CN115273525B - Parking space mapping display method and system - Google Patents
Parking space mapping display method and system Download PDFInfo
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- CN115273525B CN115273525B CN202210542176.4A CN202210542176A CN115273525B CN 115273525 B CN115273525 B CN 115273525B CN 202210542176 A CN202210542176 A CN 202210542176A CN 115273525 B CN115273525 B CN 115273525B
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000013507 mapping Methods 0.000 title claims abstract description 19
- 238000009877 rendering Methods 0.000 claims abstract description 39
- 238000004590 computer program Methods 0.000 claims description 14
- 230000003993 interaction Effects 0.000 abstract description 6
- 238000012545 processing Methods 0.000 description 19
- 238000010586 diagram Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 11
- 230000008569 process Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 4
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- 230000005540 biological transmission Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 230000011664 signaling Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
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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
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
The embodiment of the application provides a parking space mapping display method and a system, which can be used for superposing a parking space mark at an actual position in a video stream after a target parking space selected by a user is acquired, and finally realizing reverse mapping from a virtual area to an actual environment; the aesthetic property and the practicability of the man-machine interaction interface can be compatible to the greatest extent: the searched parking spaces are mainly displayed in a 3D rendering area, so that the attractiveness is ensured; the parking spaces selected by the user are displayed in a superimposed manner in the video stream, so that the intuitiveness is ensured; meanwhile, the problems that the final parking position is not the expected position, the external environment cannot be observed in place, scratch and the like caused by the fact that the user selects the wrong parking space can be avoided, and the use experience of the user is greatly improved.
Description
Technical Field
The embodiment of the application relates to the technical field of parking assistance, in particular to a parking space mapping display method and system.
Background
The parking auxiliary functions including automatic parking and bus parking are becoming more popular at present, and various bus factories are invested in a large amount of manpower and financial resources to develop the parking functions, and part of high-end bus-type vehicle-type functions are even made into full-scale parking functions, so that the competitiveness of products is enhanced, and the image of own technological innovation company is built.
Considering the performance of automatic parking, besides the efficiency and the gesture of the system when the system is parked in a parking space, the human-computer interaction experience is also an important aspect. Before parking begins, the system usually displays the searched parking space on a central control screen for selection and confirmation by a user, and the presentation schemes are two: firstly, superposing a parking space mark in a video stream spliced by looking around; and secondly, drawing a parking space symbol in a 3D modeling and rendering area.
Both of the above conventional display schemes have certain drawbacks. The first method is that parking space marks are overlapped in the video stream of the looking-around splice, and because the video stream of the looking-around splice has larger distortion, vehicles in the video stream are severely stretched, so that the displayed parking space marks can be overlapped with the vehicles parked beside the parking space, and the display effect is extremely poor; the second type of drawing a parking space symbol in a 3D modeling and rendering area, while ensuring that the display interface is attractive, many references are lost from the actual environment to modeling and reconstruction, so that the parking space selected by the user is difficult to correspond to the actual environment, i.e. the parking space selected by the user is likely not to be the expected parking space observed by the user through the actual environment.
Disclosure of Invention
The embodiment of the application provides a method and a system for displaying a map of a parking space, which are used for displaying a searched conventional parking space in a 3D rendering area, and after a user clicks a target parking space, the system synchronously maps the parking space into a video stream of looking around, so that man-machine interaction experience when the parking space is displayed and selected can be greatly improved.
In a first aspect, an embodiment of the present application provides a method for displaying a parking space map, including:
acquiring all parking space information which can be perceived by a vehicle and a panoramic video stream shot by the vehicle;
and acquiring a target parking space selected by a user based on the parking space information, calculating the actual position of the target parking space in the panoramic video stream, and outputting a superimposed parking space identifier at the actual position.
Preferably, the parking space information comprises a parking space type, a parking space length and a parking space width; and lateral distance, longitudinal distance, angle to the vehicle.
Preferably, the method for obtaining all parking space information which can be perceived by the vehicle and panoramic video streams shot by the vehicle specifically includes:
acquiring external environment data within a set range of a vehicle based on environment sensing equipment on the vehicle; the environment sensing equipment comprises a surrounding camera and an ultrasonic sensor;
extracting all parking spaces and corresponding parking space information in the external environment data; based on the position relation of each parking space and the relative position relation of the parking space and the vehicle, arranging and numbering all the parking spaces, and displaying a 3D rendering area on a vehicle central control screen based on a preset reference system;
and carrying out panoramic stitching on videos acquired by the panoramic cameras to acquire panoramic video streams, sending the panoramic video streams to a vehicle central control screen through low-voltage differential signaling (LVDS) lines, and displaying the panoramic video streams in a panoramic display area on the vehicle central control screen.
Preferably, the method includes the steps of obtaining a target parking space selected by a user based on the parking space information, and calculating an actual position of the target parking space in the panoramic video stream, specifically including:
and receiving a target parking space selected by a user on the 3D rendering area, calculating the corresponding actual parking space in the actual scene based on the number of the target parking space, and determining the actual position corresponding to the actual parking space in the panoramic display area.
Preferably, after the stacking parking space identifier is displayed at the actual position, the method further comprises:
and determining the relative position relation between the target parking space and the vehicle, and generating a vehicle warehousing track based on the relative position relation.
Preferably, the step of outputting the superimposed parking space identifier at the actual position specifically includes:
and judging whether the target parking space is in the current display range of the panoramic video stream, if so, superposing a parking space identifier in the panoramic video stream, and if not, reducing the proportion of the panoramic video stream until the target parking space is in the current display range of the panoramic video stream, and superposing the parking space identifier in the panoramic video stream.
In a second aspect, an embodiment of the present application provides a parking space mapping display method system, including:
the sensing module is used for acquiring all parking space information which can be sensed by the vehicle and panoramic video streams shot by the vehicle;
and the display module is used for acquiring a target parking space selected by a user based on the parking space information, calculating the actual position of the target parking space in the panoramic video stream, and outputting a superimposed parking space identifier at the actual position.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method for displaying a map of a parking space according to the embodiment of the first aspect of the present application when the processor executes the program.
In a fourth aspect, embodiments of the present application provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the parking space map display method according to the embodiments of the first aspect of the present application.
According to the parking space mapping display method and system provided by the embodiment of the application, after the target parking space selected by the user is obtained, a parking space mark is overlapped at the actual position in the video stream, and finally reverse mapping from the virtual area to the actual environment is realized; the aesthetic property and the practicability of the man-machine interaction interface can be compatible to the greatest extent: the searched parking spaces are mainly displayed in a 3D rendering area, so that the attractiveness is ensured; the parking spaces selected by the user are displayed in a superimposed manner in the video stream, so that the intuitiveness is ensured; meanwhile, the problems that the final parking position is not the expected position, the external environment cannot be observed in place, scratch and the like caused by the fact that the user selects the wrong parking space can be avoided, and the use experience of the user is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a parking space map display method according to an embodiment of the present application;
fig. 2 is a flowchart of a parking space mapping display method according to an embodiment of the present application;
fig. 3 is a schematic diagram of a parking space map display method according to an embodiment of the present application;
fig. 4 is a schematic diagram of a parking space display interface in a central control screen according to an embodiment of the application;
FIG. 5 is a schematic diagram illustrating a reduced frame scale of a panoramic display area in a center control screen according to an embodiment of the present application;
fig. 6 is a schematic diagram of a physical structure of an electronic device according to an embodiment of the application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the prior art, when parking assistance, parking space marks are superimposed in a video stream spliced by looking around, and because the video stream spliced by looking around has larger distortion, vehicles in the video stream are severely stretched, so that displayed parking space marks can be overlapped with vehicles parked beside a parking space, and the display effect is extremely poor; and a parking space symbol is drawn in the 3D modeling and rendering area, so that the display interface is attractive, but a plurality of reference objects are lost from the actual environment to modeling and reconstruction, so that a parking space selected by a user is difficult to correspond to the actual environment, namely the parking space selected by the user is likely not to be an expected parking space observed by the user through the actual environment.
Therefore, the embodiment of the application provides a method and a system for displaying the mapping of the parking spaces, wherein the conventional parking spaces are displayed in a 3D rendering area, so that the aesthetic degree of display can be guaranteed to the greatest extent, and after a user selects a target parking space, the system maps the target parking space into a panoramic video stream, so that whether the parking space is a desired parking space observed by the user can be intuitively confirmed. The following description and description will be made with reference to various embodiments.
Fig. 1 is a flow chart of a parking space mapping display method according to an embodiment of the present application, and referring to fig. 1, an embodiment of the present application provides a parking space mapping display method, including:
s1, acquiring all parking space information which can be perceived by a vehicle and a panoramic video stream shot by the vehicle;
fig. 2 is a specific flowchart of a parking space mapping display method according to an embodiment of the present application, referring to fig. 1 and 2, in this embodiment, under the control of an automatic parking system, external environment data within a set range is sensed by a camera and an ultrasonic sensor of a vehicle, and then the automatic parking system starts parking space scanning, and then identifies and outputs parking space information, such as a parking space type, a length width, a lateral-longitudinal distance, an angle, and the like. Extracting all parking spaces and corresponding parking space information in the external environment data; and arranging and numbering all the parking spaces based on the position relation of the parking spaces and the relative position relation of the parking spaces and the vehicles, and displaying the parking spaces in a 3D rendering area on a vehicle central control screen based on a preset reference system.
In this embodiment, when a parking space line is identified, a surrounding view image of a vehicle is acquired, the surrounding view image is identified to obtain a plurality of corner areas of a parking space, the corner areas are extracted by a corner skeleton, the corner parking space line and the corner center of each corner area are obtained according to the corner skeletons of the corner areas, and finally, the parking space line reconstruction of an idle parking space is performed according to the corner parking space line and the corner center of each corner area, so that the method is applicable to the detection of only drawing short-distance parking space lines near the corner, and meanwhile, the technical defect that the influence on detection accuracy is large under the condition that the straight line detection is sensitive to image noise points and the environment is complex is avoided, thereby effectively improving the applicability and accuracy of the idle parking space identification.
The automatic parking system in the embodiment is different from the scheme without manual intervention in the prior art, has the advantages that the option of man-machine interaction is added, and image data and distance data of surrounding objects from a vehicle body can be acquired and transmitted to a central processing unit through a data line; the central processing unit can analyze and process the acquired data to obtain the current position, the target position and surrounding environment parameters of the automobile, and an automatic parking strategy is made according to the parameters and is converted into an electric signal; after receiving the electric signal, the vehicle strategy control system makes control on the aspects of driving such as angle, direction and power support of the automobile according to the instruction, the radar probes around the automobile measure the distance and angle between the radar probes and surrounding objects, then the vehicle strategy control system calculates an operation flow through a vehicle-mounted computer and adjusts the rotation of the steering wheel by matching with the speed of the automobile, and a driver only needs to control the speed of the automobile.
In this embodiment, the looking-around camera is a plurality of camera components installed in the front, back, left and right sides of the automobile, and the camera is a wide-angle camera, so that the surrounding environment images of the automobile can be acquired in real time.
Meanwhile, the automatic parking also needs to splice the videos of a plurality of looking-around cameras into a complete panoramic video stream, and the complete panoramic video stream is sent to a vehicle central control screen through an LVDS (Low-Voltage Differential Signaling, low voltage differential signal) line to be displayed in a panoramic display area on the vehicle central control screen. Fig. 3 is a schematic diagram of a parking space mapping display method according to an embodiment of the present application, where conventional parking space information is displayed in a 3D rendering area, and a panoramic video stream is displayed in a panoramic display area, as shown in fig. 3.
The parking space information can be obtained by extracting information acquired by a radar (such as millimeter wave radar for automatic driving of a prior vehicle) or an all-around camera arranged on the periphery of the vehicle. When the parking spaces in the panoramic display area and the 3D rendering area are mapped, the 3D rendering area and the parking spaces in the panoramic display area can be mapped one by one through the relative relation between each parking space in the 3D rendering area and the panoramic display area and the current vehicle.
Specifically, in this embodiment, the vehicle central control screen is responsible for receiving the parking space information output by the automatic parking system, resolving the information according to rules agreed by both parties, then drawing a parking space with a specific shape and angle at a corresponding position, and drawing a corresponding parking space in a 3D rendering area according to the information, so that scene reconstruction from an actual environment to virtual display is realized. And the vehicle central control screen is required to receive the all-around video stream sent by automatic parking, and the all-around video stream and the 3D rendering area together form a complete automatic parking display scheme.
In the process of searching for the parking spaces, the identified parking spaces are numbered synchronously, each number corresponds to a unique and determined parking space, and meanwhile, the information of the parking spaces is sent to the vehicle central control screen. After the vehicle central control screen receives the parking space information, the parking space is displayed in the 3D rendering area by using the reference systems agreed by the two parties, and the correspondence between the real environment and the rendering scene is realized.
Fig. 4 is a schematic diagram of a parking space display interface in a central control screen according to an embodiment of the present application, as shown in fig. 4, if the arrangement situation of the parking spaces is transversely arranged, after a parking area is detected, lines may be drawn on each parking space in a configuration interface according to boundary lines of the parking spaces, so as to obtain that a left parking area includes 2 parking spaces, and a right parking area includes 3 parking spaces. Setting a parking space number P1 in an interface of the 3D rendering area, storing the P1, and adding the P1 to a preset position of a first right parking space, wherein the preset position can be a central position of the parking space or can be arranged according to an identification sequence. And the setting of P1-P5 is carried out in a right-to-left and first-to-last sequence mode, of course, the preset positions of different parking spaces are determined relative to the positions of the parking spaces, and the parking space numbers and the parking spaces can be arranged in sequence, in reverse order or in other modes.
S2, acquiring a target parking space selected by a user based on the parking space information, calculating the actual position of the target parking space in the panoramic video stream, and outputting a superimposed parking space identifier at the actual position.
After the real environment corresponds to the rendering scene, a plurality of reference objects can be lost, and particularly when a plurality of continuous parking spaces exist, a user cannot accurately distinguish whether the selected target parking space is the desired parking space or not in the vehicle central control screen. However, according to the strategy of the present application, as shown in fig. 4, when the user clicks the P2 parking space as the target parking space, the vehicle central control screen sends the parking space number selected by the user to the automatic parking system, and then the automatic parking system calculates which parking space P2 corresponds to in reality according to the number, and superimposes a parking space mark at the actual position of the parking space in the panoramic video stream, so as to finally realize the reverse "mapping" from the virtual area to the actual environment.
Fig. 5 is a schematic diagram of a reduced picture scale of a panoramic display area in a central control screen according to an embodiment of the present application, as shown in fig. 4 and 5, in order to facilitate a user to select a suitable parking space, in a 3D rendering area, a position relationship between an identified parking space and a current vehicle needs to be displayed, so that the user can select the suitable parking space according to a current vehicle position, a target parking space selected by the user on the 3D rendering area, calculates an actual parking space corresponding to an actual scene based on a number of the target parking space, determines an actual position corresponding to the actual parking space in the panoramic display area, determines a relative position relationship between the target parking space and the vehicle, and generates a vehicle warehouse entry track based on the relative position relationship.
In this embodiment, after the target parking space is determined, the vehicle warehouse-in track planning is performed based on the target parking space, so as to obtain the vehicle warehouse-in track, and the vehicle runs according to the vehicle warehouse-in track so as to enter the target parking space, thereby completing automatic parking.
In the process of planning a vehicle warehousing track based on a target parking space, the vehicle obtains target vehicle speed information and target corner information according to current vehicle posture information, relative position information of the vehicle and the target parking space, parking space information of the target parking space, barrier information around the target parking space, collected steering wheel corner information and collected wheel speed information.
In the embodiment of the vehicle control method, the vehicle can display the vehicle warehousing track of the vehicle in a 3D rendering area and a panoramic display area, wherein the vehicle warehousing track comprises a path of the vehicle in a parking place, and the vehicle control method further comprises a vehicle control decision based on the vehicle warehousing track, such as control of a steering wheel, a brake and a transmission, so as to remind a passenger to perform vehicle control.
According to the automatic parking control decision method disclosed by the application, a vehicle responds to a received automatic parking instruction to start an automatic parking function, the vehicle automatically runs in a parking lot, surrounding environment information is acquired in the automatic running process, a running track map of the vehicle and positioning information of the vehicle are generated, the vehicle constructs a global map and a local obstacle cost map of the parking lot based on the environment information and the generated running track map and the positioning information, the vehicle searches for an effective parking place according to the constructed global map and the local obstacle cost map, one of the effective parking places is determined to be a target parking place when the effective parking place is found, and vehicle warehouse entry track planning is carried out based on the target parking place to obtain a vehicle warehouse entry track, and the vehicle runs according to the vehicle warehouse entry track and enters the target parking place.
According to the automatic parking control decision method disclosed by the application, in a parking lot without high-precision map support, after a driver starts an automatic parking function, the vehicle automatically runs in the parking lot, a global map and a local obstacle cost map of the parking lot are built in the automatic running process of the vehicle, an effective parking space is automatically searched according to the global map and the local obstacle cost map of the parking lot which are built in real time, a target parking space is determined under the condition that the effective parking space is searched, a vehicle warehousing track planning is carried out based on the target parking space, a vehicle warehousing track is obtained, and then the vehicle runs according to the vehicle warehousing track and enters the target parking space, so that the requirements on the driver are reduced, and the parking accident rate can be effectively reduced.
It can be understood that in actual situations, there may be residual water, ground pits, darker light, and other factors that easily affect the judgment of the parking space, such as the existence of obstacles. Specifically, the vehicle can acquire the outline area of the obstacle by acquiring the image information in the parking space range. The vehicle utilizes the ultrasonic radar of the vehicle to emit ultrasonic waves and detect the ultrasonic waves reflected on the surface of the obstacle, so that the number of obstacle points of the obstacle is obtained, and the specific position of the obstacle in the parking space and the projection area obtained by projecting the obstacle in the horizontal direction can be obtained. Obstacles refer to things that can be identified by image processing, including but not limited to ponding, water bottles, ground locks, warning cones, flowers and plants. Therefore, in this embodiment, when searching for a parking space, the searched parking space may be further determined from the width of the parking space, the depth of the parking space, the obstacle in the parking space, the light condition of the parking space, and the like, the searched parking space is rated according to the determined result, and the rating result of each parking space is displayed on the interactive interface, so that the user may directly select the optimal parking space to park according to the rating result.
In this embodiment, after the number of found parking spaces reaches the preset number of parking spaces, the parking spaces are displayed on the 3D rendering area, and the updating is circularly discarded, and the driver is always prompted to park and select the parking spaces until the parking spaces are selected, and the automatic parking system stops continuously updating the parking spaces.
When the selected target parking space is not in the display range of the panoramic video stream, judging whether the target parking space is in the current display range of the panoramic video stream, if so, superposing the parking space identification in the panoramic video stream, and if not, reducing the proportion of the panoramic video stream until the target parking space is in the current display range of the panoramic video stream, and superposing the parking space identification in the panoramic video stream. As shown in fig. 5, the left 3D rendering area may display a parking space more than 10 meters in front and rear, but the right look-around splicing area may display only an environment of about 3 meters in a conventional case. In order to avoid the embarrassing situation that the parking space of the left rendering area is clicked, but the embarrassing situation cannot be displayed in the looking-around splicing area, in this case, the video stream provided by the automatic parking system should be scaled down to display a more distant environment.
According to the embodiment, a map interface is added on a vehicle central control screen, so that double-interface spliced display of a 3D rendering area and a panoramic display area is formed. When the target parking space does not exceed the panoramic image range, displaying alternative parking space real scenes and parking space marks in the panoramic display area; when the target parking space exceeds the range of the panoramic display area, the system displays the parking space mark on the 3D rendering area according to the memorized parking space coordinates, the memorizing distance of the system to the parking space is equivalent to that of the 3D rendering area, and all memorized parking spaces of the system can be ensured to be displayed. When the double-interface spliced display is performed, all panoramic image interfaces are displayed, because the panoramic image interfaces are the most realistic, users can conveniently observe surrounding obstacle information, the areas which cannot be displayed by the panoramic image interfaces in the automatic parking images display 3D rendering area interfaces, the 3D rendering area interfaces serve as standby picture information, only the areas which cannot be displayed by the panoramic image interfaces are displayed, namely, the middle areas of the 3D rendering area interfaces delete and display the panoramic image interfaces, and if the current position of a vehicle does not have the 3D rendering area or is in an area which cannot obtain an electronic map interface, such as an underground parking lot, the 3D rendering area interfaces can be replaced by a solid background.
The parking space mapping scheme provided by the embodiment of the application can be compatible with the aesthetic property and the practicability of the man-machine interaction interface to the greatest extent: the searched parking spaces are mainly displayed in a 3D rendering area, so that the attractiveness is ensured; and the parking spaces selected by the user are displayed in the video stream in a superimposed manner, so that the intuitiveness is ensured. Meanwhile, the problems that the final parking position is not the expected position, the external environment cannot be observed in place, scratch and the like caused by the fact that the user selects the wrong parking space can be avoided, and the use experience of the user is greatly improved.
The embodiment of the application also provides a system for displaying the parking space mapping, which is based on the method for displaying the parking space mapping in the embodiments, and comprises the following steps:
the sensing module is used for acquiring all parking space information which can be sensed by the vehicle and panoramic video streams shot by the vehicle;
and the display module is used for acquiring a target parking space selected by a user based on the parking space information, calculating the actual position of the target parking space in the panoramic video stream, and outputting a superimposed parking space identifier at the actual position.
In an embodiment, the embodiment of the present application further provides an electronic device, and fig. 6 is a schematic physical structure diagram of the electronic device according to the embodiment of the present application, as shown in fig. 6, where the electronic device may include: processor 810, communication interface (Communications Interface) 820, memory 830, and communication bus 840, wherein processor 810, communication interface 820, memory 830 accomplish communication with each other through communication bus 840. Processor 810 may invoke logic instructions in memory 830 to perform the steps of the parking space map display method described in the embodiments above. Examples include:
acquiring all parking space information which can be perceived by a vehicle and a panoramic video stream shot by the vehicle;
and acquiring a target parking space selected by a user based on the parking space information, calculating the actual position of the target parking space in the panoramic video stream, and outputting a superimposed parking space identifier at the actual position.
In addition, the vehicle can be realized by the mutual matching of the vehicle and the processing end in the parking process. The vehicle may be in an unmanned state during parking, or may be implemented by cooperation of a driver, in this embodiment, the unmanned state may be illustrated, and in the case of cooperation of the driver, the driver may perform a corresponding operation according to a prompt sent by a vehicle-mounted terminal of the vehicle.
In implementation, the processing end may be a processing terminal installed in a parking lot, may be a background server of a vehicle application program, and may further include a transceiver. The transceiver is used for carrying out data transmission with the vehicle to be parked, for example, parking requests can be received, parking routes can be sent to the vehicle to be parked, and the like; the transceiver may include a WiFi (Wireless-Fidelity) component, an antenna, a matching circuit, a modem, and the like. The processor, which may be a CPU (Central Processing Unit ) or the like, may determine a parking route or the like based on the current position of the vehicle to be parked and the target parking space. The memory may be RAM (Random Access Memory ), flash (Flash memory) or the like, and may be used to store received data, data required for a processing procedure, data generated during a processing procedure, or the like.
The in-vehicle terminal may include a transceiver, a processor, a memory, etc. The transceiver may be used for data transmission with the processing end, for example, may send a parking request to the processing end, and the transceiver may include a bluetooth component, a WiFi (Wireless-Fidelity) component, an antenna, a matching circuit, a modem, and the like. The processor may be a CPU (Central Processing Unit ) or the like, and may send a parking request to the processing end when a trigger operation of automatic parking is detected. The memory may be RAM (Random Access Memory ), flash (Flash memory) or the like, and may be used to store received data, data required for a processing procedure, data generated during a processing procedure, or the like.
The in-vehicle terminal may further include an input part, a display part, an audio output part, and the like. The input means may be a touch screen, keyboard, mouse, etc. The audio output component may be a speaker, earphone, or the like.
The in-vehicle terminal may have a system program and an application program installed therein. In the process of using the terminal, users use various application programs based on different requirements, for example, the terminal can be provided with an application program with an automatic parking function.
In one embodiment, the embodiment of the present application further provides a non-transitory computer readable storage medium, where the computer readable storage medium stores a computer program, where the computer program includes at least one piece of code, where the at least one piece of code is executable by a master control device to control the master control device to implement the steps of the parking space map display method according to the above embodiments. Examples include:
acquiring all parking space information which can be perceived by a vehicle and a panoramic video stream shot by the vehicle;
and acquiring a target parking space selected by a user based on the parking space information, calculating the actual position of the target parking space in the panoramic video stream, and outputting a superimposed parking space identifier at the actual position.
Based on the same technical concept, the embodiment of the present application also provides a computer program, which is used to implement the above-mentioned method embodiment when the computer program is executed by the master control device.
The program may be stored in whole or in part on a storage medium that is packaged with the processor, or in part or in whole on a memory that is not packaged with the processor.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. A parking space map display method, characterized by comprising:
acquiring all parking space information which can be perceived by a vehicle and a panoramic video stream shot by the vehicle;
acquiring a target parking space selected by a user based on the parking space information, calculating the actual position of the target parking space in the panoramic video stream, and superposing a parking space identifier at the actual position;
the method for acquiring all parking space information which can be perceived by the vehicle and the panoramic video stream shot by the vehicle specifically comprises the following steps:
acquiring external environment data within a set range of a vehicle based on environment sensing equipment on the vehicle; the environment sensing equipment comprises a surrounding camera and an ultrasonic sensor;
extracting all parking spaces and corresponding parking space information in the external environment data; based on the position relation of each parking space and the relative position relation of the parking space and the vehicle, arranging and numbering all the parking spaces, and displaying a 3D rendering area on a vehicle central control screen based on a preset reference system;
panoramic stitching is carried out on videos acquired by the panoramic camera, a panoramic video stream is acquired, the panoramic video stream is sent to a vehicle central control screen through a low-voltage differential signal LVDS line, and the panoramic video stream is displayed in a panoramic display area on the vehicle central control screen;
the method for obtaining the target parking space selected by the user based on the parking space information and calculating the actual position of the target parking space in the panoramic video stream specifically comprises the following steps:
and receiving a target parking space selected by a user on the 3D rendering area, calculating the corresponding actual parking space in the actual scene based on the number of the target parking space, and determining the actual position corresponding to the actual parking space in the panoramic display area.
2. The parking space map display method according to claim 1, wherein the parking space information includes a parking space type, a parking space length, a parking space width; and lateral distance, longitudinal distance, angle to the vehicle.
3. The parking space map display method according to claim 1, further comprising, after the actual position has the superimposed parking space identifier:
and determining the relative position relation between the target parking space and the vehicle, and generating a vehicle warehousing track based on the relative position relation.
4. The parking space mapping display method according to claim 1, wherein the step of outputting the superimposed parking space identifier at the actual position specifically includes:
and judging whether the target parking space is in the current display range of the panoramic video stream, if so, superposing a parking space identifier in the panoramic video stream, and if not, reducing the proportion of the panoramic video stream until the target parking space is in the current display range of the panoramic video stream, and superposing the parking space identifier in the panoramic video stream.
5. A parking space map display method system, characterized by comprising:
the sensing module is used for acquiring all parking space information which can be sensed by the vehicle and panoramic video streams shot by the vehicle;
the display module is used for acquiring a target parking space selected by a user based on the parking space information, calculating the actual position of the target parking space in the panoramic video stream and superposing a parking space identifier at the actual position;
the method for acquiring all parking space information which can be perceived by the vehicle and the panoramic video stream shot by the vehicle specifically comprises the following steps:
acquiring external environment data within a set range of a vehicle based on environment sensing equipment on the vehicle; the environment sensing equipment comprises a surrounding camera and an ultrasonic sensor;
extracting all parking spaces and corresponding parking space information in the external environment data; based on the position relation of each parking space and the relative position relation of the parking space and the vehicle, arranging and numbering all the parking spaces, and displaying a 3D rendering area on a vehicle central control screen based on a preset reference system;
panoramic stitching is carried out on videos acquired by the panoramic camera, a panoramic video stream is acquired, the panoramic video stream is sent to a vehicle central control screen through a low-voltage differential signal LVDS line, and the panoramic video stream is displayed in a panoramic display area on the vehicle central control screen;
the method for obtaining the target parking space selected by the user based on the parking space information and calculating the actual position of the target parking space in the panoramic video stream specifically comprises the following steps:
and receiving a target parking space selected by a user on the 3D rendering area, calculating the corresponding actual parking space in the actual scene based on the number of the target parking space, and determining the actual position corresponding to the actual parking space in the panoramic display area.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the parking space map display method according to any one of claims 1 to 4 when executing the program.
7. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the parking space map display method according to any one of claims 1 to 4.
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| CN115995161A (en) * | 2023-02-01 | 2023-04-21 | 华人运通(上海)自动驾驶科技有限公司 | Method and electronic device for determining parking position based on projection |
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