.
For example, assume that the current time is 10:00:00 and the previous time is 9:59:59, so the first time period is 1 s. As shown in fig. 2 and 3, the first dimension is: length 980 pixels, width 94 pixels, second size: 668 pixels long and 56 pixels wide. Therefore, the distance detection device can calculate the size change rate of the limiting rod as follows: length (980-.
The implementation mode is three: under the condition that the parking parameters include operation parameters and the size of the limiting rod, after the distance detection device acquires a first acceleration, a first angular velocity and a first size at the current moment, and a second acceleration, a second angular velocity and a second size at the previous moment, the distance detection device can calculate the vehicle position change amount, the attitude change amount and the size change amount of the limiting rod between the previous moment and the current moment through an Inertial Navigation System (INS), so that the vehicle position change rate, the attitude change rate and the size change rate of the limiting rod between the previous moment and the current moment are obtained.
The inertial navigation system is a navigation parameter calculation system with a gyroscope and an accelerometer as sensitive devices, and can establish a navigation coordinate system according to the output of the gyroscope and calculate the speed and the position of the vehicle in the navigation coordinate system according to the output of the accelerometer.
In this implementation, the distance detection device may input the first acceleration and the first angular velocity at the current time, and the second acceleration and the second angular velocity at the previous time into the inertial navigation system, and the inertial navigation system calculates the first acceleration, the first angular velocity, the second acceleration, and the second angular velocity to obtain the vehicle position change amount and the attitude change amount between the previous time and the current time; the distance detection device calculates and obtains the vehicle position conversion rate between the current time and the previous time according to the vehicle position conversion amount and the first time length between the current time and the previous time; and the distance detection device calculates and obtains the attitude change rate between the current moment and the previous moment according to the attitude change quantity and the first time length between the current moment and the previous moment.
For example, assume that the current time is 10:00:00 and the previous time is 9:59:59, so the first time period is 1 s. As shown in fig. 2 and 3, the first dimension is: length 980 pixels, width 94 pixels, second size: 668 pixels long and 56 pixels wide. Therefore, the distance detection device can calculate the size change rate of the limiting rod as follows: length (980-.
In the above optional implementation manner, the distance detection device may determine the parking parameter variation according to the first parking parameter and the second parking parameter, and then determine the parking parameter variation rate between the previous time and the current time according to a first duration between the previous time and the current time.
103. And determining the target distance between the vehicle and the limiting rod according to the parking parameter change rate and the distance classification model.
In the embodiment of the invention, the distance detection device can input the parking parameter change rate between the previous moment and the current moment into the distance classification model, so that the target distance between the vehicle and the limiting rod at the current moment is obtained.
It should be noted that the distance classification model is obtained by the distance detection device through a supervised learning algorithm, and includes a corresponding relationship between a plurality of parking parameter change rates and a plurality of distances, and after the distance detection device inputs the parking parameter change rate between the previous time and the current time into the distance classification model, a distance corresponding to the parking parameter change rate between the previous time and the current time can be found from the corresponding relationship between the plurality of parking parameter change rates and the plurality of distances, and the distance is determined as a target distance between the vehicle at the current time and the stop lever.
Optionally, the supervised learning algorithm may include, but is not limited to: and (4) performing algorithms such as logistic regression, support vector machine and neural network.
Optionally, the distance classification model may divide the distance into a plurality of distance intervals, and different distance intervals correspond to different parking parameter change rates.
It should be noted that, in order to improve the accuracy of distance detection, the step size of different distance intervals may be decreased as the distance is decreased.
For example, the distance classification model may classify the distance between the vehicle and the restraint bar as: 2m-1.5m, 1.5m-1m, 1m-0.5m, 0.5m-0.25m, 0.25m-0.1m, 0.1m-0.05m, 0.05m-0.02m, 0.02m-0.01m, it follows that the step sizes in the different distance intervals are gradually reduced.
Through the optional implementation mode, the step length of the distance interval from the classification model can be reduced along with the reduction of the distance, namely, the distance recognition precision can be gradually improved along with the approach of the limiting rod, so that the distance detection accuracy is further improved.
Optionally, the distance detection device determines the target distance between the vehicle and the limiting rod according to the parking parameter change rate and the distance classification model, and the following optional implementation manners may be specifically included:
the implementation mode is as follows: determining a first distance between the vehicle and the limiting rod according to the parking parameter change rate and the distance classification model; acquiring a tail image of the vehicle through a tail camera of the vehicle; under the condition that the limiting rod exists in the tail image, determining a second distance between the vehicle and the limiting rod according to the tail image; and determining the first distance as the target distance under the condition that the difference value between the first distance and the second distance is smaller than a preset difference value threshold.
In the implementation mode, the distance detection device can input the parking parameter change rate between the previous moment and the current moment into the distance classification model to obtain a first distance between the vehicle and the limiting rod at the current moment; acquiring a tail image through a camera at the tail of the vehicle, and acquiring a second distance between the vehicle and the limiting rod at the current moment according to an image recognition algorithm; if the distance detection device detects that the difference value between the first distance and the second distance is smaller than the preset difference value threshold, it can be indicated that the distance between the vehicle and the limiting rod obtained currently is within the error range, and then the distance detection device can determine the first distance as the target distance between the vehicle and the limiting rod at the current moment.
The implementation mode two is as follows: determining a first distance between the vehicle and the limiting rod according to the parking parameter change rate and the distance classification model; obtaining a third distance between the vehicle and the limiting rod through a distance measuring sensor of the vehicle; and determining the first distance as the target distance under the condition that the difference value between the first distance and the third distance is smaller than a preset difference value threshold.
In the implementation mode, the distance detection device can input the parking parameter change rate between the previous moment and the current moment into the distance classification model to obtain a first distance between the vehicle and the limiting rod at the current moment; then sending a measuring signal through a distance measuring sensor at the tail of the vehicle, reflecting the measuring signal and then receiving the measuring signal by the distance measuring sensor, and calculating by the distance measuring sensor according to the sending time and the receiving time to obtain a third distance between the vehicle and the limiting rod at the current moment; if the distance detection device detects that the difference value between the first distance and the third distance is smaller than the preset difference value threshold, it can be indicated that the distance between the vehicle and the limiting rod obtained currently is within the error range, and then the distance detection device can determine the first distance as the target distance between the vehicle and the limiting rod at the current moment.
Through the optional implementation mode, the distance detection device can verify the distance through multiple modes after obtaining the distance between the vehicle and the limiting rod through the distance classification model, if the difference value between the distances measured in different modes is within a certain range, the distance between the vehicle and the limiting rod obtained through the distance classification model can be shown to be within an error range, and therefore the accuracy of the distance detection device for detecting the distance between the vehicle and the limiting rod can be improved.
The embodiment of the invention provides a distance detection method, wherein a distance detection device can acquire a first parking parameter of a vehicle at the current moment and a second parking parameter at the previous moment when the vehicle is in a parking state, wherein the parking parameters comprise: operating parameters, and/or, the size of the stop bar; determining the change rate of the parking parameters of the vehicle between the previous moment and the current moment according to the first parking parameter and the second parking parameter; the distance detection device can input the parking parameter change rate into the distance classification model, so that the target distance between the vehicle and the limiting rod corresponding to the parking parameter change rate is determined. In the scheme, the distance detection device can determine the target distance at the current moment through the distance classification model according to the operating parameter change rate of the vehicle within a period of time and/or the size change rate of the limiting rod, and the scheme is irrelevant to the installation position of the limiting rod, so that the situation that the distance error is large due to the fact that the limiting rod cannot be identified can be avoided, and the accuracy of distance detection between the vehicle and the limiting rod is effectively improved.
Example two
As shown in fig. 4, an embodiment of the present invention provides a distance detection method, which may further include the following steps:
401. and acquiring corresponding parking test parameters at different moments and the test distance between the vehicle and the limiting rod.
In the embodiment of the invention, the distance detection device can perform parking tests for multiple times. The method comprises the following steps that parking test parameters and test distances between a vehicle and a limiting rod are obtained at a plurality of places in the process that the vehicle parks at each time, and the parking test parameters and the test distances are stored in an associated mode; thus, the distance detection device can associate different test distances with the parking test parameters.
402. And obtaining a distance classification model according to the parking test parameters and the test distances at different moments by a supervised learning algorithm.
In the embodiment of the invention, the distance detection device can acquire a plurality of different parking test parameters and a plurality of different test distances, and then learns the plurality of different parking test parameters and the plurality of different test distances through a supervised learning algorithm to obtain a distance classification model; so that the distance detection device can directly determine the distance corresponding to the parking parameter according to the parking parameter in the actual parking environment.
403. When the vehicle is in a parking state, a first parking parameter of the vehicle at the current moment and a second parking parameter at the previous moment are obtained.
404. And determining the parking parameter change rate of the vehicle according to the first parking parameter and the second parking parameter.
405. And determining the target distance between the vehicle and the limiting rod according to the parking parameter change rate and the distance classification model.
406. And determining a target parking scheme corresponding to the target distance according to the target distance.
In the embodiment of the invention, the distance detection device can store parking schemes corresponding to different distances, so that after the distance detection device determines the target distance between the vehicle and the limiting rod, the target parking scheme corresponding to the target distance can be directly determined, and the vehicle can be accurately parked in a preset parking space.
It should be noted that the target parking plan may specifically include: the vehicle is parked at a preset speed, and the vehicle is parked after a preset time period, namely the vehicle can be parked at a preset parking space.
Optionally, after the distance detection device determines the target distance between the vehicle and the limiting rod, the identified target distance result is input into a planning control system for automatic parking, and the planning control system can plan a safe and reasonable target parking scheme according to the target distance, so that the vehicle can be accurately parked in a predetermined parking space.
407. And controlling the vehicle to park according to the target parking scheme.
The embodiment of the invention provides a distance detection method, wherein a distance detection device can firstly carry out multiple parking tests, obtain a large amount of parking parameter data and distance data in the tests, and learn a large amount of parking parameter data and distance data through a supervised learning algorithm to obtain a distance classification model; after the distance detection device determines the parking parameter change rate between the last moment and the current moment of the vehicle, the parking parameter change rate can be input into the distance classification model, and therefore the target distance between the vehicle and the limiting rod corresponding to the parking parameter change rate is determined in the distance classification model; and according to the target distance, a reasonable parking scheme is planned to control the vehicle to park. In the scheme, the distance detection device learns a large amount of test data through a supervised learning algorithm firstly to convert the distance between the vehicle and the limiting rod into a plurality of distance intervals, so that the distance detection device can determine the target distance at the current moment through the distance classification model according to the change rate of the running parameters of the vehicle in a period of time and/or the size change rate of the limiting rod, the scheme is irrelevant to the installation position of the limiting rod, the situation that the distance error is large due to the fact that the limiting rod cannot be identified can be avoided, and the accuracy of distance detection between the vehicle and the limiting rod is effectively improved.
EXAMPLE III
As shown in fig. 5, an embodiment of the present invention provides a distance detection apparatus, including:
the obtaining module 501 is configured to obtain a first parking parameter of a vehicle at a current time and a second parking parameter of the vehicle at a previous time when the vehicle is in a parking state, where the parking parameters include: operating parameters, and/or, dimensions of the stop bar, the operating parameters including: acceleration, and angular velocity;
the processing module 502 is configured to determine a parking parameter change rate of the vehicle according to the first parking parameter and the second parking parameter;
the processing module 502 is further configured to determine a target distance between the vehicle and the stop lever according to the parking parameter change rate and the distance classification model.
Optionally, the obtaining module 501 is further configured to obtain parking test parameters corresponding to different times and a test distance between the vehicle and the limiting rod;
the processing module 502 is further configured to obtain a distance classification model according to the parking test parameters and the test distances at different times through a supervised learning algorithm.
Optionally, the obtaining module 501 is specifically configured to collect, by using a camera, a first image at a current moment and a second image at a previous moment; identifying a first size of the stop bar in the first image and a second size of the stop bar in the second image;
and/or the presence of a gas in the gas,
the obtaining module 501 is specifically configured to obtain a first operating parameter at a current time and a second operating parameter at a previous time through an accelerometer and a gyroscope.
Optionally, the processing module 502 is specifically configured to identify a first limiting rod region in the first image and identify a second limiting rod region in the second image according to an image identification algorithm;
a processing module 502, specifically configured to determine a first size according to coordinates of the first stopper rod region in an image pixel coordinate system;
the processing module 502 is specifically configured to determine the second size according to coordinates of the second stopper rod region in the image pixel coordinate system.
Optionally, the processing module 502 is specifically configured to determine a first duration between the current time and the previous time;
the processing module 502 is specifically configured to determine a parking parameter variation in a first duration according to a first parking parameter and a second parking parameter;
the processing module 502 is specifically configured to determine a parking parameter change rate of the vehicle according to the first time duration and the parking parameter change amount.
Optionally, the processing module 502 is specifically configured to determine a first distance between the vehicle and the stop lever according to the parking parameter change rate and the distance classification model;
the acquiring module 501 is specifically configured to acquire a tail image of a vehicle through a tail camera of the vehicle;
the processing module 502 is specifically configured to determine a second distance between the vehicle and the stop lever according to the tail image when the stop lever exists in the tail image;
the processing module 502 is specifically configured to determine the first distance as the target distance when a difference between the first distance and the second distance is smaller than a preset difference threshold.
Optionally, the processing module 502 is further configured to determine, according to the target distance, a target parking scheme corresponding to the target distance.
In the embodiment of the present invention, each module may implement the distance detection method provided in the above method embodiment, and may achieve the same technical effect, and for avoiding repetition, details are not described here again.
As shown in fig. 6, an embodiment of the present invention further provides a distance detection apparatus, where the distance detection apparatus may include:
a memory 601 in which executable program code is stored;
a processor 602 coupled to a memory 601;
the processor 602 calls the executable program code stored in the memory 601 to execute the distance detection method executed by the distance detection apparatus in the above embodiments of the methods.
As shown in fig. 7, an embodiment of the present invention also provides a vehicle, which may include: such as the distance detection means shown in fig. 5 or in fig. 6.
Embodiments of the present invention provide a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute some or all of the steps of the method as in the above method embodiments.
Embodiments of the present invention also provide a computer program product, wherein the computer program product, when run on a computer, causes the computer to perform some or all of the steps of the method as in the above method embodiments.
Embodiments of the present invention further provide an application publishing platform, where the application publishing platform is configured to publish a computer program product, where the computer program product, when running on a computer, causes the computer to perform some or all of the steps of the method in the above method embodiments.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are exemplary and alternative embodiments, and that the acts and modules illustrated are not required in order to practice the invention.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
Claims (10)
1. A method of distance detection, the method comprising:
when a vehicle is in a parking state, acquiring a first parking parameter of the vehicle at the current moment and a second parking parameter at the previous moment, wherein the parking parameters comprise: operating parameters, and/or, dimensions of the stop bar, the operating parameters comprising: acceleration, and angular velocity;
determining a parking parameter change rate of the vehicle according to the first parking parameter and the second parking parameter;
and determining the target distance between the vehicle and the limiting rod according to the parking parameter change rate and the distance classification model.
2. The method of claim 1, wherein the obtaining a first parking parameter of the vehicle at a current time and a second parking parameter at a previous time while the vehicle is in the parking state, further comprises:
obtaining parking test parameters corresponding to different moments and a test distance between the vehicle and a limiting rod;
and obtaining the distance classification model according to the parking test parameters and the test distances at different moments by a supervised learning algorithm.
3. The method of claim 1, wherein the obtaining a first parking parameter of the vehicle at a current time and a second parking parameter at a previous time comprises:
acquiring a first image at the current moment and a second image at the previous moment through a camera; identifying a first size of a stop bar in the first image and a second size of a stop bar in the second image;
and/or the presence of a gas in the gas,
and acquiring a first operating parameter at the current moment and a second operating parameter at the previous moment through the accelerometer and the gyroscope.
4. The method of claim 3, wherein in the event that the parking parameter includes a size of the gag lever post, the identifying a first size of the gag lever post in the first image and a second size of the gag lever post in the second image comprises:
according to an image recognition algorithm, a first limiting rod area is recognized in the first image, and a second limiting rod area is recognized in the second image;
determining the first size according to the coordinates of the first limiting rod area in an image pixel coordinate system;
and determining the second size according to the coordinates of the second limiting rod area in the image pixel coordinate system.
5. The method of any of claims 1-4, wherein determining a rate of change of a parking parameter of the vehicle based on the first and second parking parameters comprises:
determining a first duration between the current time and the last time;
determining the parking parameter variation in the first time length according to the first parking parameter and the second parking parameter;
and determining the parking parameter change rate of the vehicle according to the first time length and the parking parameter change amount.
6. The method of any of claims 1 to 4, wherein determining the target distance between the vehicle and a restraint bar according to the parking parameter rate of change and the distance classification model comprises:
determining a first distance between the vehicle and the limiting rod according to the parking parameter change rate and the distance classification model;
acquiring a tail image of the vehicle through a tail camera of the vehicle;
determining a second distance between the vehicle and the limiting rod according to the tail image under the condition that the limiting rod exists in the tail image;
determining the first distance as the target distance if a difference between the first distance and the second distance is less than a preset difference threshold.
7. The method of any of claims 1-4, wherein after determining the target distance between the vehicle and a restraint bar, the method further comprises:
and determining a target parking scheme corresponding to the target distance according to the target distance.
8. A distance detection device, comprising:
the system comprises an obtaining module, a storage module and a control module, wherein the obtaining module is used for obtaining a first parking parameter of a vehicle at the current moment and a second parking parameter of the vehicle at the previous moment when the vehicle is in a parking state, and the parking parameters comprise: operating parameters, and/or, dimensions of the stop bar, the operating parameters comprising: acceleration, and angular velocity;
the processing module is used for determining the change rate of the parking parameters of the vehicle according to the first parking parameter and the second parking parameter;
the processing module is further used for determining a target distance between the vehicle and the limiting rod according to the parking parameter change rate and the distance classification model.
9. A distance detection apparatus comprising a memory and a processor, the memory having stored therein a computer program, the computer program, when executed by the processor, causing the processor to implement the distance detection method according to any one of claims 1 to 7.
10. A vehicle, characterized by comprising: a distance detection apparatus according to claim 8 or 9.
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