CN115171424A - Underground garage vehicle searching method and device and computer readable medium - Google Patents
Underground garage vehicle searching method and device and computer readable medium Download PDFInfo
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- CN115171424A CN115171424A CN202210735275.4A CN202210735275A CN115171424A CN 115171424 A CN115171424 A CN 115171424A CN 202210735275 A CN202210735275 A CN 202210735275A CN 115171424 A CN115171424 A CN 115171424A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/383—Indoor data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
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Abstract
The invention relates to a method and a device for searching a vehicle in an underground garage and a computer readable medium. The underground garage vehicle searching method comprises the following steps: acquiring a real-time image of a vehicle in the advancing process, and identifying an underground garage scene according to the real-time image; when the elevator entrance is identified, starting to draw a map by taking the position information of the elevator entrance as a starting point; drawing a driving track of the vehicle on a map according to the sensor information of the vehicle; when the fact that the vehicle drives into the parking space is recognized, the position information of the parking space is used as a terminal point, and the map drawing is finished; and transmitting the map to the mobile terminal device. The invention uses the combination of image recognition, travel calculation and other technologies to draw and provide the map for the user to navigate to the car and to the elevator port, solves the problem that the user is difficult to find the car and the elevator in large underground garages such as large-scale shopping malls, districts and office buildings, can provide a new scheme for the user navigation under the condition of no satellite positioning, saves the time of the user and provides convenience for the user to go out.
Description
Technical Field
The invention mainly relates to the field of intelligent navigation vehicle searching, in particular to a method and a device for searching vehicles in an underground garage and a computer readable medium.
Background
In the process of using a vehicle to go out in daily life, a user often encounters a trouble that the vehicle or the elevator is difficult to find in an underground parking lot of a shopping mall, generally, an underground garage has no Positioning signal of a Global Positioning System (GPS), and the problem that the user navigates to the vehicle or the elevator opening can not be effectively solved.
Disclosure of Invention
The technical problem to be solved by the application is to provide a method, a device and a computer readable medium for searching vehicles in an underground garage, wherein a vehicle controller draws a map from an elevator entrance to a parking space of the vehicle according to a driving track of the vehicle, and a user can find the elevator entrance and the parking space according to the map in a scene of the underground garage.
The technical scheme adopted by the application for solving the technical problems is an underground garage vehicle searching method, which comprises the following steps: acquiring a real-time image of a vehicle in the advancing process, and identifying an underground garage scene according to the real-time image; when the elevator entrance is identified, starting to draw a map by taking the position information of the elevator entrance as a starting point; drawing a driving track of the vehicle on a map according to the sensor information of the vehicle; when the fact that the vehicle drives into the parking space is recognized, the position information of the parking space is used as a terminal point, and the map drawing is finished; and transmitting the map to the mobile terminal equipment.
In an embodiment of the present application, before the step of acquiring a real-time image of a vehicle in a traveling process and identifying a scene of an underground garage according to the real-time image, the method further includes: and receiving a map drawing instruction of a user, and preparing a map drawing according to the map drawing instruction, wherein the map comprises a driving track of the vehicle between the elevator port and the parking space.
In an embodiment of the present application, the step of starting to draw a map with the position information of the elevator entrance as a starting point includes: and if a plurality of elevator entrances are identified, sequentially drawing the position information of the plurality of elevator entrances on a map.
In one embodiment of the application, the underground garage car-searching method takes the position information of the first identified elevator entrance as a starting point.
In one embodiment of the application, the underground garage car-searching method takes the position information of the last identified elevator entrance as a starting point.
In an embodiment of the present application, the sensor information includes angle information of a gyroscope and distance information of a mileage sensor, the angle information includes a driving direction of the vehicle, and the distance information includes a driving distance of the vehicle corresponding to the driving direction.
In an embodiment of the present application, when the elevator entrance is identified, the step of starting to draw a map with the position information of the elevator entrance as a starting point further includes: recording an image of an elevator entrance; when the vehicle is recognized to drive into the parking space, the step of finishing drawing the map by taking the position information of the parking space as an end point further comprises the following steps: recording images of the parking spaces; the step of transmitting the map to the mobile terminal device further includes: and transmitting the image of the elevator opening and the image of the parking space to the mobile terminal equipment.
In an embodiment of the present application, the step of transmitting the map to the mobile terminal device includes: and transmitting the map to the mobile terminal equipment through Bluetooth.
This application still provides a car device is sought to underground garage for solving above-mentioned technical problem, seeks the car device and installs in the vehicle, include: the system comprises cameras, a camera module, a display module and a control module, wherein the cameras are used for acquiring real-time images in the vehicle running process, and the cameras are at least arranged on the front side, the left side and the right side of the vehicle; the system comprises a cabin domain controller, a vehicle gateway and a mobile terminal device, wherein the cabin domain controller is connected with a plurality of cameras through cables and comprises a Bluetooth assembly and a gyroscope, the Bluetooth assembly is used for communicating with the mobile terminal device, and the gyroscope is used for recording the driving direction of the vehicle; the mileage sensor is used for recording the driving distance of the vehicle corresponding to the driving direction, is connected with the vehicle gateway and is communicated with the cockpit area controller through the vehicle gateway; a memory for storing instructions executable by the processor, images, and image recognition algorithms; and the processor is used for executing instructions to realize the underground garage vehicle searching method.
The present application further provides a computer readable medium storing computer program code, which when executed by a processor implements the above method for searching a vehicle in an underground garage.
According to the technical scheme, the environment information of the underground garage can be acquired in time by identifying the scene image of the underground garage in the vehicle advancing process; the map drawing is started by taking the identified position information of the elevator entrance as a starting point, so that the position of the elevator entrance can be accurately recorded on the map for a user to check; the driving track is drawn on the map according to the information of the vehicle sensor, and the drawing of the driving track can be simply and efficiently completed only by utilizing internal components of the vehicle without the assistance of external equipment; the identified position information of the parking space is taken as a terminal point, the drawing of a map is finished, the position of the parking space can be accurately recorded on the map, and the map comprises an elevator port position, a vehicle running track and the position of the parking space; the map is transmitted to the mobile terminal equipment of the user, so that the user can conveniently check the map on the mobile terminal equipment to acquire the required information.
The method and the system have the advantages that the mode of combining technologies such as image recognition, vehicle state perception and travel calculation is used, the map which is navigated to the vehicle and the elevator port is drawn and provided for the user, the problem that the user is difficult to find the vehicle and the elevator in large underground garages such as large shopping malls, districts and office buildings is solved, a new scheme can be provided for user navigation under the condition of no satellite positioning, the time of the user is saved, and convenience is brought to the user in traveling.
Drawings
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments thereof are described in detail below with reference to the accompanying drawings, in which:
fig. 1 is an exemplary flow chart of a method for locating a vehicle in an underground garage according to an embodiment of the present application;
fig. 2 is an exemplary diagram of a map generated by the underground garage vehicle-finding method according to an embodiment of the present application;
fig. 3 is a system block diagram of an underground garage vehicle locating device according to an embodiment of the present application;
fig. 4 is another system block diagram of the underground garage vehicle searching device according to an embodiment of the present application.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways than those described herein, and thus is not limited to the specific embodiments disclosed below.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
Flow charts are used herein to illustrate operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, various steps may be processed in reverse order or simultaneously. Meanwhile, other operations are added to or removed from these processes.
The application provides a method for searching vehicles in an underground garage, which is mainly applied to the underground garage, and the underground garage does not have a GPS positioning signal generally, so that the positions of the vehicles or users cannot be positioned in real time, and the users are easy to lose directions when searching for elevator mouths and returning to the underground garage for searching the vehicles. The underground garage vehicle searching method is based on a controller of a vehicle, a map from an elevator opening to a vehicle parking space is drawn according to a running track of the vehicle, and a user can find the elevator opening and the parking space according to the map in a scene of the underground garage.
Fig. 1 is an exemplary flowchart of an underground garage vehicle searching method according to an embodiment of the present application, and referring to fig. 1, the underground garage vehicle searching method according to the embodiment includes the following steps:
step S110: and acquiring a real-time image of the vehicle in the advancing process, and identifying the underground garage scene according to the real-time image.
Step S120: when the elevator entrance is identified, the map drawing is started with the position information of the elevator entrance as a starting point.
Step S130: and drawing a driving track of the vehicle on a map according to the sensor information of the vehicle.
Step S140: and when the fact that the vehicle drives into the parking space is recognized, the drawing of the map is finished by taking the position information of the parking space as an end point.
Step S150: and transmitting the map to the mobile terminal equipment.
The above steps S110 to S150 are explained in detail as follows:
in step S110, a real-time image of the vehicle during the traveling process is obtained, and an underground garage scene is identified according to the real-time image.
The underground garage scene comprises an elevator opening, parking spaces, other vehicles, columns and the like, and information which needs to be focused can be obtained by identifying the underground garage scene through real-time images. The vehicle of the present application refers to a host vehicle, that is, a vehicle driven by a user, and the other vehicles of the present application refer to vehicles other than the host vehicle.
According to the method, the high-definition camera is arranged on the vehicle, the high-definition camera shoots real-time images of the vehicle in the advancing process, the vehicle controller of the vehicle obtains the real-time images shot by the camera, and image recognition is carried out on the real-time images by using an image recognition algorithm of an image processing module in the vehicle controller. Exemplarily, the high-definition cameras are arranged at least on the front side, the left side and the right side of the vehicle. In some embodiments, preferably, high-definition cameras are arranged at four positions of the front side, the left side, the right side and the rear side of the vehicle, and the vehicle controller can comprehensively identify the underground garage scene by identifying real-time images shot by the cameras at different positions.
During the running process of the vehicle, the cameras at various positions on the vehicle shoot videos and/or real-time images of the underground garage scene, and the vehicle controller acquires the videos and/or images for processing. When the vehicle controller obtains the video of the underground garage scene, the video is processed into a real-time image, and the image recognition is carried out on the real-time image. And when the vehicle controller acquires the real-time image of the underground garage scene, performing image recognition on the real-time image. In some other embodiments, the vehicle controller may upload the real-time video and/or image captured by the camera to the cloud, and the cloud server performs real-time processing and then transmits the image recognition result back to the vehicle controller, so as to save the operation resources of the vehicle controller.
In some embodiments, before the step of acquiring real-time images of the vehicle during the traveling process and identifying the underground garage scene according to the real-time images, the method further comprises the following steps: and receiving a map drawing instruction of a user, and preparing a map drawing according to the map drawing instruction, wherein the map comprises a driving track of the vehicle between the elevator port and the parking space.
For example, when a user drives a vehicle to enter an underground garage, the user can select to manually start a mapping function, the user clicks the mapping function on a central display screen of the vehicle, and after the vehicle controller receives a mapping instruction of the user, the vehicle controller starts to identify the scene of the underground garage and starts the mapping function to enter a waiting state to prepare for mapping. The user manually starts the map drawing function, can timely and accurately draw a map command for the vehicle controller, and can save the resources of the vehicle controller under the condition that the user does not need the vehicle controller to draw the map.
In other embodiments, the vehicle controller may continuously identify the surrounding scene of the vehicle, and when it is identified that the user drives the vehicle into the underground garage, the vehicle controller automatically turns on the mapping function to enter a waiting state to prepare for mapping. The vehicle controller continuously identifies surrounding scenes and automatically opens the map drawing function, the map drawing function is not required to be manually opened by a user, the user only needs to concentrate on driving the vehicle, and the vehicle controller is worry-saving and convenient. In the practical application process, the manual map drawing function or the automatic map drawing function can be automatically selected according to needs, and the method is not limited in the application.
Fig. 2 is an exemplary schematic diagram of a map generated by the underground garage vehicle-searching method according to an embodiment of the present application.
Illustratively, referring to fig. 2, a map 200 drawn by a vehicle controller includes a traveling track of a vehicle between an elevator hall 210 and a parking space 220, the position of the elevator hall 210 and the position of the parking space 220 are marked on the map 200, and a user can find an elevator or a vehicle according to the map 200.
Referring to fig. 2, when a user is located at a parking space 220 and wants to find a position of an elevator shaft 210, the user can sequentially travel 4 meters in the direction of R2, 5 meters in the direction of E2, 6 meters in the direction of W2, and 10 meters in the direction of Q2 according to a travel track shown in a map 200, that is, the user can reach the position of the elevator shaft 210. When the user is located at the position of the elevator hall 210 and wants to find the position of the parking space 220, the user can sequentially walk 10 meters along the direction Q1, 6 meters along the direction W1, 5 meters along the direction E1, and 4 meters along the direction R1 according to the driving track shown in the map 200, and then the user can reach the position of the parking space 220. According to the information shown by the map 200, the user can quickly find the vehicles corresponding to the elevator opening 210 and the parking space 220, and the map 200 drawn by the vehicle controller solves the problem that the user is difficult to find the vehicles and the elevators in the underground garage without a GPS positioning signal.
In step S120, when the elevator entrance is identified, the map drawing is started with the position information of the elevator entrance as a starting point.
When the vehicle is in the process of moving, the vehicle controller identifies the real-time image of the underground garage scene, and when the elevator port is identified, the vehicle controller is switched from a waiting state, namely a state of preparing to draw a map, to a state of starting to draw the map. Referring to fig. 2, the automobile controller marks position information of the elevator hall 210 on the map 200, i.e., the starting point of drawing the map 200, the position information of the elevator hall 210.
In some embodiments, the step of starting to draw a map with the position information of the elevator entrance as a starting point in the step S120 includes:
step S122: and if a plurality of elevator entrances are identified, sequentially drawing the position information of the plurality of elevator entrances on a map.
In practical situations, a user may encounter a plurality of elevator hatches when driving a vehicle to search for a parking space in an underground garage. During the travel of the vehicle, the vehicle controller draws the position information of an elevator entrance on a map every time the elevator entrance is identified. When a user looks up a map and wants to find a car or an elevator port, the user can independently and flexibly select any elevator port which wants to arrive according to the field situation of the underground garage.
In some embodiments, when a plurality of elevator exits are identified in step S122, the position information of the first identified elevator exit is used as a starting point.
When a user drives a vehicle to find a parking space in an underground garage and encounters a plurality of elevator ports, the vehicle controller takes the position information of the first identified elevator port as a starting point, and then sequentially draws the position information of each passing elevator port on a map, so that all the elevator ports encountered by the user can be correctly drawn on the map for the user to check. Illustratively, when a user drives a vehicle to continuously travel in an underground garage, the user may repeatedly pass through a certain elevator port, and the vehicle controller may identify information such as the sequence or the number of times of passing through each elevator port on a map, so that the user can conveniently and automatically select the elevator port to be reached according to the information shown on the map when viewing the map.
In some embodiments, when a plurality of elevator exits are identified in step S122, the position information of the identified last elevator exit is used as a starting point.
When a user drives a vehicle to find a parking space in an underground garage and meets a plurality of elevator ports, the vehicle controller only draws the position information of the elevator port on a map by taking the position information of the last identified elevator port as a starting point.
Illustratively, in the process of drawing the map by the vehicle controller, when the vehicle controller identifies a first elevator port, drawing the position information of the first elevator port on the map, starting to draw a first section of driving track of the vehicle, when the vehicle controller identifies a second elevator port, erasing the position information of the first elevator port and the first section of driving track of the vehicle which are already drawn on the map, drawing the position information of the second elevator port on the map again, starting to draw a second section of driving track of the vehicle, repeating the process until the vehicle controller identifies a parking space, and finishing drawing the map, wherein only the position information of the last elevator port and the driving track from the last elevator port to the parking space which are identified by the vehicle controller are reserved on the map. Generally, a user can select the last elevator encountered before a parking space, only the position information of the last elevator port and the running track from the last elevator port to the parking space are presented on a map, and the user can directly navigate to the elevator according to the map, so that the process of judging by the user is omitted, and the method is efficient, worry-saving and convenient.
In some embodiments, the step S120 of starting to draw a map with the position information of the elevator entrance as a starting point when the elevator entrance is identified further includes: the image of the elevator landing is recorded.
The elevator mouth in underground garage probably includes vertical elevator mouth or staircase elevator mouth, and each elevator mouth probably still includes information such as elevator serial number, and when the vehicle control ware discerned the elevator mouth according to real-time image, with the image record storage of this elevator mouth in the lump, follow-up offers the user with map and elevator mouth image, and convenience of customers seeks corresponding elevator mouth according to the information of map and elevator mouth image show directly perceivedly.
In step S130, the travel locus of the vehicle is drawn on the map according to the sensor information of the own vehicle.
Generally, a sensor is integrated on a vehicle, the driving track of the vehicle comprises the driving direction and the driving distance of the vehicle, a vehicle controller can simulate the driving track of the vehicle according to the direction information and the driving distance information fed back by the vehicle sensor, the driving track of the vehicle is drawn on a map, and a user can obtain the direction and the distance information required to be traveled through the driving track information displayed on the map. In the process of drawing the vehicle running track, only information fed back by a sensor of the vehicle is needed to be obtained, and other equipment except the vehicle is not needed. The cost of drawing the map is reduced.
In some embodiments, the sensor information in this step S130 includes angle information of the gyroscope and distance information of the mileage sensor, the angle information including a traveling direction of the vehicle, and the distance information including a traveling distance of the vehicle corresponding to the traveling direction.
A gyroscope is a device for sensing and maintaining a direction, and is capable of outputting signals such as an attitude angle and an acceleration. When the vehicle turns, the wheels rotate around the wheel shafts, the turning speed of the vehicle is higher, the angular speed of the vehicle is higher, and the gyroscope on the vehicle can calculate the turning angles, the turning angular speeds and other information of the four wheels.
The gyroscope of the vehicle can record information such as the driving angle, the angular velocity, the acceleration and the like of the vehicle in the working process. The driving direction of the vehicle, such as front, rear, left, and right, can be determined by obtaining the angle information fed back by the gyroscope. The mileage sensor calculates the distance traveled by the vehicle by monitoring the number of turns the tire has traveled. The vehicle controller draws the driving direction of the vehicle on a map according to the direction information fed back by the gyroscope, and transmits the direction information to the mileage sensor through the vehicle bus, the mileage sensor receives the direction information transmitted by the vehicle controller and transmits the traveling distance of the vehicle back to the vehicle controller, and once the driving direction of the vehicle is changed, the traveling distance of the mileage sensor is recalculated, namely the distance information of the vehicle including the traveling distance of the vehicle corresponding to the driving direction.
In step S140, when it is recognized that the vehicle enters the parking space, the map drawing is finished with the position information of the parking space as an end point.
For example, when the vehicle controller identifies a parking space line of the parking space according to the real-time image, it is determined that the vehicle has driven into the parking space, and at this time, the vehicle controller marks the position of the parking space on the map, and finishes drawing the map with the position information of the parking space as an end point.
In some embodiments, when it is recognized that the vehicle enters the parking space in step S140, the step of ending the map drawing with the position information of the parking space as an end point further includes: and recording the image of the parking space.
The underground garage has the advantages that the number of the parking spaces of the underground garage is large, when the vehicle controller identifies the parking spaces into which vehicles enter according to the real-time images, the images of the parking spaces are recorded and stored together, the map and the images of the parking spaces are subsequently provided for users, and the users can conveniently and visually find the corresponding parking spaces according to the information such as the parking space numbers, the parking space surrounding environments and the like displayed by the map and the images of the parking spaces.
In step S150, the map is transmitted to the mobile terminal device.
The mobile terminal device is, for example, a mobile phone, a tablet, or the like. Exemplarily, a user installs an Application (APP) on a mobile phone, a vehicle controller transmits a map which is drawn to the mobile phone APP, and the user can check map information when entering the mobile phone APP. The automobile controller communicates with the user through the mobile phone APP, the drawn map can be provided for the user in time, and the user can conveniently obtain and check the map.
In some embodiments, the step of transmitting the map to the mobile terminal device in the step S150 further includes: and transmitting the image of the elevator opening and the image of the parking space to the mobile terminal equipment.
Exemplarily, after the vehicle controller finishes drawing the map, the elevator port image and the parking space image which are finished by drawing are transmitted to the mobile phone APP, and the user can conveniently and quickly find the corresponding elevator port and the corresponding vehicle according to the map information, the elevator port image information and the parking space information displayed by the mobile phone APP. The map can be a static two-dimensional map or a three-dimensional map generated by combining the scene images of the underground garage. The elevator opening image and the parking space image can be a single image or a plurality of images shot by a vehicle camera at different angles, and can also be a panoramic image synthesized by a vehicle controller according to the images shot at all angles. The present application is not limited with respect to the form of the map, the image of the elevator opening, and the image of the parking space.
In some embodiments, the step of transmitting the map to the mobile terminal device in this step S150 includes: and transmitting the map to the mobile terminal equipment through Bluetooth.
The vehicle controller is provided with a Bluetooth assembly, and the vehicle controller and the mobile terminal device perform data transmission through Bluetooth. When a user drives a vehicle to enter a parking space, the vehicle controller finishes drawing a map, the user is still in the vehicle or is close to the vehicle, the vehicle controller transmits the map to the mobile terminal device of the user through Bluetooth, and the data transmission mode has the advantage of instant data transmission in a scene of short-distance communication (within 30 meters for example).
Fig. 3 is a system block diagram of an underground garage vehicle searching device according to an embodiment of the present application.
This application still includes a garage in underground and seeks car device, seeks the car device and installs in the vehicle, include: the system comprises cameras, a camera module, a display module and a control module, wherein the cameras are used for acquiring real-time images in the vehicle running process, and the cameras are at least arranged on the front side, the left side and the right side of the vehicle; the system comprises a cabin domain controller, a vehicle gateway and a mobile terminal device, wherein the cabin domain controller is connected with a plurality of cameras through cables and comprises a Bluetooth assembly and a gyroscope, the Bluetooth assembly is used for communicating with the mobile terminal device, and the gyroscope is used for recording the driving direction of the vehicle; the mileage sensor is used for recording the driving distance of the vehicle corresponding to the driving direction, is connected with the vehicle gateway and is communicated with the cockpit area controller through the vehicle gateway; a memory for storing instructions executable by the processor, images, and image recognition algorithms; the processor is used for executing the instructions to realize the underground garage vehicle searching method.
Illustratively, referring to fig. 3, the cockpit area controller 320, which is a vehicle controller of the present application, mounts a first camera 331, a second camera 332, a third camera 333, and a fourth camera 334 in four directions, i.e., in the front side, the left side, the right side, and the rear side of the vehicle, respectively. The cockpit area controller 320 is connected to the first camera 331, the second camera 332, the third camera 333, and the fourth camera 334 through Low Voltage Differential Signaling (LVDS). The cockpit Area Controller 320 is connected to a CGW340 (Central Gateway), that is, a vehicle Gateway, via a Controller Area Network (CAN). The mileage sensor 350 is connected to the CGW340 via CAN. Odometer sensor 350 communicates with cockpit area controller 320 via CGW 340. Cockpit domain controller 320 includes a Bluetooth module (not shown) and a gyroscope (not shown), and cockpit domain controller 320 performs data interaction with a mobile terminal device, such as cell phone 310, through Bluetooth (Bluetooth).
In an embodiment, as shown in fig. 2 and fig. 3, the work flow of the underground garage vehicle searching method of the present application is as follows:
1. when a user enters an underground garage, the cabin domain controller 320 identifies the underground garage scene through real-time images transmitted back by the cameras (such as the first camera 331, the second camera 332, the third camera 333 and the fourth camera 334 in fig. 3), and the cabin domain controller 320 automatically opens a mapping function to enter a waiting state;
2. when the cockpit area controller 320 identifies the elevator hall 210 through real-time images transmitted back by a plurality of cameras, recording the images of the elevator hall 210, starting to draw the map 200, drawing a direction (for example, the direction of Q1 in fig. 2) on the map 200 through direction information fed back by a gyroscope (not shown) integrated in the cockpit area controller 320, and transmitting the direction information to the mileage sensor 350 through the CAN and the CGW 340;
3. the mileage sensor 350 receives the direction information from the cockpit area controller 320 and transmits the vehicle travel distance (e.g., the distance of 10 meters corresponding to travel in the direction Q1 of fig. 2) back to the cockpit area controller 320, and the travel distance of the mileage sensor 350 is recalculated once the travel direction changes;
4. after the cockpit area controller 320 recognizes that the user drives the vehicle to the parking space and drives into the parking space 220, the cockpit area controller 320 records the image of the parking space 220, the map 200 is drawn, and the cockpit area controller 320 transmits the drawn map 200, the image of the elevator opening and the image of the parking space to the APP in the mobile phone 310 through the Bluetooth;
5. the user enters the APP in the cell phone 310 to view the map 200 and corresponding image information.
Fig. 4 is a system block diagram of an underground garage vehicle searching device according to an embodiment of the present application. Referring to fig. 4, the underground garage pick-up 400 may include an internal communication bus 401, a processor 402, a Read Only Memory (ROM) 403, a Random Access Memory (RAM) 404, and a communication port 405. When used on a personal computer, the underground garage searching apparatus 400 may further include a hard disk 406. The internal communication bus 401 can enable data communication among the components of the underground garage vehicle-seeking apparatus 400. The processor 402 may make the determination and issue the prompt. In some embodiments, processor 402 may be comprised of one or more processors. The communication port 405 can realize data communication between the underground garage searching device 400 and the outside. In some embodiments, the underground garage vehicle locating device 400 can send and receive information and data from a network via the communication port 405. The underground garage searching apparatus 400 may also include various forms of program storage units and data storage units, such as a hard disk 406, read Only Memory (ROM) 403 and Random Access Memory (RAM) 404, capable of storing various data files for computer processing and/or communication use, as well as possibly program instructions for execution by the processor 402. The processor executes these instructions to implement the main parts of the method. The results processed by the processor are communicated to the user device through the communication port and displayed on the user interface.
The above-described underground garage vehicle searching method can be implemented as a computer program, stored in the hard disk 406, and loaded into the processor 402 to be executed, so as to implement the underground garage vehicle searching method of the present application.
The present application also includes a computer readable medium having stored thereon computer program code, which when executed by a processor, implements the above-described underground garage vehicle-finding method.
The underground garage vehicle-searching method can also be stored in a computer readable storage medium as an article of manufacture when implemented as a computer program. For example, computer-readable storage media can include but are not limited to magnetic storage devices (e.g., hard disk, floppy disk, magnetic strips), optical disks (e.g., compact Disk (CD), digital Versatile Disk (DVD)), smart cards, and flash memory devices (e.g., electrically Erasable Programmable Read Only Memory (EPROM), card, stick, key drive). In addition, various storage media described herein can represent one or more devices and/or other machine-readable media for storing information. The term "machine-readable medium" can include, without being limited to, wireless channels and various other media (and/or storage media) capable of storing, containing, and/or carrying code and/or instructions and/or data.
It should be understood that the above-described embodiments are illustrative only. The embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the processor may be implemented within one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, and/or other electronic units designed to perform the functions described herein, or a combination thereof.
Aspects of the present application may be embodied entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or in a combination of hardware and software. The above hardware or software may be referred to as "data block," module, "" engine, "" unit, "" component, "or" system. The processor may be one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital signal processing devices (DAPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, or a combination thereof. Furthermore, aspects of the present application may be represented as a computer product, including computer readable program code, embodied in one or more computer readable media. For example, computer-readable media can include, but are not limited to, magnetic storage devices (e.g., hard disk, floppy disk, magnetic strips … …), optical disks (e.g., compact Disk (CD), digital Versatile Disk (DVD) … …), smart cards, and flash memory devices (e.g., card, stick, key drive … …).
The computer-readable medium may comprise a propagated data signal with the computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take any of a variety of forms, including electromagnetic, optical, and the like, or any suitable combination. The computer readable medium can be any computer readable medium that can communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or device. Program code on a computer readable medium may be propagated over any suitable medium, including radio, electrical cable, fiber optic cable, radio frequency signals, or the like, or any combination of the preceding.
Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing disclosure is by way of example only, and is not intended to limit the present application. Various modifications, improvements and adaptations to the present application may occur to those skilled in the art, although not explicitly described herein. Such modifications, improvements and adaptations are proposed in the present application and thus fall within the spirit and scope of the exemplary embodiments of the present application.
Also, the present application uses specific words to describe embodiments of the application. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the present application is included in at least one embodiment of the present application. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the present application may be combined as appropriate.
It should be noted that the terms "first", "second", "third", "fourth", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and unless otherwise stated, the terms do not have any special meaning, and therefore, the scope of protection of the present application is not to be construed as being limited. Further, although the terms used in the present application are selected from publicly known and used terms, some of the terms mentioned in the specification of the present application may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein. Further, it is required that the present application is understood not only by the actual terms used but also by the meaning of each term lying within.
Numerals describing the number of components, attributes, etc. are used in some embodiments, it being understood that such numerals used in the description of the embodiments are modified in some instances by the use of the modifier "about", "approximately" or "substantially". Unless otherwise indicated, "about", "approximately" or "substantially" indicates that the number allows a variation of ± 20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending upon the desired properties of the individual embodiments. In some embodiments, the numerical parameter should take into account the specified significant digits and employ a general digit preserving approach. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the range are approximations, in the specific examples, such numerical values are set forth as precisely as possible within the scope of the application.
Claims (10)
1. The underground garage vehicle searching method is characterized by comprising the following steps:
acquiring a real-time image of a vehicle in the advancing process, and identifying an underground garage scene according to the real-time image;
when an elevator entrance is identified, starting to draw a map by taking the position information of the elevator entrance as a starting point;
drawing a driving track of the vehicle on the map according to sensor information of the vehicle;
when the fact that the vehicle drives into the parking space is recognized, the position information of the parking space is used as a terminal point, and the map drawing is finished; and
and transmitting the map to the mobile terminal equipment.
2. The underground garage vehicle searching method of claim 1, wherein before the step of acquiring real-time images of a vehicle during travel and identifying an underground garage scene from the real-time images, the method further comprises: receiving a map drawing instruction of a user, and preparing to draw the map according to the map drawing instruction, wherein the map comprises a running track of the vehicle between the elevator port and the parking space.
3. The underground garage car-searching method of claim 1, wherein the step of starting to draw a map with the position information of the elevator entrance as a starting point comprises: and if a plurality of elevator ports are identified, sequentially drawing the position information of the plurality of elevator ports on the map.
4. The underground garage car-searching method of claim 3, wherein the position information of the first identified elevator entrance is used as the starting point.
5. The underground garage car-searching method of claim 3, wherein the position information of the identified last elevator entrance is used as the starting point.
6. The underground garage vehicle seeking method of claim 1, wherein the sensor information comprises angle information of a gyroscope and distance information of a mileage sensor, the angle information comprises a traveling direction of the vehicle, and the distance information comprises a traveling distance of the vehicle corresponding to the traveling direction.
7. The underground garage car-searching method of claim 1, wherein the step of starting to draw a map using the position information of the elevator entrance as a starting point when the elevator entrance is identified further comprises: recording the image of the elevator entrance; when it is recognized that the vehicle enters the parking space, the step of finishing drawing the map by using the position information of the parking space as an end point further comprises: recording the image of the parking space; the step of transmitting the map to the mobile terminal device further comprises: and transmitting the image of the elevator opening and the image of the parking space to the mobile terminal equipment.
8. The underground garage vehicle searching method of claim 1, wherein the step of transmitting the map to a mobile terminal device comprises: and transmitting the map to the mobile terminal equipment through Bluetooth.
9. The utility model provides a device is sought to underground garage, seek the car device and install in the vehicle which characterized in that includes:
the system comprises cameras, a camera module and a display module, wherein the cameras are used for acquiring real-time images of a vehicle in the advancing process, and the cameras are at least arranged on the front side, the left side and the right side of the vehicle;
the cockpit area controller is connected with the cameras through cables and connected with a vehicle gateway, and comprises a Bluetooth assembly and a gyroscope, wherein the Bluetooth assembly is used for communicating with a mobile terminal device, and the gyroscope is used for recording the driving direction of the vehicle;
a mileage sensor for recording a travel distance of the vehicle corresponding to the travel direction, the mileage sensor being connected to the vehicle gateway, the mileage sensor communicating with the cockpit area controller through the vehicle gateway;
a memory for storing instructions executable by the processor, images, and image recognition algorithms;
a processor for executing the instructions to implement the underground garage vehicle-finding method of any one of claims 1-8.
10. A computer-readable medium having stored thereon computer program code, wherein the computer program code, when executed by a processor, implements the underground garage vehicle-finding method of any one of claims 1-8.
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| CN202210735275.4A CN115171424A (en) | 2022-06-27 | 2022-06-27 | Underground garage vehicle searching method and device and computer readable medium |
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Address after: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant after: United New Energy Automobile Co.,Ltd. Address before: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant before: Hozon New Energy Automobile Co., Ltd. |