CN111976720B - Autonomous passenger-replacing parking method, device, equipment and storage medium - Google Patents
Autonomous passenger-replacing parking method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN111976720B CN111976720B CN202010806265.6A CN202010806265A CN111976720B CN 111976720 B CN111976720 B CN 111976720B CN 202010806265 A CN202010806265 A CN 202010806265A CN 111976720 B CN111976720 B CN 111976720B
- Authority
- CN
- China
- Prior art keywords
- parking
- vehicle
- parking space
- determining
- relative distance
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
Classifications
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
Abstract
The invention discloses an autonomous passenger-riding parking method, device, equipment and storage medium, wherein the method comprises the following steps: when a vehicle parking instruction is received, acquiring an environment area image around a vehicle, determining a first relative distance between the environment area image and a target parking space when no barrier exists, determining parking and warehousing path information according to a preset collision point constraint condition and the first relative distance, and controlling the vehicle according to the parking and warehousing path information to realize parking operation. Compared with the prior art, the parking lot background management and scheduling system needs to send the command to the vehicle from the cloud end to guide the vehicle to automatically run to complete the parking operation, but the operation process is complicated, and the cost is high.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to an autonomous passenger-assistant parking method, device, equipment and storage medium.
Background
Today, with the development of science and technology and economy, in order to improve the comfort of vehicle users in life, the demand of more practicality is provided for vehicle functions. In order to better adapt to practical conditions, a method for autonomous passenger-substitute parking of a vehicle is considered in most cases.
In the prior art, a method for autonomous passenger-replacing parking of a vehicle is a method for upgrading construction based on a parking lot infrastructure to adapt to a passenger-replacing parking function, however, a matched parking lot background management and scheduling system needs to be developed, a large number of field-end sensors are arranged, the system implementation difficulty is high, the cost investment is high, large-area popularization and implementation are difficult, or a method for upgrading and modifying the vehicle itself depends on a high-precision map and high-precision positioning, and multi-source sensor data such as a laser radar, a millimeter wave radar and a camera are fused to construct a high-grade automatic driving system.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an autonomous passenger-assistant parking method, device, equipment and storage medium, and aims to solve the technical problem of realizing the automatic driving function from a vehicle to a parking space under the condition of reducing the cost and the operation complexity.
In order to achieve the above object, the present invention provides an autonomous valet parking method, which includes the following steps:
when a vehicle parking instruction is received, acquiring an environmental area image around a vehicle;
judging whether an obstacle exists in the environment area image;
if the obstacle does not exist, determining a first relative distance between the target parking space and the environment area image;
determining parking and warehousing path information according to a preset collision point constraint condition and the first relative distance;
and controlling the vehicle according to the parking garage entry path information to realize parking operation.
Preferably, the step of determining a first relative distance to a target parking space according to the environment area image includes:
determining the position information of an idle parking space and the current vehicle information according to the environment area image;
judging whether the free parking space meets a preset parking condition or not according to the position information and the current vehicle information;
and when the free parking space meets the preset parking condition, taking the free parking space as a target parking space so as to determine a first relative distance between the free parking space and the target parking space.
Preferably, the step of determining parking-garage path information according to the preset collision point constraint condition and the first relative distance includes:
acquiring a parking space warehousing angle coordinate of the target parking space;
determining the relative position relation between the parking space warehousing angle coordinate and the current vehicle information;
and determining parking garage entry path information according to the first relative distance, the relative position relation and the parking garage entry angle coordinate.
Preferably, after the step of determining whether the vacant parking space meets a preset parking condition according to the position information and the current vehicle information, the method further includes:
when the free parking space does not meet the preset parking condition, acquiring a lane image corresponding to the current vehicle;
determining a second relative distance between the lane image and a lane line and vehicle course angle information according to the lane image;
and controlling the transverse attitude of the vehicle and the longitudinal speed of the vehicle according to the second relative distance and the vehicle course angle information.
Preferably, the step of determining the second relative distance to the lane line and the vehicle heading angle information according to the lane image includes:
carrying out edge detection processing on the lane image to obtain a binary image of a lane line;
performing lane line fitting processing on the binary image to obtain corresponding lane line fitting parameters;
and determining a second relative distance between the vehicle and the lane line and vehicle course angle information according to the lane line fitting parameters.
Preferably, after the step of controlling the lateral attitude of the vehicle and the longitudinal speed of the vehicle according to the second relative distance and the vehicle heading angle information, the method further comprises:
acquiring the driving distance of the current vehicle;
judging whether the driving distance is greater than a preset distance threshold value or not;
and when the driving distance is greater than the preset distance threshold value, controlling the current vehicle to enter a parking waiting state, and sending current parking state information to the user terminal.
Preferably, after the step of determining whether an obstacle exists in the environment area image, the method further includes:
if the obstacle exists, controlling the current vehicle to enter a parking waiting state, and acquiring the waiting time of the current vehicle;
judging whether the waiting time length is greater than a preset waiting time length threshold value or not;
and when the waiting time is longer than the preset waiting time threshold, sending the current parking state information to the user terminal.
In addition, to achieve the above object, the present invention further provides an autonomous valet parking apparatus, including:
the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring an environmental area image around a vehicle when a vehicle parking instruction is received;
the judging module is used for judging whether an obstacle exists in the environment area image;
the judging module is used for determining a first relative distance between the judging module and a target parking space according to the environment area image when the obstacle does not exist;
the determining module is used for determining parking and warehousing path information according to a preset collision point constraint condition and the first relative distance;
and the control module is used for controlling the vehicle according to the parking garage entry path information so as to realize parking operation.
In addition, to achieve the above object, the present invention further provides an autonomous valet parking apparatus, including: the system comprises a memory, a processor and an autonomous valet parking program which is stored on the memory and can run on the processor, wherein the autonomous valet parking program realizes the steps of the autonomous valet parking method when being executed by the processor.
In addition, to achieve the above object, the present invention further provides a storage medium, where an autonomous valet parking program is stored, and the autonomous valet parking program implements the steps of the autonomous valet parking method described above when executed by a processor.
According to the method, firstly, when a vehicle parking instruction is received, an environment area image around a vehicle is collected, whether an obstacle exists in the environment area image is judged, if the obstacle does not exist, a first relative distance between the environment area image and a target parking space is determined according to the environment area image, then parking and warehousing path information is determined according to a preset collision point constraint condition and the first relative distance, and finally vehicle control is carried out according to the parking and warehousing path information so as to achieve parking operation. Compared with the prior art, the parking lot background management and scheduling system needs to send an instruction to the vehicle from the cloud end to guide the vehicle to automatically run to complete the parking operation, but the system is high in implementation difficulty, complex in operation process and high in cost.
Drawings
Fig. 1 is a schematic structural diagram of an autonomous valet parking facility in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of the autonomous valet parking method according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of the autonomous valet parking method according to the present invention;
fig. 4 is a block diagram illustrating a first embodiment of an autonomous parking assistant apparatus according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an autonomous valet parking facility in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the autonomous valet parking apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), and the optional user interface 1003 may further include a standard wired interface and a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory or a Non-volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of an autonomous valet parking apparatus and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, identified as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an autonomous valet parking program.
In the autonomous valet parking apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and communicating data with the backend server; the user interface 1003 is mainly used for connecting user equipment; the autonomous valet parking assistant apparatus invokes the autonomous valet parking assistant program stored in the memory 1005 through the processor 1001, and executes the autonomous valet parking assistant method provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the autonomous passenger-replacing parking method is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of an autonomous valet parking method according to the present invention.
In a first embodiment, the autonomous valet parking method includes the steps of:
step S10: when a vehicle parking instruction is received, an environmental area image around the vehicle is acquired.
It should be noted that the executing entity in this embodiment is an autonomous valet parking apparatus, where the executing entity is an autonomous valet parking apparatus having functions of image processing, data communication, program operation, and the like, and may also be other apparatuses, which is not limited in this embodiment.
The vehicle parking instruction may be that the user starts a vehicle parking function by using a third-party terminal, or the user triggers a vehicle parking start button, and the like.
The environment sensing system comprises a plurality of fisheye cameras and an ultrasonic radar, wherein the detection range covers a complete area around a vehicle and is used for carrying out lane identification, parking space search, vehicle boundary determination, sensing obstacle targets in a driving area of the vehicle and the like, the fisheye cameras collect environment images, obstacle size information is obtained, and the ultrasonic radar detects the distance of obstacles.
The environmental region image is obtained through an environmental perception system, the current vehicle is used as an original point, the preset distance is used as a surrounding environment image of the radius, the surrounding environment image within the preset distance range in front of the vehicle can also be used, and the surrounding environment image comprises parking spaces, obstacles and the like.
The preset distance and the preset distance range are set by a user in a self-defined manner, and may be 8 meters or 9 meters, and the embodiment is not limited.
Step S20: and judging whether an obstacle exists in the environment area image.
Whether an idle parking space exists or not is searched in the environment area image, the idle parking space is a parking space which can be convenient for a user to park, a plurality of parking spaces exist in the environment area image, but some parking spaces have vehicle parking, therefore, screening needs to be carried out in the plurality of parking spaces in the environment area image so as to obtain the idle parking space, and the idle parking space is circled with a wire frame in the environment area image, and the idle parking space can be single, can also be a plurality of parking spaces and the like.
The obstacle is an obstacle capable of influencing forward driving of the vehicle and also an obstacle capable of influencing normal parking of the vehicle, the size and the distance of the obstacle are obtained, and whether the obstacle is the obstacle influencing forward driving of the vehicle and the obstacle influencing normal parking of the vehicle are determined according to the size and the distance of the obstacle and a preset threshold value.
The preset threshold is also set by a user in a self-defined manner, and may be an area, a length, or the like, which is not limited in this embodiment.
After the step of judging whether the obstacle exists in the environment area image or not, if the obstacle exists, acquiring obstacle information, controlling the current vehicle to enter a parking waiting state according to the obstacle information, acquiring the waiting time of the current vehicle, judging whether the waiting time is greater than a preset waiting time threshold or not, and when the waiting time is greater than the preset waiting time threshold, sending current parking state information to a user terminal.
Step S30: and if the obstacle does not exist, determining a first relative distance between the target parking space and the environment area image.
It can be understood that if an obstacle exists, obstacle information is acquired, the obstacle information includes an obstacle area or distance, but the obstacle area is small, the length is short, or the distance is long, so that the obstacle can be ignored, and the obstacle is determined to be absent.
The target parking space is a parking space which can be normally parked and is selected by a user according to a plurality of free parking spaces, the size of each free parking space can be compared with that of a current vehicle by calculating the size of each free parking space, and if the size of each free parking space meets the size requirement of the current vehicle, the free parking space is judged to be the target parking space.
The step of determining the first relative distance between the parking space and the target parking space according to the environment area image comprises the steps of determining position information and current vehicle information of an idle parking space according to the environment area image, then judging whether the idle parking space meets a preset parking condition or not according to the position information and the current vehicle information, and taking the idle parking space as the target parking space when the idle parking space meets the preset parking condition so as to determine the first relative distance between the parking space and the target parking space.
The preset parking condition can be the area of an idle parking space, the size of the idle parking space and the like, and the current vehicle information can be the area of a vehicle or the size of the vehicle and the like.
In addition, due to the fact that the proportion of the parking space area acquired in the image is inconsistent with the proportion of the vehicle area, the image transformation principle can be utilized, and processing modes such as a coordinate transformation formula can also be utilized, so that the proportion of the parking space area is consistent with the proportion of the vehicle area, and a target parking space meeting the preset parking condition can be found conveniently.
And calculating a first relative distance between the vehicle and the target parking space according to the current vehicle coordinate and the target parking space coordinate, where the first relative distance is distance information between the vehicle and the target parking space, and may be represented by 5 meters or 6 meters, and the embodiment is not limited.
Step S40: and determining parking and warehousing path information according to a preset collision point constraint condition and the first relative distance.
The step of determining parking garage entry path information according to preset collision point constraint conditions and the first relative distance obtains parking space garage entry angle coordinates of the target parking space, determines a relative position relation between the parking space garage entry angle coordinates and the current vehicle information, and determines parking garage entry path information according to the first relative distance, the relative position relation and the parking space garage entry angle coordinates.
The current vehicle information further comprises four-corner coordinates of the vehicle, and the four-corner coordinates are compared with the parking space warehousing corner coordinates, so that the vehicle can smoothly enter the parking space under the condition of keeping no collision.
That is to say, the preset collision point constraint condition may be that the wheels do not press the corner points and side lines of the parking space when the vehicle is put in storage, and a certain distance safety threshold is ensured. And the warehousing path information is used for calculating a warehousing path according to the relative position relationship between the warehousing angular points and the self vehicle.
Step S50: and controlling the vehicle according to the parking garage entry path information to realize parking operation.
It should be noted that after the vehicle enters the garage, the cameras on two sides or one side recognize the vehicle position line, similar to the lane line detection, the included angle and the distance relative to the parking space line are obtained, the steering wheel turning angle control quantity is solved, the vehicle is controlled to move back and forth in the garage to correct the vehicle position, the vehicle is finally kept parallel in the garage, and the parking state information is sent to the user mobile terminal to prompt the user to finish parking.
For ease of understanding, the following is exemplified:
step one, a passenger-replacing parking starting stage
If available parking spaces exist during running along the current road, a user can place a vehicle at any position (such as a garage entrance) convenient for parking on the current road, a passenger car parking system is started through a user terminal or a car machine interface, and then a driver can get off and leave.
Step two, parking space searching stage
The control unit processes the vehicle lateral image data by utilizing an image processing technology, and analyzes and calculates whether the current position has an available parking space. Meanwhile, the system identifies obstacle targets in the driving area of the self-vehicle according to the detection data of the ultrasonic radar, if a danger threshold obstacle exists, active safety collision avoidance is carried out, the vehicle stops for waiting, after danger is relieved, the parking process is recovered, if no obstacle exists and no available parking space exists in the current position, the control unit analyzes and calculates lane images collected by the front camera by using an image processing technology, a lane line is identified, the distance and course angle information of the self-vehicle relative to the lane line are obtained, and the position and the posture of the vehicle in the lane are accurately positioned. Therefore, the vehicle is subjected to transverse attitude control and longitudinal speed control, so that the vehicle automatically runs forwards at a constant speed along with a lane line in a lane, and parking spaces are continuously searched.
It can be understood that, the parking process is processed abnormally, if abnormal conditions such as long-time unremoved dangerous obstacles, long-distance unrequired available parking spaces, unsuccessful parking and the like occur in the parking process, the vehicle is braked and waits, and the state information is transmitted to the user terminal, so that the user can control the vehicle in real time.
Step three, parking stage
After the parking space is searched successfully, the control unit plans a parking and warehousing path according to the relative position relation between the parking space and the self vehicle and the collision avoidance point constraint, controls the vehicle to park and warehouse in the warehouse along the planned track, rubs the warehouse and corrects the position and the posture of the vehicle, and finishes parking.
The invention adopts the combination of the ultrasonic radar and the fisheye camera sensor with low cost to construct the sensing system, the system has simple structure, the prior vehicle-mounted sensor can be reused, no additional sensing sensor is required to be configured, the system determines the driving boundary in an image recognition mode, detects the parking space, realizes the functions of autonomous walking, active collision avoidance, full-automatic parking and the like from the parking point to the parking space, has low cost, realizes the passenger car parking with a light-weight technical scheme, does not need to transform the parking lot, does not need any prior map, does not depend on a large number of additional expensive special parts and systems such as a high-precision map, a high-precision positioning, a field-end sensor, a laser radar and the like, greatly reduces the cost and the development difficulty of the passenger car parking system, has wide application range and can be widely popularized and implemented.
In the embodiment, when a vehicle parking instruction is received, an environment area image around a vehicle is collected, whether an obstacle exists in the environment area image is judged, if the obstacle does not exist, a first relative distance between the environment area image and a target parking space is determined according to the environment area image, parking garage-entry path information is determined according to a preset collision point constraint condition and the first relative distance, and finally vehicle control is performed according to the parking garage-entry path information to achieve parking operation. Compared with the prior art, the parking lot background management and scheduling system needs to send an instruction to the vehicle from the cloud end to guide the vehicle to automatically run to complete the parking operation, but the system is high in implementation difficulty, complex in operation process and high in cost.
Referring to fig. 3, fig. 3 is a diagram illustrating a second embodiment of the autonomous valet parking method according to the present invention, based on the first embodiment of the autonomous valet parking method.
In the second embodiment, the step S30 of the autonomous valet parking method further includes:
step S301: and if the obstacle does not exist, determining the position information of the idle parking space and the current vehicle information according to the environment area image.
Whether there is free parking stall in the looking for of environment regional image, free parking stall is the parking stall that can convenience of customers parks, has a plurality of parking stalls in environment regional image, but some parking stalls have the vehicle to park, consequently, need screen in a plurality of parking stalls in environment regional image to obtain free parking stall, and carry out the circle drawing with free parking stall with the wire frame in environment regional image, free parking stall can be single, also can be a plurality of etc..
The position information of the idle parking spaces is parking space coordinate information of the idle parking spaces obtained in the images through an image transformation principle, and the current vehicle information is vehicle coordinate information obtained through the image transformation principle or other positioning modes.
Step S302: and judging whether the idle parking space meets a preset parking condition or not according to the position information and the current vehicle information.
The preset parking condition can be the area of an idle parking space, the size of the idle parking space and the like, and the current vehicle information can be the area of a vehicle or the size of the vehicle and the like.
In addition, because the parking stall area that acquires can have the inconsistent circumstances of proportion with the vehicle area in the image, can utilize processing methods such as image transformation principle or coordinate conversion formula for the parking stall area is unanimous with vehicle area proportion, so that look for the target parking stall that accords with the parking condition of predetermineeing.
Step S303: and when the free parking space meets the preset parking condition, taking the free parking space as a target parking space so as to determine a first relative distance between the free parking space and the target parking space.
The target parking space is a parking space which can be normally parked and is selected by a user according to a plurality of idle parking spaces, the size of the idle parking space can be compared with the size of the current vehicle by calculating the size of the idle parking space, and if the size of the idle parking space is larger than the size of the current vehicle or the parking size requirement of the current vehicle is met, the idle parking space is judged to be the target parking space.
The step of determining the first relative distance between the parking space and the target parking space comprises the steps of determining position information and current vehicle information of an idle parking space according to the environment area image, then judging whether the idle parking space meets a preset parking condition or not according to the position information and the current vehicle information, and taking the idle parking space as the target parking space when the idle parking space meets the preset parking condition so as to determine the first relative distance between the parking space and the target parking space.
Further, when no parking space is searched in the current position or the free parking space does not meet the preset parking condition, acquiring a lane image corresponding to the current vehicle, determining a second relative distance between the lane image and a lane line and vehicle course angle information according to the lane image, namely, if the current position has no available parking space, analyzing and calculating the lane image acquired by the forward camera by using an image processing technology by the control unit, identifying the lane line, obtaining the distance between the vehicle and the lane line and the course angle information, and accurately positioning the position and the posture of the vehicle in the lane. Therefore, the transverse attitude control and the longitudinal speed control are carried out on the vehicle, so that the vehicle automatically drives forwards at a constant speed along with a lane line in a lane, and the parking space is continuously searched.
The step of determining the second relative distance to the lane line and the vehicle course angle information according to the lane image comprises the steps of carrying out edge detection processing on the lane image to obtain a binary image of the lane line, carrying out lane line fitting processing on the binary image, calculating corresponding lane line fitting parameters through a least square solving formula, and determining the second relative distance to the lane line and the vehicle course angle information according to the lane line fitting parameters.
And controlling the transverse attitude of the vehicle and the longitudinal speed of the vehicle according to the second relative distance and the vehicle course angle information.
The vehicle transverse attitude control and the vehicle longitudinal speed control are implemented by solving steering wheel angle control quantity according to an included angle between a vehicle longitudinal axis and a lane line (namely the heading angle), controlling the vehicle steering according to the steering wheel angle control quantity to keep the vehicle and the lane line parallel, controlling the speed, reading the vehicle speed, controlling the acceleration and deceleration value of the vehicle and keeping the vehicle running forwards at a constant speed.
After the step of controlling the transverse attitude of the vehicle and the longitudinal speed of the vehicle according to the second relative distance and the vehicle course angle information, controlling the vehicle to run forwards and continuously searching for parking spaces, acquiring the running distance of the current vehicle, judging whether the running distance is greater than a preset distance threshold value, controlling the current vehicle to enter a parking waiting state when the running distance is greater than the preset distance threshold value, and sending current parking state information to a user terminal.
In this embodiment, first, position information and current vehicle information of an empty parking space are determined according to the environment area image, whether the empty parking space meets a preset parking condition is determined according to the position information and the current vehicle information, and then, when the empty parking space meets the preset parking condition, the empty parking space is used as a target parking space, so as to determine a first relative distance between the empty parking space and the target parking space. Compared with the prior art, the parking spaces suitable for the vehicles need to be checked singly, the process is complicated, and the first relative distance between the target parking space and the free parking space is determined by judging whether the free parking space meets the preset parking condition according to the position information and the current vehicle information, so that the searching efficiency is improved, and the target parking space can be determined accurately.
In addition, an embodiment of the present invention further provides a storage medium, where an autonomous valet parking program is stored on the storage medium, and the autonomous valet parking program, when executed by a processor, implements the steps of the autonomous valet parking method described above.
In addition, referring to fig. 4, an embodiment of the present invention further provides an autonomous valet parking apparatus, where the autonomous valet parking apparatus includes:
the acquisition module 4001 is used for acquiring an environmental area image around a vehicle when a vehicle parking instruction is received;
a judging module 4002, configured to judge whether an obstacle exists in the environment area image;
a determining module 4003, configured to determine a first relative distance to a target parking space according to the environment area image when the obstacle is not present;
the determining module 4004 is configured to determine parking-in-garage path information according to a preset collision point constraint condition and the first relative distance;
and the control module 4005 is configured to perform vehicle control according to the parking garage entry path information to implement a parking operation.
In the embodiment, when a vehicle parking instruction is received, an environment area image around a vehicle is collected, whether an obstacle exists in the environment area image is judged, if the obstacle does not exist, a first relative distance between the environment area image and a target parking space is determined according to the environment area image, parking and warehousing path information is determined according to a preset collision point constraint condition and the first relative distance, and finally vehicle control is performed according to the parking and warehousing path information to achieve parking operation. Compared with the prior art, the parking lot background management and scheduling system needs to send an instruction to the vehicle from the cloud end to guide the vehicle to automatically run to complete the parking operation, but the system is high in implementation difficulty, complex in operation process and high in cost.
Other embodiments or specific implementation manners of the autonomous passenger-assistant parking device of the invention can refer to the above method embodiments, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering and these words may be interpreted as names.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (8)
1. An autonomous valet parking method is characterized by comprising the following steps:
when a vehicle parking instruction is received, acquiring an environmental area image around a vehicle;
judging whether an obstacle exists in the environment area image or not;
if the obstacle does not exist, determining a first relative distance between the target parking space and the environment area image;
determining parking and warehousing path information according to a preset collision point constraint condition and the first relative distance;
controlling the vehicle according to the parking and warehousing path information to realize parking operation;
wherein the step of determining a first relative distance to a target parking space from the environment area image comprises:
determining the position information of an idle parking space and the current vehicle information according to the environment area image;
judging whether the free parking space meets a preset parking condition or not according to the position information and the current vehicle information;
when the free parking space does not meet the preset parking condition, acquiring a lane image corresponding to the current vehicle;
determining a second relative distance between the lane image and a lane line and vehicle course angle information according to the lane image;
controlling the transverse attitude of the vehicle and the longitudinal speed of the vehicle according to the second relative distance and the vehicle course angle information;
and when the free parking space meets the preset parking condition, taking the free parking space as a target parking space so as to determine a first relative distance between the free parking space and the target parking space.
2. The method according to claim 1, wherein the step of determining parking-garage path information according to the preset collision point constraint condition and the first relative distance comprises:
acquiring a parking space warehousing angle coordinate of the target parking space;
determining the relative position relation between the parking space warehousing angle coordinate and the current vehicle information;
and determining parking garage entry path information according to the first relative distance, the relative position relation and the parking garage entry angle coordinate.
3. The method of claim 1, wherein the step of determining a second relative distance to a lane line and vehicle heading angle information from the lane image comprises:
performing edge detection processing on the lane image to obtain a binary image of a lane line;
performing lane line fitting processing on the binary image to obtain corresponding lane line fitting parameters;
and determining a second relative distance between the vehicle and the lane line and vehicle course angle information according to the lane line fitting parameters.
4. The method of claim 1, wherein the step of performing vehicle lateral attitude control and vehicle longitudinal speed control based on the second relative distance and the vehicle heading angle information is further followed by:
acquiring the driving distance of the current vehicle;
judging whether the driving distance is greater than a preset distance threshold value or not;
and when the driving distance is greater than the preset distance threshold value, controlling the current vehicle to enter a parking waiting state, and sending current parking state information to the user terminal.
5. The method of claim 1, wherein the step of determining whether the obstacle exists in the image of the environmental area is followed by the step of:
if the obstacle exists, controlling the current vehicle to enter a parking waiting state, and acquiring the waiting time of the current vehicle;
judging whether the waiting time length is greater than a preset waiting time length threshold value or not;
and when the waiting time is longer than the preset waiting time threshold, sending the current parking state information to a user terminal.
6. An autonomous valet parking apparatus, comprising:
the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring an environmental area image around a vehicle when a vehicle parking instruction is received;
the judging module is used for judging whether an obstacle exists in the environment area image;
the judging module is used for determining a first relative distance between the judging module and a target parking space according to the environment area image when the obstacle does not exist;
the determining module is used for determining parking and warehousing path information according to a preset collision point constraint condition and the first relative distance;
the control module is used for controlling the vehicle according to the parking and warehousing path information so as to realize parking operation;
the determining module is further used for determining the position information of the idle parking space and the current vehicle information according to the environment area image; judging whether the free parking space meets a preset parking condition or not according to the position information and the current vehicle information; when the free parking space does not meet the preset parking condition, acquiring a lane image corresponding to the current vehicle; determining a second relative distance between the lane image and a lane line and vehicle course angle information according to the lane image; controlling the transverse attitude of the vehicle and the longitudinal speed of the vehicle according to the second relative distance and the heading angle information of the vehicle; and when the free parking space meets the preset parking condition, taking the free parking space as a target parking space so as to determine a first relative distance between the free parking space and the target parking space.
7. An autonomous valet parking apparatus, comprising: a memory, a processor and an autonomous valet parking program stored on the memory and executable on the processor, the autonomous valet parking program implementing the steps of the autonomous valet parking method according to any of claims 1 to 5 when executed by the processor.
8. A storage medium having stored thereon an autonomous valet parking program which, when executed by a processor, implements the steps of the autonomous valet parking method of any of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010806265.6A CN111976720B (en) | 2020-08-12 | 2020-08-12 | Autonomous passenger-replacing parking method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010806265.6A CN111976720B (en) | 2020-08-12 | 2020-08-12 | Autonomous passenger-replacing parking method, device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111976720A CN111976720A (en) | 2020-11-24 |
| CN111976720B true CN111976720B (en) | 2023-03-14 |
Family
ID=73435242
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010806265.6A Active CN111976720B (en) | 2020-08-12 | 2020-08-12 | Autonomous passenger-replacing parking method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111976720B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112562411B (en) * | 2020-12-04 | 2022-04-22 | 中国联合网络通信集团有限公司 | Method and system for acquiring autonomous passenger-riding parking video |
| CN112509354B (en) * | 2020-12-08 | 2022-03-11 | 广州小鹏自动驾驶科技有限公司 | Parking space detection method and device, vehicle and readable medium |
| CN113129631A (en) * | 2021-03-30 | 2021-07-16 | 中国联合网络通信集团有限公司 | Autonomous parking method, vehicle terminal and edge server |
| CN113147743A (en) * | 2021-04-27 | 2021-07-23 | 东风汽车集团股份有限公司 | Automatic parking method, system and storage medium |
| CN113104033B (en) * | 2021-05-11 | 2022-06-03 | 东风柳州汽车有限公司 | Low-speed automatic driving method, device, equipment and storage medium |
| CN113323466B (en) * | 2021-08-02 | 2021-10-29 | 云泊智控(南京)信息科技有限公司 | Double-station elevator stereo garage based on space utilization and control system |
| CN113781300B (en) * | 2021-08-17 | 2023-10-13 | 东风汽车集团股份有限公司 | Vehicle vision positioning method for long-distance autonomous parking |
| CN113830076B (en) * | 2021-09-17 | 2023-12-19 | 东风柳州汽车有限公司 | Parking method, device, equipment and storage medium |
| CN113870613B (en) * | 2021-10-14 | 2022-09-30 | 中国第一汽车股份有限公司 | Parking space determination method and device, electronic equipment and storage medium |
| CN114506383B (en) * | 2022-02-23 | 2023-06-27 | 奇瑞汽车股份有限公司 | Steering wheel alignment control method, device, terminal, storage medium and product |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108320569A (en) * | 2018-01-15 | 2018-07-24 | 京东方光科技有限公司 | A kind of parking navigation method, apparatus and system |
| CN110271539A (en) * | 2019-07-22 | 2019-09-24 | 重庆长安汽车股份有限公司 | A kind of automatic vertical is parked control system |
| CN110390832A (en) * | 2019-06-25 | 2019-10-29 | 东风柳州汽车有限公司 | Automatic valet parking method |
| CN110466502A (en) * | 2018-05-11 | 2019-11-19 | 广州汽车集团股份有限公司 | A kind of valet parking method and apparatus |
| CN111137279A (en) * | 2020-01-02 | 2020-05-12 | 广州赛特智能科技有限公司 | Port unmanned truck collection station parking method and system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180143641A1 (en) * | 2016-11-23 | 2018-05-24 | Futurewei Technologies, Inc. | Motion controlling method for an autonomous vehicle and a computer device |
-
2020
- 2020-08-12 CN CN202010806265.6A patent/CN111976720B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108320569A (en) * | 2018-01-15 | 2018-07-24 | 京东方光科技有限公司 | A kind of parking navigation method, apparatus and system |
| CN110466502A (en) * | 2018-05-11 | 2019-11-19 | 广州汽车集团股份有限公司 | A kind of valet parking method and apparatus |
| CN110390832A (en) * | 2019-06-25 | 2019-10-29 | 东风柳州汽车有限公司 | Automatic valet parking method |
| CN110271539A (en) * | 2019-07-22 | 2019-09-24 | 重庆长安汽车股份有限公司 | A kind of automatic vertical is parked control system |
| CN111137279A (en) * | 2020-01-02 | 2020-05-12 | 广州赛特智能科技有限公司 | Port unmanned truck collection station parking method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111976720A (en) | 2020-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111976720B (en) | Autonomous passenger-replacing parking method, device, equipment and storage medium | |
| US10392009B2 (en) | Automatic parking system and automatic parking method | |
| EP3343438A1 (en) | Automatic parking system and automatic parking method | |
| CN110126820B (en) | Automatic parking system, parking method and vehicle | |
| CN110696822A (en) | Automatic parking control method, device, equipment and storage medium | |
| CN111746504B (en) | Memory parking method, system, device and computer readable storage medium | |
| US10850739B2 (en) | Automatic lane change with lane-biased strategy | |
| US20220274588A1 (en) | Method for automatically parking a vehicle | |
| US11691619B2 (en) | Automatic parking system and automatic parking method | |
| WO2022057238A1 (en) | Remote control parking control method and device, vehicle, and storage medium | |
| CN113561963B (en) | Parking method and device and vehicle | |
| CN112216136A (en) | Parking space detection method and device, vehicle and storage medium | |
| CN112419776B (en) | Autonomous parking method and device, automobile and computing equipment | |
| CN112224198A (en) | Parking space parking method and device, vehicle and storage medium | |
| CN111071248B (en) | Intelligent parking method based on electronic power-assisted brake | |
| CN112172793B (en) | Parking path planning method and device, vehicle and storage medium | |
| CN110333725B (en) | Method, system, equipment and storage medium for automatically driving to avoid pedestrians | |
| CN113096433A (en) | Autonomous parking method and device based on vehicle-road cooperation and storage medium | |
| CN112406855A (en) | Automatic parking method and device, vehicle and storage medium | |
| CN113724525B (en) | Automatic passenger-replacing patrol type parking method and system based on big data platform and storage device | |
| CN112224197B (en) | Method and device for detecting parking space during reversing, vehicle and storage medium | |
| CN114511834A (en) | Method and device for determining prompt information, electronic equipment and storage medium | |
| CN114303181A (en) | Mobile body and mobile body control method | |
| US11904847B2 (en) | Automatic parking system, automatic parking method, and storage medium | |
| CN113460039B (en) | Parking control method, vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |