WO2017071187A1 - 泊车辅助***及泊车方法 - Google Patents

泊车辅助***及泊车方法 Download PDF

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Publication number
WO2017071187A1
WO2017071187A1 PCT/CN2016/082802 CN2016082802W WO2017071187A1 WO 2017071187 A1 WO2017071187 A1 WO 2017071187A1 CN 2016082802 W CN2016082802 W CN 2016082802W WO 2017071187 A1 WO2017071187 A1 WO 2017071187A1
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WIPO (PCT)
Prior art keywords
vehicle
image
short message
message set
module
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Application number
PCT/CN2016/082802
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English (en)
French (fr)
Inventor
邹禹
徐勇
李文锐
陈昆盛
李丹
林伟
刘鹏
Original Assignee
乐视控股（北京）有限公司
乐卡汽车智能科技（北京）有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 乐视控股（北京）有限公司, 乐卡汽车智能科技（北京）有限公司 filed Critical 乐视控股（北京）有限公司
Priority to EP16739008.7A priority Critical patent/EP3188158A4/en
Priority to RU2016135427A priority patent/RU2016135427A/ru
Publication of WO2017071187A1 publication Critical patent/WO2017071187A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • 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
    • 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
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking

Definitions

  • the present invention relates to the field of vehicle technology, and in particular, to a parking assist system and a parking method.
  • the vehicle visual aid system mainly adopts a rear view camera, that is, a rear view camera is installed on the vehicle, and the driver is given a clearer rear view image when the vehicle is reversed to solve the visual blind spot.
  • the main implementation method is to install 4 fisheye cameras on the front, back, left and right sides of the vehicle, and combine the camera images to achieve a panoramic view. Provide visual parking assistance to the driver.
  • the above visual parking system is based on the vehicle and requires the vehicle to be equipped with a complete system. At the same time, it is limited by the installation position of the camera.
  • the visual splicing field of view has great limitations, and the technical requirements and cost are high.
  • the present invention has been made in order to provide a parking assist system and a parking method such that a driver can perform parking based on an image transmitted by the parking assist system.
  • a parking assist system comprising: a communication module, an image acquisition module, and an image processing module;
  • a communication module configured to receive a short message set sent by the vehicle, and send a start signal to the image acquisition module according to the short message set; receive the processed image transmitted by the image processing module, and process the processed image The image is sent to the vehicle for parking by the vehicle based on the processed image;
  • An image acquisition module configured to perform image acquisition of the vehicle into the garage according to the activation signal, and transmit the image to the image processing module;
  • the image processing module is configured to perform correction and compression processing on the image, and transmit the processed image to the communication module.
  • the communication module is a V2X wireless communication module.
  • the short message set further carries vehicle identity information
  • the system further includes: an identification module, configured to receive a short message set carrying the vehicle identity information sent by the communication module, and match the vehicle identity information with the preset vehicle identity information to determine whether the vehicle is the garage, and if so, Then, a start signal is sent to the image acquisition module through the communication module.
  • an identification module configured to receive a short message set carrying the vehicle identity information sent by the communication module, and match the vehicle identity information with the preset vehicle identity information to determine whether the vehicle is the garage, and if so, Then, a start signal is sent to the image acquisition module through the communication module.
  • the communication module is further configured to: if the short message set sent by the vehicle is not received within the preset time, send a shutdown signal to the image acquisition module.
  • the short message set is a dedicated short-range communication short message set, including: longitude, latitude, and driving direction of the vehicle.
  • a parking method comprising:
  • the image is corrected and compressed, and the processed image is sent to the vehicle for parking by the vehicle based on the processed image.
  • the short message set further carries vehicle identity information
  • the method also includes matching the vehicle identity information with the preset vehicle identity information to determine if the vehicle is the garage, and if so, transmitting a start signal.
  • the method further includes:
  • receiving the short message set sent by the vehicle further includes:
  • the short message set is a dedicated short-range communication short message set, including: longitude, latitude, and Direction of travel.
  • the communication module receives the short message set sent by the vehicle, and sends a start signal to the image acquisition module according to the short message set, and the image acquisition module performs image acquisition of the vehicle into the garage according to the start signal, and transmits the image to the image.
  • the image processing module performs image correction and compression processing on the image, and transmits the processed image to the communication module.
  • the communication module receives the processed image transmitted by the image processing module, and sends the processed image to the vehicle to The vehicle is parked according to the processed image, realizing the image transmission in real time, so that the driver can park according to the transmitted image, and the image stitching is not required, so the cost is low and easy to implement.
  • FIG. 1 is a block diagram showing the structure of a parking assist system according to an embodiment of the present invention
  • FIG. 2 is a block diagram showing the structure of a parking assist system according to another embodiment of the present invention.
  • FIG. 3 shows a flow chart of a parking method in accordance with one embodiment of the present invention
  • FIG. 4 shows a flow chart of a parking method in accordance with another embodiment of the present invention.
  • Figure 5 is a schematic block diagram of a computing device for performing a parking method in accordance with an embodiment of the present invention
  • Fig. 6 schematically shows a storage unit for holding or carrying program code implementing a parking method according to an embodiment of the present invention.
  • the parking assist system of the present invention can be applied to a garage.
  • the parking assist system is used to guide the driver to park.
  • FIG. 1 is a block diagram showing the structure of a parking assist system in accordance with one embodiment of the present invention. As shown in FIG. 1, the system includes: a communication module 100, an image acquisition module 110, and an image processing module 120.
  • the communication module 100 is configured to receive a short message set sent by the vehicle, and send an activation signal to the image collection module according to the short message set.
  • a short message set is sent to the communication module 100 of the parking assist system.
  • the communication module 100 After receiving the short message set, the communication module 100 knows that there is a vehicle to enter the garage, thereby transmitting an activation signal to the image acquisition module 110.
  • the activation signal is used to bring the image acquisition module 110 into an active state for image acquisition.
  • the image acquisition module 110 is configured to perform image acquisition of the vehicle into the garage according to the activation signal, and transmit the image to the image processing module.
  • the image acquisition module 110 After receiving the activation signal sent by the communication module 100, the image acquisition module 110 starts image collection. All images of the vehicle entering the garage through the garage door are collected and the acquired images are transmitted to the image processing module 120.
  • the image processing module 120 is configured to perform correction and compression processing on the image, and transmit the processed image to the communication module.
  • Images captured by the image acquisition module may cause image distortion for a variety of reasons. For example, image distortion caused by aberration, distortion, limited bandwidth of the image acquisition module, image distortion caused by the image capturing module's shooting posture and scanning nonlinearity, and image distortion caused by motion blur, radiation distortion, and introduction of noise.
  • the image processing module 120 after receiving the image transmitted by the image acquisition module, the image processing module 120 performs a correction process on the image. Specifically, it is a restorative process performed on a distorted image to obtain a real image.
  • the corrected image is subjected to compression processing to reduce image data, reduce image bytes, and transmit the compressed image to the communication module 100.
  • the communication module 100 is further configured to: receive the processed image transmitted by the image processing module, and send the processed image to the vehicle for the vehicle to perform parking according to the processed image.
  • the communication module 100 transmits the image to the vehicle. After receiving the image, the vehicle decompresses and displays it, giving the driver an intuitive parking assistance image.
  • the communication module receives the short message set sent by the vehicle, and sends a start signal to the image acquisition module according to the short message set, and the image acquisition module performs image acquisition of the vehicle into the garage according to the start signal, and
  • the image is transmitted to the image processing module, and the image processing module corrects and compresses the image, and transmits the processed image to the communication module.
  • the communication module receives the processed image transmitted by the image processing module, and sends the processed image to the image.
  • the vehicle is provided for the vehicle to park according to the processed image, so that the image is transmitted in real time, so that the driver can perform parking according to the transmitted image, and the image stitching is not required, so the cost is low and easy to implement.
  • FIG. 2 is a block diagram showing the structure of a parking assist system in accordance with another embodiment of the present invention. As shown in FIG. 2, the system includes: a communication module 200, an image acquisition module 210, an image processing module 220, and an identification module 230.
  • the communication module 200 is configured to receive a short message set sent by the vehicle, and send a start signal to the image collection module according to the short message set.
  • the communication module 200 is a V2X wireless communication module.
  • V2X Vehicle-to-X refers to the communication between the vehicle and peripheral equipment, and X includes vehicles, roadside units, service stations, and the like.
  • its wireless communication technology conforms to the IEEE802.11P protocol, and is designed to have a transmission distance of 300-1000m and a transmission rate of 3M-27Mbps, which can be applied in the fields of intelligent transportation and driving active security.
  • V2X wireless communication has the advantages of high transmission real-time performance, no need for base stations, no need for operator traffic and charging problems.
  • the short message set is a dedicated short-range communication short message set (DSRC short message set), including: longitude, latitude, and direction of travel of the vehicle.
  • the position of the vehicle can be accurately calculated based on the longitude and latitude of the vehicle.
  • the direction of travel is used to indicate that the vehicle is driving in or out of the garage.
  • the communication module can determine the position of the vehicle according to the longitude and latitude of the vehicle, thereby determining whether image collection is required.
  • the short message set can be sent to the communication module 200 of the parking assist system through the V2X wireless communication module of the vehicle itself.
  • the communication module 200 receives the short message set After that, it is learned that there is a vehicle to enter the garage, thereby transmitting a start signal to the image acquisition module 210.
  • the start signal is used to bring the image acquisition module into a working state for image acquisition.
  • the image acquisition module 210 is configured to perform image acquisition of the vehicle into the garage according to the activation signal, and transmit the image to the image processing module.
  • the image acquisition module 210 starts image acquisition, collects all images of the vehicle entering the garage through the garage door, and transmits the acquired image to the image processing module.
  • the image acquisition module is a fisheye image acquisition module, for example, a fisheye camera. It can be installed at the top of the garage and can independently realize wide-angle no-angle monitoring to meet the driver's parking needs.
  • the image processing module 220 is configured to perform correction and compression processing on the image, and transmit the processed image to the communication module.
  • the image captured by the image acquisition module may cause image distortion due to various reasons, such as image distortion caused by aberrations, distortion, and limited bandwidth of the image acquisition module; due to the shooting attitude and scanning nonlinearity of the image acquisition module. Image distortion; image distortion due to motion blur, radiation distortion, noise introduction, etc.
  • the image processing module 220 after receiving the image transmitted by the image acquisition module, performs correction processing on the image. Specifically, it is a restorative process performed on a distorted image to obtain a real image.
  • the image processing module processes the image mainly by fisheye correction.
  • the corrected image is compressed to reduce image data, reduce image bytes, and transmit the compressed image to the communication module.
  • the communication module 200 is further configured to: receive the processed image transmitted by the image processing module, and send the processed image to the vehicle for the vehicle to perform parking according to the processed image.
  • the communication module transmits the image to the vehicle.
  • the vehicle decompresses and displays it, giving the driver an intuitive parking assistance image.
  • the short message set also carries vehicle identity information.
  • the system further includes: an identification module 230, configured to receive the vehicle body carried by the communication module The short message set of the information, and matching the vehicle identity information with the preset vehicle identity information to determine whether the vehicle is the garage, and if so, sending a start signal to the image acquisition module through the communication module.
  • an identification module 230 configured to receive the vehicle body carried by the communication module The short message set of the information, and matching the vehicle identity information with the preset vehicle identity information to determine whether the vehicle is the garage, and if so, sending a start signal to the image acquisition module through the communication module.
  • the vehicle identity information may be a license plate number or a vehicle identifier of the vehicle.
  • the license plate number or vehicle identification of each vehicle is unique.
  • the communication module after receiving the short message set carried by the vehicle and carrying the vehicle identity information, the communication module sends the short message set to the identification module 230, and after receiving the short message set carrying the vehicle identity information, the identification module The vehicle identity information is matched with the preset vehicle identity information to determine whether it is the vehicle of the garage, and if so, the activation signal is sent to the image acquisition module through the communication module, thereby avoiding erroneously receiving the short message set sent by the vehicle of the other garage.
  • the image acquisition module is activated to perform image collection, resulting in waste of resources.
  • the communication module 200 is further configured to: if the short message set sent by the vehicle is not received within a preset time, send a shutdown signal to the image acquisition module.
  • the image acquisition module is further configured to: stop image collection according to the shutdown signal sent by the communication module.
  • the vehicle no longer sends a short message set to the communication module. If the communication module does not receive the short message set sent by the vehicle within a preset time, for example, 3 minutes, a shutdown signal is sent to the image acquisition module. The image acquisition module will stop image acquisition after receiving the shutdown signal.
  • the communication module receives the short message set sent by the vehicle, and sends a start signal to the image acquisition module according to the short message set, and the image acquisition module performs image acquisition of the vehicle into the garage according to the start signal, and
  • the image is transmitted to the image processing module, and the image processing module corrects and compresses the image, and transmits the processed image to the communication module.
  • the communication module receives the processed image transmitted by the image processing module, and sends the processed image to the image.
  • the vehicle is provided for the vehicle to be parked according to the processed image, so that the image is transmitted in real time, so that the driver can perform parking according to the transmitted image without image splicing, so the cost is low and easy to implement;
  • the identification module receives the communication module Sending a short message set carrying the vehicle identity information, and matching the vehicle identity information with the preset vehicle identity information to determine whether it is the vehicle of the garage, and if so, Then, the start signal is sent to the image acquisition module through the communication module, thereby avoiding the error receiving the short message set sent by the vehicle of other garages, and starting the image acquisition module for image collection, resulting in waste of resources.
  • FIG. 3 shows a flow chart of a parking method in accordance with one embodiment of the present invention. As shown in FIG. 3, the method includes the following steps:
  • Step S300 receiving a short message set sent by the vehicle, and sending a start signal according to the short message set.
  • a short message set is sent to the communication module of the parking assist system.
  • the communication module After receiving the short message set, the communication module knows that there is a vehicle to enter the garage, and sends a start signal to the image acquisition module, and the start signal is used to enable the image acquisition module to enter a working state for image acquisition.
  • Step S301 performing image acquisition of the vehicle into the garage according to the activation signal.
  • the image acquisition module starts image collection.
  • the entire image of the vehicle entering the garage through the garage door is collected and the acquired image is transmitted to the image processing module.
  • Step S302 performing correction and compression processing on the image, and transmitting the processed image to the vehicle for the vehicle to perform parking according to the processed image.
  • the image captured by the image acquisition module may cause image distortion due to various reasons, such as image distortion caused by aberrations, distortion, and limited bandwidth of the image acquisition module; due to the shooting attitude and scanning nonlinearity of the image acquisition module. Image distortion; image distortion due to motion blur, radiation distortion, noise introduction, etc.
  • the image processing module after receiving the image transmitted by the image acquisition module, performs correction processing on the image. Specifically, it is a restorative process performed on a distorted image to obtain a real image.
  • the corrected image is compressed to reduce image data, reduce image bytes, and transmit the compressed image to the communication module.
  • the communication module After receiving the compressed image, the communication module transmits the image to the vehicle. After receiving the image, the vehicle decompresses and displays it, giving the driver an intuitive parking assistance image.
  • the short message set sent by the vehicle is received, the start signal is sent according to the short message set, and the image of the vehicle entering the garage is collected according to the start signal, and the image is acquired.
  • Correction and compression processing is performed, and the processed image is sent to the vehicle for parking by the vehicle according to the processed image, so that the image is transmitted in real time, so that the driver can perform parking according to the transmitted image without performing an image. Stitching, so the cost is low and easy to implement.
  • FIG. 4 shows a flow chart of a parking method in accordance with another embodiment of the present invention. As shown in FIG. 4, the method includes the following steps:
  • Step S400 receiving a short message set sent by the vehicle by using a V2X communication method.
  • V2X Vehicle-to-X refers to the communication between the vehicle and peripheral devices, and X includes vehicles, roadside units, service stations, and the like.
  • X includes vehicles, roadside units, service stations, and the like.
  • its wireless communication technology conforms to the IEEE802.11P protocol, and is designed to have a transmission distance of 300-1000m and a transmission rate of 3M-27Mbps, which can be applied in the fields of intelligent transportation and driving active security.
  • V2X wireless communication has the advantages of high transmission real-time performance, no need for base stations, no need for operator traffic and charging problems.
  • the short message set is a dedicated short-range communication short message set (DSRC short message set), including: longitude, latitude, and direction of travel of the vehicle.
  • the position of the vehicle can be accurately calculated based on the longitude and latitude of the vehicle.
  • the direction of travel is used to indicate that the vehicle is driving in or out of the garage.
  • the communication module can determine the position of the vehicle according to the longitude and latitude of the vehicle, thereby determining whether image collection is required.
  • the short message set also carries vehicle identity information.
  • the short message set can be sent to the communication module of the parking assist system through the V2X wireless communication module of the vehicle itself. After receiving the short message set, the communication module sends the short message set carrying the vehicle identity information to the identification module.
  • step S401 the vehicle identity information is matched with the preset vehicle identity information to determine whether it is the vehicle of the garage. If yes, step S402 is performed, and if not, the method ends.
  • the identification module After receiving the short message set carrying the vehicle identity information, the identification module matches the vehicle identity information with the preset vehicle identity information to determine whether it is the vehicle of the garage, and if so, sends the image acquisition module to the image acquisition module through the communication module.
  • the signal is activated to avoid erroneously receiving short message sets sent by vehicles of other garages, and the image acquisition module is activated to perform image collection, resulting in waste of resources.
  • step S402 an activation signal is sent.
  • Step S403 performing image acquisition of the vehicle into the garage according to the activation signal.
  • the image acquisition module After receiving the activation signal sent by the communication module, the image acquisition module starts image collection, collects all images of the vehicle entering the garage through the garage door, and transmits the acquired image to the image processing module.
  • a fisheye camera can be used for image acquisition.
  • the fisheye camera is mounted on the top of the garage and can be independently monitored for a wide range of dead angles to meet the driver's parking needs.
  • Step S404 performing correction and compression processing on the image, and transmitting the processed image to the vehicle for the vehicle to perform parking according to the processed image.
  • the image captured by the image acquisition module may cause image distortion due to various reasons, such as image distortion caused by aberrations, distortion, and limited bandwidth of the image acquisition module; due to the shooting attitude and scanning nonlinearity of the image acquisition module. Image distortion; image distortion due to motion blur, radiation distortion, noise introduction, etc.
  • the image processing module after receiving the image transmitted by the image acquisition module, performs correction processing on the image. Specifically, it is a restorative process performed on a distorted image to obtain a real image.
  • the image processing module processes the image mainly by fisheye correction.
  • the corrected image is compressed to reduce image data, reduce image bytes, and transmit the compressed image to the communication module.
  • the communication module After receiving the compressed image, the communication module transmits the image to the vehicle. After receiving the image, the vehicle decompresses and displays it, giving the driver an intuitive parking assistance image.
  • Step S405 If the short message set sent by the vehicle is not received within the preset time, the shutdown signal is sent.
  • Step S406 stopping image acquisition according to the shutdown signal.
  • the vehicle no longer sends a short message set to the communication module. If the communication module does not receive the short message set sent by the vehicle within a preset time, for example, 3 minutes, a shutdown signal is sent to the image acquisition module. The image acquisition module will stop image acquisition after receiving the shutdown signal.
  • the communication module receives the short message set sent by the vehicle, And sending a start signal to the image acquisition module according to the short message set, the image acquisition module performs image acquisition of the vehicle into the garage according to the start signal, and transmits the image to the image processing module, and the image processing module corrects and compresses the image, and
  • the processed image is transmitted to the communication module, and the communication module receives the processed image transmitted by the image processing module, and sends the processed image to the vehicle for the vehicle to perform parking according to the processed image, thereby realizing the real-time transmission of the image.
  • the identification module receives the short message set carried by the communication module and carries the vehicle identity information, and the vehicle identity information and the preset vehicle The identity information is matched to determine whether it is the vehicle of the garage, and if so, the activation signal is sent to the image acquisition module through the communication module, thereby avoiding erroneously receiving the short message set sent by the vehicle of the other garage, and starting the image acquisition module for image collection. , resulting in waste of resources.
  • modules in the devices of the embodiments can be adaptively changed and placed in one or more devices different from the embodiment.
  • the modules or units or components of the embodiments may be combined into one module or unit or component, and further they may be divided into a plurality of sub-modules or sub-units or sub-components.
  • at least some of the elements are mutually exclusive, and all of the features disclosed in the specification, including the accompanying claims, the abstract, and the drawings, and all processes or units of any method or apparatus so disclosed may be combined in any combination.
  • Each feature disclosed in this specification may be replaced by alternative features that provide the same, equivalent or similar purpose.
  • the various component embodiments of the present invention may be implemented in hardware, or in a software module running on one or more processors, or in a combination thereof.
  • a microprocessor or digital signal processor may be used in practice to implement some or all of the functionality of some or all of the components in accordance with embodiments of the present invention.
  • the invention can also be implemented as a device or device program (e.g., a computer program and a computer program product) for performing some or all of the methods described herein.
  • a program implementing the invention may be stored on a computer readable medium or may be in the form of one or more signals.
  • Such signals may be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.
  • Figure 5 illustrates a computing device that can implement a parking method in accordance with the present invention.
  • the computing device conventionally includes a processor 510 and a computer program product or computer readable medium in the form of a storage device 520.
  • Storage device 520 can be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • Storage device 520 has a storage space 530 that stores program code 531 for performing any of the method steps described above.
  • storage space 530 storing program code may include various program code 531 for implementing various steps in the above methods, respectively.
  • the program code can be read from or written to one or more computer program products.
  • These computer program products include program code carriers such as a hard disk, a compact disk (CD), a memory card, or a floppy disk.
  • a computer program product is typically a portable or fixed storage unit such as that shown in FIG.
  • the storage unit may have a similar arrangement to the storage device 520 of the computing device of FIG. Storage section, storage space, etc.
  • the program code can be compressed, for example, in an appropriate form.
  • the storage unit comprises computer readable code 531 ' for performing the steps of the method according to the invention, ie code that can be read by a processor such as 510, which when executed by the computing device causes the computing device Perform the various steps in the method described above.

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Abstract

一种泊车辅助***及泊车方法，该***包括：通讯模块（100，200）、图像采集模块（110，210）和图像处理模块（120，220）；通讯模块（100，200），用于接收车辆发送的短消息集，根据短消息集向图像采集模块（110，210）发送启动信号；接收图像处理模块（120，220）传输的处理后的图像，将处理后的图像发送至车辆，以供车辆根据处理后的图像进行泊车；图像采集模块（110，210），用于根据启动信号进行车辆驶入车库的图像采集，将图像传输至图像处理模块（120，220）；图像处理模块（120，220），用于对图像进行校正和压缩处理，将处理后的图像传输至通讯模块（100，200）。

Description

泊车辅助***及泊车方法
相关申请的交叉参考
本申请要求于2015年10月29日提交中国专利局、申请号为201510717196.0、发明名称为“泊车辅助***及泊车方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及车辆技术领域，具体涉及一种泊车辅助***及泊车方法。
背景技术
目前车辆视觉辅助***主要是采用后视摄像头，即在车辆上安装后视摄像头，当车辆倒车时给予驾驶员较清晰的后视影像，解决视觉盲点。
同时现在也有越来越多的车辆配备360°全景泊车***，其主要的实现方式是在车辆的前、后、左、右各安装4个鱼眼摄像头，将摄像头图像汇总拼接后达到全景环视，提供给驾驶员进行视觉泊车辅助。
上述视觉泊车***是基于本车建立的，需要车辆自身配备整套***。同时受限于摄像头的安装位置，视觉拼接的视野有很大的局限性，且实现技术要求和成本较高。
发明内容
鉴于上述问题，提出了本发明以便提供一种泊车辅助***及泊车方法，使得驾驶员可以根据泊车辅助***传输的图像进行泊车。
根据本发明的一个方面，提供了一种泊车辅助***，***包括：通讯模块、图像采集模块和图像处理模块；
通讯模块，用于接收车辆发送的短消息集，并根据短消息集向图像采集模块发送启动信号；接收图像处理模块传输的处理后的图像，并将处理后的 图像发送至车辆，以供车辆根据处理后的图像进行泊车；
图像采集模块，用于根据启动信号进行车辆驶入车库的图像采集，并将图像传输至图像处理模块；
图像处理模块，用于对图像进行校正和压缩处理，并将处理后的图像传输至通讯模块。
可选地，通讯模块为V2X无线通讯模块。
可选地，短消息集还携带有车辆身份信息；
***还包括：识别模块，用于接收通讯模块发送的携带有车辆身份信息的短消息集，并将车辆身份信息与预设的车辆身份信息进行匹配，以判断是否为该车库的车辆，若是，则通过通讯模块向图像采集模块发送启动信号。
可选地，通讯模块进一步用于：若在预设时间内未接收到车辆发送的短消息集，则向图像采集模块发送关闭信号。
可选地，短消息集为专用短程通信短消息集，包括：车辆的经度、纬度、行驶方向。
根据本发明的另一方面，提供了一种泊车方法，方法包括：
接收车辆发送的短消息集，并根据短消息集发送启动信号；
根据启动信号进行车辆驶入车库的图像采集；
对图像进行校正和压缩处理，并将处理后的图像发送至车辆，以供车辆根据处理后的图像进行泊车。
可选地，短消息集还携带有车辆身份信息；
方法还包括：将车辆身份信息与预设的车辆身份信息进行匹配，以判断是否为该车库的车辆，若是，则发送启动信号。
可选地，方法还包括：
若在预设时间内未接收到车辆发送的短消息集，则发送关闭信号。
可选地，接收车辆发送的短消息集进一步包括：
通过V2X通讯方式接收车辆发送的短消息集。
可选地，短消息集为专用短程通信短消息集，包括：车辆的经度、纬度、 行驶方向。
根据本发明提供的方案，通讯模块接收车辆发送的短消息集，并根据短消息集向图像采集模块发送启动信号，图像采集模块根据启动信号进行车辆驶入车库的图像采集，并将图像传输至图像处理模块，图像处理模块对图像进行校正和压缩处理，并将处理后的图像传输至通讯模块，通讯模块接收图像处理模块传输的处理后的图像，并将处理后的图像发送至车辆，以供车辆根据处理后的图像进行泊车，实现了实时传输图像，从而使驾驶员根据传输的图像进行泊车，而且无需进行图像拼接，因此成本低，易实现。
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。
附图概述
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1示出了根据本发明一个实施例的泊车辅助***的结构框图；
图2示出了根据本发明另一个实施例的泊车辅助***的结构框图；
图3示出了根据本发明一个实施例的泊车方法的流程图；
图4示出了根据本发明另一个实施例的泊车方法的流程图；
图5示意性地示出了用于执行根据本发明实施例的泊车方法的计算设备的框图；
图6示意性地示出了用于保持或者携带实现根据本发明实施例的泊车方法的程序代码的存储单元。
本发明的较佳实施方式
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示 了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
本发明的泊车辅助***可以应用于车库。当车辆驶入车库时，利用该泊车辅助***指导驾驶员泊车。
图1示出了根据本发明一个实施例的泊车辅助***的结构框图。如图1所示，该***包括：通讯模块100、图像采集模块110和图像处理模块120。
通讯模块100，用于接收车辆发送的短消息集，并根据短消息集向图像采集模块发送启动信号。
具体地，车辆驶入车库时，向泊车辅助***的通讯模块100发送短消息集。通讯模块100接收到该短消息集后，得知有车辆要驶入车库，从而向图像采集模块110发送启动信号。该启动信号用于使图像采集模块110进入工作状态，进行图像采集。
图像采集模块110，用于根据启动信号进行车辆驶入车库的图像采集，并将图像传输至图像处理模块。
具体地，图像采集模块110接收到通讯模块100发送的启动信号后，开始进行图像采集。采集车辆通过车库门的进入车库的全部图像，并将所采集的图像传输给图像处理模块120。
图像处理模块120，用于对图像进行校正和压缩处理，并将处理后的图像传输至通讯模块。
图像采集模块所采集的图像可能会由于各种原因而造成图像失真。例如由于图像采集模块的象差、畸变、带宽有限等造成的图像失真；由于图像采集模块的拍摄姿态和扫描非线性引起的图像失真；由于运动模糊、辐射失真、引入噪声等造成的图像失真。
具体地，图像处理模块120在接收到图像采集模块传输的图像后，对该图像进行校正处理。具体是对失真图像进行的复原性处理，以得到真实图像。
在对图像进行校正后，对校正后的图像进行压缩处理，以减少图像数据、减小图像字节，并将压缩处理后的图像传输至通讯模块100。
通讯模块100进一步用于：接收图像处理模块传输的处理后的图像，并将处理后的图像发送至车辆，以供车辆根据处理后的图像进行泊车。
具体地，通讯模块100在接收到压缩处理后的图像之后，将该图像发送给车辆。车辆在接收到图像后，对其进行解压缩并进行显示，从而给予驾驶员直观的泊车辅助图像。
根据本发明上述实施例提供的***，通讯模块接收车辆发送的短消息集，并根据短消息集向图像采集模块发送启动信号，图像采集模块根据启动信号进行车辆驶入车库的图像采集，并将图像传输至图像处理模块，图像处理模块对图像进行校正和压缩处理，并将处理后的图像传输至通讯模块，通讯模块接收图像处理模块传输的处理后的图像，并将处理后的图像发送至车辆，以供车辆根据处理后的图像进行泊车，实现了实时传输图像，从而使驾驶员根据传输的图像进行泊车，而且无需进行图像拼接，因此成本低，易实现。
图2示出了根据本发明另一个实施例的泊车辅助***的结构框图。如图2所示，该***包括：通讯模块200、图像采集模块210、图像处理模块220、识别模块230。
通讯模块200，用于接收车辆发送的短消息集，并根据短消息集向图像采集模块发送启动信号。
其中，通讯模块200为V2X无线通讯模块。V2X(Vehicle-to-X)指车辆与周边设备的通讯，X包含车辆、路边单元、服务站等。目前其无线通信技术遵循IEEE802.11P协议，被设计传输距离为300-1000m，传输速率为3M-27Mbps，可以应用在智能交通和驾驶主动安全领域。V2X无线通讯具有传输实时性高，不需要基站，无需运行商流量和收费问题等优点。
短消息集为专用短程通信短消息集(DSRC短消息集)，包括：车辆的经度、纬度、行驶方向。根据车辆的经度和纬度可以准确地计算出车辆的位置。行驶方向用于指示车辆驶入或驶离车库。通讯模块在接收到车辆发送的短消息后，可以根据车辆的经度、纬度确定车辆的位置，从而确定是否需要进行图像采集。
具体地，车辆驶入车库时，可以通过车辆本身的V2X无线通讯模块向泊车辅助***的通讯模块200发送短消息集。通讯模块200接收到该短消息集 后，得知有车辆要驶入车库，从而向图像采集模块210发送启动信号。该启动信号用于使图像采集模块进入工作状态，进行图像采集。
图像采集模块210，用于根据启动信号进行车辆驶入车库的图像采集，并将图像传输至图像处理模块。
具体地，图像采集模块210接收到通讯模块发送的启动信号后，开始进行图像采集，采集车辆通过车库门的进入车库的全部图像，并将所采集的图像传输给图像处理模块。
其中，图像采集模块为鱼眼图像采集模块，例如，鱼眼摄像头。其可以安装于车库顶端，可以独立实现大范围无死角监控，满足驾驶员泊车需求。
图像处理模块220，用于对图像进行校正和压缩处理，并将处理后的图像传输至通讯模块。
图像采集模块所采集的图像可能会由于各种原因而造成图像失真，例如由于图像采集模块的象差、畸变、带宽有限等造成的图像失真；由于图像采集模块的拍摄姿态和扫描非线性引起的图像失真；由于运动模糊、辐射失真、引入噪声等造成的图像失真。
具体地，图像处理模块220在接收到图像采集模块传输的图像后，对该图像进行校正处理。具体是对失真图像进行的复原性处理，以得到真实图像。
当采用鱼眼摄像头进行图像采集时，图像处理模块对图像的处理主要是鱼眼校正。
在对图像进行校正后，对校正后的图像进行压缩处理，以减少图像数据、减小图像字节，并将压缩处理后的图像传输至通讯模块。
通讯模块200进一步用于：接收图像处理模块传输的处理后的图像，并将处理后的图像发送至车辆，以供车辆根据处理后的图像进行泊车。
具体地，通讯模块在接收到压缩处理后的图像之后，将该图像发送给车辆。车辆在接收到图像后，对其进行解压缩并进行显示，从而给予驾驶员直观的泊车辅助图像。
在本实施中，短消息集还携带有车辆身份信息。
该***还包括：识别模块230，用于接收通讯模块发送的携带有车辆身 份信息的短消息集，并将车辆身份信息与预设的车辆身份信息进行匹配，以判断是否为该车库的车辆，若是，则通过通讯模块向图像采集模块发送启动信号。
其中，车辆身份信息可以是车辆的车牌号或车辆标识等。每个车辆的车牌号或车辆标识是唯一的。
具体地，通讯模块在接收到车辆发送的携带有车辆身份信息的短信息集后，将该短消息集发送给识别模块230，识别模块在接收到携带有车辆身份信息的短消息集后，将车辆身份信息与预设的车辆身份信息进行匹配，以判断是否为该车库的车辆，若是，则通过通讯模块向图像采集模块发送启动信号，从而避免错误接收其他车库的车辆发送的短消息集，启动图像采集模块进行图像采集，造成资源浪费。
此外，为了节省资源，避免造成不必要的浪费，通讯模块200进一步用于：若在预设时间内未接收到车辆发送的短消息集，则向图像采集模块发送关闭信号。
图像采集模块进一步用于：根据通讯模块发送的关闭信号，停止图像采集。
具体地，车辆驶离车库或者车辆已停入车库熄火后，车辆不再向通讯模块发送短消息集。如果通讯模块在预设时间内，例如3分钟，未接收到车辆发送的短消息集，则向图像采集模块发送关闭信号。图像采集模块在接收到关闭信号后，将停止图像采集。
根据本发明上述实施例提供的***，通讯模块接收车辆发送的短消息集，并根据短消息集向图像采集模块发送启动信号，图像采集模块根据启动信号进行车辆驶入车库的图像采集，并将图像传输至图像处理模块，图像处理模块对图像进行校正和压缩处理，并将处理后的图像传输至通讯模块，通讯模块接收图像处理模块传输的处理后的图像，并将处理后的图像发送至车辆，以供车辆根据处理后的图像进行泊车，实现了实时传输图像，从而使驾驶员根据传输的图像进行泊车，而且无需进行图像拼接，因此成本低，易实现；识别模块接收通讯模块发送的携带有车辆身份信息的短消息集，并将车辆身份信息与预设的车辆身份信息进行匹配，以判断是否为该车库的车辆，若是， 则通过通讯模块向图像采集模块发送启动信号，从而避免错误接收其他车库的车辆发送的短消息集，而启动图像采集模块进行图像采集，造成资源浪费。
图3示出了根据本发明一个实施例的泊车方法的流程图。如图3所示，该方法包括以下步骤：
步骤S300，接收车辆发送的短消息集，并根据短消息集发送启动信号。
具体地，车辆驶入车库时，向泊车辅助***的通讯模块发送短消息集。通讯模块接收到该短消息集后，得知有车辆要驶入车库，从而向图像采集模块发送启动信号，该启动信号用于使图像采集模块进入工作状态，进行图像采集。
步骤S301，根据启动信号进行车辆驶入车库的图像采集。
具体地，图像采集模块接收到通讯模块发送的启动信号后，开始进行图像采集。采集车辆通过车库门的进入车库的全部图像，并将所采集的图像传输给图像处理模块。
步骤S302，对图像进行校正和压缩处理，并将处理后的图像发送至车辆，以供车辆根据处理后的图像进行泊车。
图像采集模块所采集的图像可能会由于各种原因而造成图像失真，例如由于图像采集模块的象差、畸变、带宽有限等造成的图像失真；由于图像采集模块的拍摄姿态和扫描非线性引起的图像失真；由于运动模糊、辐射失真、引入噪声等造成的图像失真。
具体地，图像处理模块在接收到图像采集模块传输的图像后，对该图像进行校正处理。具体是对失真图像进行的复原性处理，以得到真实图像。
在对图像进行校正后，对校正后的图像进行压缩处理，以减少图像数据、减小图像字节，并将压缩处理后的图像传输至通讯模块。
通讯模块在接收到压缩处理后的图像之后，将该图像发送给车辆。车辆在接收到图像后，对其进行解压缩并进行显示，从而给予驾驶员直观的泊车辅助图像。
根据本发明上述实施例提供的方法，接收车辆发送的短消息集，根据短消息集发送启动信号，根据启动信号进行车辆驶入车库的图像采集，对图像 进行校正和压缩处理，并将处理后的图像发送至车辆，以供车辆根据处理后的图像进行泊车，实现了实时传输图像，从而使驾驶员根据传输的图像进行泊车，而且无需进行图像拼接，因此成本低，易实现。
图4示出了根据本发明另一个实施例的泊车方法的流程图。如图4所示，该方法包括以下步骤：
步骤S400，通过V2X通讯方式接收车辆发送的短消息集。
其中，V2X(Vehicle-to-X)指车辆与周边设备的通讯，X包含车辆、路边单元、服务站等。目前其无线通信技术遵循IEEE802.11P协议，被设计传输距离为300-1000m，传输速率为3M-27Mbps，可以应用在智能交通和驾驶主动安全领域。V2X无线通讯具有传输实时性高，不需要基站，无需运行商流量和收费问题等优点。
短消息集为专用短程通信短消息集(DSRC短消息集)，包括：车辆的经度、纬度、行驶方向。根据车辆的经度和纬度可以准确地计算出车辆的位置。行驶方向用于指示车辆驶入或驶离车库。通讯模块在接收到车辆发送的短消息后，可以根据车辆的经度、纬度确定车辆的位置，从而确定是否需要进行图像采集。
其中，短消息集还携带有车辆身份信息。
具体地，车辆驶入车库时，可以通过车辆本身的V2X无线通讯模块向泊车辅助***的通讯模块发送短消息集。通讯模块接收到该短消息集后，将携带有车辆身份信息的短消息集发送给识别模块。
步骤S401，将车辆身份信息与预设的车辆身份信息进行匹配，以判断是否为该车库的车辆，若是，则执行步骤S402，若否，则方法结束。
识别模块在接收到携带有车辆身份信息的短消息集后，将车辆身份信息与预设的车辆身份信息进行匹配，以判断是否为该车库的车辆，若是，则通过通讯模块向图像采集模块发送启动信号，从而避免错误接收其他车库的车辆发送的短消息集，而启动图像采集模块进行图像采集，造成资源浪费。
步骤S402，发送启动信号。
步骤S403，根据启动信号进行车辆驶入车库的图像采集。
具体地，图像采集模块接收到通讯模块发送的启动信号后，开始进行图像采集，采集车辆通过车库门的进入车库的全部图像，并将所采集的图像传输给图像处理模块。
例如，可以使用鱼眼摄像头进行图像采集。该鱼眼摄像头安装于车库顶端，可以独立实现大范围无死角监控，满足驾驶员泊车需求。
步骤S404，对图像进行校正和压缩处理，并将处理后的图像发送至车辆，以供车辆根据处理后的图像进行泊车。
图像采集模块所采集的图像可能会由于各种原因而造成图像失真，例如由于图像采集模块的象差、畸变、带宽有限等造成的图像失真；由于图像采集模块的拍摄姿态和扫描非线性引起的图像失真；由于运动模糊、辐射失真、引入噪声等造成的图像失真。
具体地，图像处理模块在接收到图像采集模块传输的图像后，对该图像进行校正处理。具体是对失真图像进行的复原性处理，以得到真实图像。
当采用鱼眼摄像头进行图像采集时，图像处理模块对图像的处理主要是鱼眼校正。
在对图像进行校正后，对校正后的图像进行压缩处理，以减少图像数据、减小图像字节，并将压缩处理后的图像传输至通讯模块。
通讯模块在接收到压缩处理后的图像之后，将该图像发送给车辆。车辆在接收到图像后，对其进行解压缩并进行显示，从而给予驾驶员直观的泊车辅助图像。
步骤S405，如果在预设时间内未接收到车辆发送的短消息集，则发送关闭信号。
步骤S406，根据关闭信号，停止图像采集。
具体地，车辆驶离车库或者车辆已停入车库熄火后，车辆不再向通讯模块发送短消息集。如果通讯模块在预设时间内，例如3分钟，未接收到车辆发送的短消息集，则向图像采集模块发送关闭信号。图像采集模块在接收到关闭信号后，将停止图像采集。
根据本发明上述实施例提供的方法，通讯模块接收车辆发送的短消息集， 并根据短消息集向图像采集模块发送启动信号，图像采集模块根据启动信号进行车辆驶入车库的图像采集，并将图像传输至图像处理模块，图像处理模块对图像进行校正和压缩处理，并将处理后的图像传输至通讯模块，通讯模块接收图像处理模块传输的处理后的图像，并将处理后的图像发送至车辆，以供车辆根据处理后的图像进行泊车，实现了实时传输图像，使驾驶员根据传输的图像进行泊车，而且无需进行图像拼接，成本低，易实现；识别模块接收通讯模块发送的携带有车辆身份信息的短消息集，并将车辆身份信息与预设的车辆身份信息进行匹配，以判断是否为该车库的车辆，若是，则通过通讯模块向图像采集模块发送启动信号，从而避免错误接收其他车库的车辆发送的短消息集，而启动图像采集模块进行图像采集，造成资源浪费。
在此提供的算法和显示不与任何特定计算机、虚拟***或者其它设备固有相关。各种通用***也可以与基于在此的示教一起使用。根据上面的描述，构造这类***所要求的结构是显而易见的。此外，本发明也不针对任何特定编程语言。应当明白，可以利用各种编程语言实现在此描述的本发明的内容，并且上面对特定语言所做的描述是为了披露本发明的最佳实施方式。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本公开并帮助理解各个发明方面中的一个或多个，在上面对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如下面的权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。
本领域那些技术人员可以理解，可以对实施例中的设备中的模块进行自适应性地改变并且把它们设置在与该实施例不同的一个或多个设备中。可以把实施例中的模块或单元或组件组合成一个模块或单元或组件，以及此外可以把它们分成多个子模块或子单元或子组件。除了这样的特征和/或过程或者 单元中的至少一些是相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如，在下面的权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例中的一些或者全部部件的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
例如，图5示出了可以实现根据本发明的泊车方法的计算设备。该计算设备传统上包括处理器510和以存储设备520形式的计算机程序产品或者计算机可读介质。存储设备520可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储设备520具有存储用于执行上述方法中的任何方法步骤的程序代码531的存储空间530。例如，存储程序代码的存储空间530可以包括分别用于实现上面的方法中的各种步骤的各个程序代码531。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘、紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为例如图6所示的便携式或者固定存储单元。该存储单元可以具有与图5的计算设备中的存储设备520类似布置的存 储段、存储空间等。程序代码可以例如以适当形式进行压缩。通常，存储单元包括用于执行根据本发明的方法步骤的计算机可读代码531＇，即可以由诸如510之类的处理器读取的代码，当这些代码由计算设备运行时，导致该计算设备执行上面所描述的方法中的各个步骤。
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。

Claims (10)

  1. 一种泊车辅助***，其特征在于，所述***包括：通讯模块、图像采集模块和图像处理模块；
    所述通讯模块，用于接收车辆发送的短消息集，并根据所述短消息集向所述图像采集模块发送启动信号；接收所述图像处理模块传输的处理后的图像，并将处理后的图像发送至所述车辆，以供所述车辆根据处理后的图像进行泊车；
    所述图像采集模块，用于根据所述启动信号进行车辆驶入车库的图像采集，并将所述图像传输至所述图像处理模块；
    所述图像处理模块，用于对所述图像进行校正和压缩处理，并将处理后的图像传输至所述通讯模块。
  2. 根据权利要求1所述的泊车辅助***，其特征在于，所述通讯模块为V2X无线通讯模块。
  3. 根据权利要求1或2所述的泊车辅助***，其特征在于，所述短消息集还携带有车辆身份信息；
    所述***还包括：识别模块，用于接收所述通讯模块发送的携带有车辆身份信息的短消息集，并将所述车辆身份信息与预设的车辆身份信息进行匹配，以判断是否为该车库的车辆，若是，则通过所述通讯模块向所述图像采集模块发送启动信号。
  4. 根据权利要求1或2所述的泊车辅助***，其特征在于，所述通讯模块进一步用于：若在预设时间内未接收到车辆发送的短消息集，则向所述图像采集模块发送关闭信号；
    所述图像采集模块进一步用于：根据所述通讯模块发送的关闭信号，停止图像采集。
  5. 根据权利要求1或2所述的泊车辅助***，其特征在于，所述短消息集为专用短程通信短消息集，包括：车辆的经度、纬度、行驶方向。
  6. 一种泊车方法，其特征在于，所述方法包括：
    接收车辆发送的短消息集，并根据所述短消息集发送启动信号；
    根据所述启动信号进行车辆驶入车库的图像采集；
    对所述图像进行校正和压缩处理，并将处理后的图像发送至所述车辆，以供所述车辆根据处理后的图像进行泊车。
  7. 根据权利要求6所述的泊车方法，其特征在于，所述短消息集还携带有车辆身份信息；
    所述方法还包括：将所述车辆身份信息与预设的车辆身份信息进行匹配，以判断是否为该车库的车辆，若是，则发送启动信号。
  8. 根据权利要求6或7所述的泊车方法，其特征在于，所述方法还包括：
    若在预设时间内未接收到车辆发送的短消息集，则发送关闭信号；
    根据所述关闭信号，停止图像采集。
  9. 根据权利要求6或7所述的泊车方法，其特征在于，所述接收车辆发送的短消息集进一步包括：
    通过V2X通讯方式接收车辆发送的短消息集。
  10. 根据权利要求6或7所述的泊车方法，其特征在于，所述短消息集为专用短程通信短消息集，包括：车辆的经度、纬度、行驶方向。
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