CN112721915A - Parking assist method, parking assist apparatus, vehicle, and storage medium - Google Patents
Parking assist method, parking assist apparatus, vehicle, and storage medium Download PDFInfo
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- CN112721915A CN112721915A CN202011560866.XA CN202011560866A CN112721915A CN 112721915 A CN112721915 A CN 112721915A CN 202011560866 A CN202011560866 A CN 202011560866A CN 112721915 A CN112721915 A CN 112721915A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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Abstract
The invention provides a parking assisting method, a parking assisting device, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring a backing image of a vehicle; determining a parking space symmetry line of a parking space according to the reversing image; determining a vehicle positioning line along the length direction of the vehicle; and generating auxiliary parking information according to the relative position information of the vehicle positioning line and the parking space symmetrical line. The technical scheme provided by the invention aims to calculate the relative position between the vehicle and the parking space in real time through the vehicle positioning line and the parking space symmetrical line, give clear and visual prompt, judge the reversing direction and distance without depending on the experience of a driver, reduce the driving difficulty while ensuring the reversing precision, and ensure that materials can be accurately placed in the designated position.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle auxiliary parking method, an auxiliary parking device, a vehicle and a computer-readable storage medium.
Background
When a loading and unloading automobile unloads materials, reversing centering is mainly realized in a mode of combining sensor data such as reversing images and reversing radars with experience of a driver, and centering precision is often limited by the experience of the driver. When the special scene with higher centering precision requirement is faced, for example, under a field environment, a loading and unloading automobile needs to accurately put materials into a warehouse, the precondition is that the centering deviation between the longitudinal axis of the automobile and the center of the cylindrical material warehouse is required to be not more than plus or minus ten centimeters, and under the condition, the centering precision requirement is difficult to meet only by a backing centering mode of driver experience.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first aspect of the invention proposes a method for assisted parking of a vehicle.
A second aspect of the present invention is to provide a parking assist apparatus.
A third aspect of the invention is directed to a vehicle.
A fourth aspect of the invention is directed to a computer-readable storage medium.
In view of the above, according to a first aspect of the present invention, there is provided a parking assist method for a vehicle, the parking assist method comprising: acquiring a backing image of a vehicle; determining a parking space symmetry line of a parking space according to the reversing image; determining a vehicle positioning line along the length direction of the vehicle; and generating auxiliary parking information according to the relative position information of the vehicle positioning line and the parking space symmetrical line.
In the above technical solution, further, according to the relative position information of the vehicle positioning line and the parking space symmetry line, the step of generating the auxiliary parking information specifically includes: determining an included angle between a vehicle positioning line and a parking space symmetrical line; based on the included angle being greater than or equal to the angle threshold, generating first adjustment information according to the difference between the included angle and the angle threshold; determining a first distance from a positioning point on a vehicle positioning line to a parking place symmetry line based on the included angle being smaller than the angle threshold; and generating backing information or second adjusting information according to the first distance.
In any of the above technical solutions, further, the step of generating the reversing information or the second adjustment information according to the first distance specifically includes: comparing the first distance with a preset distance range; generating reversing information based on the first distance meeting a preset distance range; and generating second adjustment information according to the first distance and the preset distance range based on the fact that the first distance exceeds the preset distance range.
In any of the above technical solutions, further, the parking assist method further includes: determining a reversing track according to the first adjustment information or the second adjustment information; and generating and displaying a reversing image according to the reversing image and the reversing track.
In any of the above technical solutions, further, the parking assist method further includes: and controlling the vehicle to execute the reversing operation according to the reversing track.
In any of the above technical solutions, further, the step of determining the parking space identification line according to the reversing image specifically includes: carrying out image preprocessing on the reversing image; identifying a parking space identification line in the parking space length direction in the reversing image; and determining a parking space symmetry line according to the parking space identification line.
In any of the above technical solutions, further, the parking assist method further includes: identifying a stop line of a parking space in the reversing image; determining a second distance between the vehicle and the stop line according to the reversing image; and generating parking information based on the second distance being less than the distance threshold.
According to a second aspect of the present invention, there is provided a parking assist apparatus, a camera device; a memory storing a computer program; and a processor connected to the image pickup device and the memory, wherein the processor executes the computer program to perform the steps of the parking assist method for a vehicle according to the first aspect.
According to a third aspect of the present invention, there is provided a vehicle comprising: the parking assist apparatus according to the second aspect is capable of executing the following steps when the parking assist apparatus executes the computer program: acquiring a backing image of a vehicle; determining a parking space symmetry line of a parking space according to the reversing image; determining a vehicle positioning line along the length direction of the vehicle; determining relative position information between the vehicle and the parking space according to the vehicle positioning line and the parking space symmetry line; and generating auxiliary parking information according to the relative position information.
According to a fourth aspect of the present invention, a computer-readable storage medium is proposed, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for assisted parking of a vehicle as proposed in the first aspect.
According to the technical scheme, the parking space identification lines of the parking spaces are preset on the ground according to the size characteristics of the vehicle, when the vehicle backs, the backing image of the vehicle is obtained, and after the backing image is determined to cover the parking space area, the parking space symmetry lines of the parking spaces in the backing image are determined. Meanwhile, a positioning line along the length direction of the vehicle, namely a line perpendicular to the direction from the top to the bottom of the vehicle, is determined according to the installation position of the reversing image or a camera device used for shooting the reversing image. And estimating the offset of the vehicle positioning line and the parking space symmetrical line when the vehicle enters the parking space according to the relative position information of the vehicle positioning line and the parking space symmetrical line, and generating corresponding auxiliary parking information so as to guide a driver to control the direction and the distance of backing the vehicle. According to the auxiliary parking method, on one hand, the difference between the vehicle and the parking space can be calculated in real time through the vehicle positioning line and the parking space symmetry line, clear and visual prompts are given, the reversing direction and distance are judged without depending on the experience of a driver, the reversing precision is guaranteed, the driving difficulty is reduced, and materials can be accurately placed in a designated position; on the other hand, the vehicle is positioned in a backing mode through the two-dimensional image, devices such as a radar and a GPS are not needed, the system deployment cost is reduced, off-line positioning can be achieved, and the system application range is expanded.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 shows a schematic flow diagram of a method for assisted parking of a vehicle according to an embodiment of the invention;
fig. 2 shows a schematic flow chart of a parking assist method of a vehicle according to still another embodiment of the present invention;
FIG. 3 is a flow chart illustrating a method for parking assist of a vehicle according to yet another embodiment of the present invention;
FIG. 4 is a flow chart illustrating a method for parking assist of a vehicle according to yet another embodiment of the present invention;
fig. 5 is a flowchart illustrating a parking assist method of a vehicle according to still another embodiment of the present invention;
FIG. 6 shows a flow diagram of a method of reverse centering of a vehicle according to one embodiment of the invention;
FIG. 7 shows a reverse centering diagram of an embodiment of the present invention;
fig. 8 shows a schematic block diagram of a parking assist apparatus according to an embodiment of the present invention.
The reference numbers illustrate:
the system comprises a 10-vehicle camera, a 12-vehicle positioning line, a 20-parking space camera, a 22-parking space symmetry line camera, a 24-stop line camera, a 30-material storage, a 32-circle mark camera and a 702 camera.
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
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A parking assist method, a parking assist apparatus, a vehicle, and a computer-readable storage medium of the vehicle according to some embodiments of the present invention are described below with reference to fig. 1 to 8.
Example 1:
as shown in fig. 1, according to an embodiment of a first aspect of the present invention, there is provided a parking assist method for a vehicle, the method including:
102, acquiring a reversing image of a vehicle;
104, determining a parking space symmetrical line along the length direction of the parking space according to the reversing image;
and 108, generating auxiliary parking information according to the relative position information of the vehicle positioning line and the parking space symmetry line.
In the embodiment, the parking space identification lines of the parking spaces are preset on the ground according to the size characteristics of the vehicle, when the vehicle backs, the backing image of the vehicle is obtained, and after the backing image is determined to cover the parking space area, the parking space symmetry lines of the parking spaces in the backing image are determined. Meanwhile, a positioning line along the length direction of the vehicle, namely a line perpendicular to the direction from the top to the bottom of the vehicle, is determined according to the installation position of the reversing image or a camera device used for shooting the reversing image. And predicting the deflection/offset of the vehicle positioning line and the parking space symmetrical line when the vehicle enters the parking space according to the relative position information of the vehicle positioning line and the parking space symmetrical line, and generating corresponding auxiliary parking information so as to guide a driver to control the direction and the distance of backing the vehicle. According to the auxiliary parking method, on one hand, the difference between the vehicle and the parking space can be calculated in real time through the vehicle positioning line and the parking space symmetry line, clear and visual prompts are given, the reversing direction and distance are judged without depending on the experience of a driver, the reversing precision is guaranteed, the driving difficulty is reduced, and materials can be accurately placed in a designated position; on the other hand, the vehicle is positioned in a backing mode through the two-dimensional image, devices such as a radar and a GPS are not needed, the system deployment cost is reduced, off-line positioning can be achieved, and the system application range is expanded.
It should be noted that the camera device for shooting the reverse image may be disposed at the top of the reverse scene, at this time, the reverse image is a two-dimensional scene bird's-eye view, and can contain position information of the vehicle, the parking space, and the like, and the positions of the vehicle positioning line and the parking space symmetrical line can be determined through the reverse image. The camera device can also be arranged at the tail part of the vehicle, at the moment, the reversing image displays the view angle of the tail part of the vehicle, the position of the parking space symmetrical line is determined according to the reversing image, and the position of the vehicle positioning line is determined according to the installation position of the camera device, wherein the vehicle positioning line can be a vehicle body symmetrical line, frame lines on two sides of the vehicle body and the like, and can be reasonably arranged according to requirements.
Specifically, in a scene where the material needs to be accurately put into the warehouse in the field environment, as shown in fig. 7, a circular mark 32 for marking the material warehouse 30 is firstly adhered to the ground. And then, a parking space identification line is arranged, the short edge (the parking space identification line in the parking space width direction) of the parking space 20 is tangent to the circular identification 32 of the material warehouse 30, and two side edges (the parking space identification line in the parking space length direction) of the parking space 20 are parallel to each other and are perpendicular to the short edge. The symmetry line of the parking space (the center line of the short side) in the length direction of the parking space 20 and the center of the circular mark 32 of the material storage 30 are aligned. Therefore, when the vehicle positioning line and the parking space symmetrical line meet a certain position relation, the vehicle 10 in the parking space can accurately put the materials into the material warehouse 30.
Example 2:
as shown in fig. 2, according to an embodiment of a first aspect of the present invention, there is provided a parking assist method for a vehicle, the method including:
step 212, generating first adjustment information according to the difference value between the included angle and the angle threshold, and entering step 206;
In the embodiment, the included angle between the vehicle positioning line and the parking space symmetry line is calculated through the backing image. If the included angle is larger than or equal to the angle threshold, it indicates that the vehicle deflects relatively greatly relative to the parking space and needs to be adjusted, and first adjustment information is generated according to the difference value of the included angle and the angle threshold so as to prompt a driver to adjust the direction and the angle of the vehicle. If the included angle is smaller than the angle threshold value, the fact that the vehicle positioning line and the parking space symmetric line are close to be parallel is shown, the vehicle deflects relatively little relative to the parking space, and then the first distance from the positioning point on the vehicle positioning line to the parking space symmetric line is calculated to judge the horizontal displacement between the vehicle and the parking space. If the first distance meets the preset distance range, the vehicle can be poured into the parking space, and at the moment, the backing information is generated to inform a driver that the steering wheel is back to the original position. If the first distance exceeds the preset distance range, the situation that the vehicle can deviate from the position of the parking space after reversing is shown, and second adjustment information is generated according to the part of the first distance exceeding the preset distance range so as to remind a driver to adjust the posture of the vehicle body until the condition is met. On one hand, the included angle and the distance between the vehicle positioning line and the parking space symmetry line are utilized to position the relative position of the parking space and the vehicle, and a driver is prompted to assist in parking, so that the situation that the driver judges the parking position by means of self experience is avoided, the parking precision is guaranteed, the driving difficulty is reduced, and materials can be accurately placed in the designated position; on the other hand, complex camera and vehicle coordinate conversion is not needed, the calculation is simple, and the realization is easy.
Specifically, the angle threshold value can be reasonably set according to the size of the parking space and the backing and warehousing requirement, and the preset distance range can be reasonably set according to the vehicle positioning line and the parking space symmetry line, for example, if the vehicle positioning line is the symmetry line of the vehicle body, the preset distance range floats up and down on the basis of 0, and if the vehicle positioning line is the frame lines on two sides of the vehicle body, the preset distance range floats up and down on the basis of half of the width of the vehicle body.
In addition, considering the condition that the vehicle positioning line and the parking space symmetrical line are not parallel, the vehicle positioning line comprises a plurality of positioning points, the distance from the positioning point positioned at the head or the tail of the vehicle to the parking space symmetrical line is used as a first distance, namely the maximum distance from the positioning point within the vehicle length range to the parking space symmetrical line, so that whether the first distance meets the preset distance range or not is accurately judged, and the positioning accuracy is ensured.
Example 3:
as shown in fig. 3, according to an embodiment of the present invention, there is provided a parking assist method of a vehicle, the method including:
step 330, generating and displaying a reversing image according to the reversing image and the reversing track, and entering step 318.
In the embodiment, after the adjustment information is generated, the reversing track which can enable the vehicle to meet the position condition is analyzed according to the deflection angle or the offset of the vehicle positioning line and the parking space symmetry line in the adjustment information. And generating and displaying a reversing image according to the reversing image and the reversing track. Thereby provide audio-visual, accurate guide of backing a car for the driver, further reduce the degree of difficulty of backing a car, can provide accurate environment behind the car moreover, reduce the blind area of backing a car, guarantee driving safety.
Further, for a vehicle with automatic control for reversing, the parking assist method further comprises: the vehicle is controlled to execute the backing operation according to the backing track, and the driver is not required to control the vehicle to turn or move on the basis of ensuring the vehicle to be accurately guided into the garage, so that the backing efficiency is effectively improved.
Example 4:
as shown in fig. 4, according to an embodiment of the present invention, there is provided a parking assist method of a vehicle, the method including:
In the embodiment, a stop line is arranged on the ground of the parking space area in advance, the stop line in the reversing image is identified in the reversing process, and a second distance between the vehicle and the stop line is calculated through a visual algorithm. If the second distance is smaller than the distance threshold value, the vehicle is shown to reach the target stop position, and then parking information is generated to inform a driver to execute parking operation, so that the accuracy of unloading the vehicle is improved, and the driver is effectively assisted in backing up and centering. If the second distance is larger than or equal to the distance threshold, the vehicle does not reach the target stop position, and the vehicle needs to continue to reverse.
Example 5:
as shown in fig. 5, according to an embodiment of the present invention, there is provided a parking assist method of a vehicle, the method including:
502, acquiring a backing image of a vehicle;
and step 512, generating auxiliary parking information according to the relative position information of the vehicle positioning line and the parking space symmetry line.
In the embodiment, the parking space identification lines of the parking spaces are preset on the ground according to the size characteristics of the vehicle, and when the vehicle backs, the backing image of the vehicle is obtained. After the reversing image is determined to cover the parking space area, image preprocessing is carried out on the reversing image so as to eliminate interference items such as backgrounds in the image and highlight parking space identification lines. And identifying the parking space identification lines in the reversing image by using a visual algorithm, and screening out two parking space identification lines along the length direction of the parking space, namely the parking space identification lines corresponding to the two sides of the vehicle body. According to the two parking space identification lines, the parking space symmetrical lines along the length direction of the parking space can be positioned. Thereby utilize the contained angle and the distance of vehicle location line and parking stall line of symmetry, the relative position of location parking stall and vehicle to give the suggestion of driver's supplementary parking, avoid the driver to rely on self experience to judge the position of backing a car, when guaranteeing the precision of backing a car, reduce the driving degree of difficulty, can effectual supplementary driver centering of backing a car.
Specifically, the image preprocessing includes: gradient correction processing, denoising processing, binarization processing, and the like.
Example 6:
as shown in fig. 6, according to an embodiment of the present invention, there is provided a method for performing reverse alignment of a dump truck with a cylindrical underground material storage, the method including:
In this embodiment, as shown in fig. 7, a circular ground mark surrounding the cylindrical material warehouse 30 is firstly pasted on the ground, a parking space mark is designed according to the size characteristics (length and width) of the dump truck, the short side of the parking space mark is tangent to the circular mark 32, and the two side edges are parallel to each other and perpendicular to the short side, so that the parking space symmetry line 22 is necessarily on the same straight line with the center of the circular mark 32 of the material warehouse 30. A reversing camera 702 is arranged in a longitudinal axis area (the position of a vehicle positioning line 12) at the tail of the dump truck, and the camera 702 is connected with a display screen in a cab to feed back the rear state of the vehicle 10 and the relative position information of the vehicle 10 and the parking space 20 in real time. When the vehicle 10 reaches the reversing starting position and starts to reverse, the reversing camera 702 starts to acquire images, the view field of the camera 702 can cover the parking space identification area in the reversing process, the image algorithm is adopted to extract the parking space identification lines, the interference lines are filtered, and the identification lines on two sides of the parking space 20 are screened out. And calculating the angle and position information of the parking space symmetry line 22 according to the identification line. Since the camera 702 is installed on the longitudinal symmetry plane of the vehicle 10, the longitudinal symmetry line of the vehicle body is used as the vehicle positioning line 12 in the two-dimensional reverse image. And calculating the included angle theta and the relative position information of the vehicle positioning line 12 and the parking space symmetrical line 22 of the image. When the included angle theta is smaller than a small angle threshold phi, the offset distance D1 between the longitudinal symmetry line of the image and the parking space symmetry line 22 is calculated. If | D1| is not less than the lateral offset distance threshold S1, adjusting the attitude of the vehicle 10 and calculating again an adjusted D1; and if the absolute value D1 is smaller than the lateral deviation distance threshold value S1, the steering wheel is back to the right position and is directly backed into the garage.
Specifically, the ground sign lines in fig. 7 mainly include the following: a circle sign 32 of the circle stock 30, a ground sign of the parking spot 20, and a stop line 24. A. The two points B are mainly used to show the relative position relationship between the vehicle 10 and the parking space symmetry line 22 when the vehicle 10 is at the two position points, so as to assist the driver in adjusting the pose of the vehicle 10 and realize the accurate backing and warehousing point C. Therefore, the vision detection algorithm is fused into a reversing image system, the relative position of the vehicle 10 and the parking space 20 is detected in real time, and the relative position is fed back to a control screen in a cab in real time, so that the driver can be effectively assisted in reversing and centering. Moreover, complex coordinate conversion between the camera and the vehicle 10 is not needed, the calculation is simple, and the method is reliable. In addition, due to the fact that the circular mark 32 is pasted around the cylindrical material storage 30, when the short edge of the mark line of the parking space is tangent to the circular mark 32, the fact that the circle centers of the parking space symmetry line 22 and the circular mark 32 are on the same straight line is achieved, basis is provided for reversing and centering of the vehicle 10, and various reversing requirements are met.
Example 7:
as shown in fig. 8, according to an embodiment of the second aspect of the present invention, there is provided a parking assist apparatus 700 including: a camera 702, a memory 704, and a processor 706.
Specifically, the memory 704 stores a computer program, the processor 706 is connected to the camera 702 and the memory 704, and the processor 706 executes the computer program to implement the parking assist method for a vehicle according to the embodiment of the first aspect. The text desensitizing device thus has all the advantageous effects of the method for assisted parking of a vehicle of the embodiment of the first aspect.
Example 8:
according to an embodiment of the third aspect of the present invention, there is provided a vehicle including: the parking assist apparatus according to the second aspect.
Specifically, the parking assist apparatus, when executing the computer program, can execute the steps of: acquiring a backing image of a vehicle; determining a parking space symmetry line of a parking space according to the reversing image; determining a vehicle positioning line along the length direction of the vehicle; determining relative position information between the vehicle and the parking space according to the vehicle positioning line and the parking space symmetry line; and generating auxiliary parking information according to the relative position information.
In the embodiment, the parking space identification lines of the parking spaces are preset on the ground according to the size characteristics of the vehicle, when the vehicle backs, the backing image of the vehicle is obtained, and after the backing image is determined to cover the parking space area, the parking space symmetry lines of the parking spaces in the backing image are determined. Meanwhile, a positioning line along the length direction of the vehicle, namely a line perpendicular to the direction from the top to the bottom of the vehicle, is determined according to the installation position of the reversing image or a camera device used for shooting the reversing image. And estimating the offset of the vehicle positioning line and the parking space symmetrical line when the vehicle enters the parking space according to the relative position information of the vehicle positioning line and the parking space symmetrical line, and generating corresponding auxiliary parking information so as to guide a driver to control the direction and the distance of backing the vehicle. According to the auxiliary parking method, on one hand, the difference between the vehicle and the parking space can be calculated in real time through the vehicle positioning line and the parking space symmetry line, clear and visual prompts are given, the reversing direction and distance are judged without depending on the experience of a driver, the reversing precision is guaranteed, the driving difficulty is reduced, and materials can be accurately placed in a designated position; on the other hand, the vehicle is positioned in a backing mode through the two-dimensional image, devices such as a radar and a GPS are not needed, the system deployment cost is reduced, off-line positioning can be achieved, and the system application range is expanded.
Example 9:
according to an embodiment of a fourth aspect of the present invention, a computer-readable storage medium is proposed, on which a computer program is stored which, when being executed by a processor, performs the steps of the method for assisted parking of a vehicle as embodied in the first aspect. The computer-readable storage medium thus has all the advantageous effects of the method for parking assist of a vehicle according to the embodiment of the first aspect.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly and include, for example, fixed connections, detachable connections, or integral connections; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of assisted parking of a vehicle, comprising:
acquiring a reversing image of the vehicle;
determining a parking space symmetry line along the length direction of a parking space according to the reversing image;
determining a vehicle location line along the length of the vehicle;
and generating auxiliary parking information according to the relative position information of the vehicle positioning line and the parking space symmetry line.
2. The method for parking assist of a vehicle according to claim 1, wherein the step of generating the parking assist information according to the relative position information of the vehicle positioning line and the parking space symmetry line specifically includes:
determining an included angle between the vehicle positioning line and the parking space symmetry line;
based on the fact that the included angle is larger than or equal to an angle threshold value, generating first adjusting information according to the difference value of the included angle and the angle threshold value;
determining a first distance from a positioning point on a vehicle positioning line to the parking place symmetry line based on the included angle being smaller than the angle threshold value;
and generating backing information or second adjusting information according to the first distance.
3. The parking assistance method for the vehicle according to claim 2, wherein the step of generating the reverse information or the second adjustment information according to the first distance specifically includes:
comparing the first distance with a preset distance range;
generating the reversing information based on the first distance meeting the preset distance range;
and generating the second adjustment information according to the distance and the preset distance range based on the fact that the first distance exceeds the preset distance range.
4. The parking assist method for a vehicle according to claim 3, further comprising:
determining a reversing track according to the first adjustment information or the second adjustment information;
and generating and displaying a reversing image according to the reversing image and the reversing track.
5. The parking assist method according to claim 4, further comprising:
and controlling the vehicle to execute the reversing operation according to the reversing track.
6. The method for parking assistance of a vehicle according to any one of claims 1 to 5, wherein the step of determining the parking space identification line according to the reverse image specifically includes:
carrying out image preprocessing on the reversing image;
identifying a parking space identification line in the reversing image along the length direction of the parking space;
and determining the parking space symmetry line according to the parking space identification line.
7. The parking assist method for a vehicle according to any one of claims 1 to 5, further comprising:
identifying a stop line of the parking space in the reversing image;
determining a second distance between the vehicle and the stop line according to the reversing image;
and generating parking information based on the second distance being smaller than a distance threshold.
8. A parking assist apparatus, comprising:
a camera device;
a memory storing a computer program;
a processor connected to the camera and the memory, the processor executing the computer program to perform the steps of the method for parking assist of a vehicle according to any one of claims 1 to 7.
9. A vehicle, characterized by comprising:
the parking assist apparatus of claim 8, wherein the parking assist apparatus when executing the computer program is capable of performing the steps of:
acquiring a reversing image of the vehicle;
determining a parking space symmetry line along the length direction of a parking space according to the reversing image;
determining a vehicle location line along the length of the vehicle;
and generating auxiliary parking information according to the relative position information of the vehicle positioning line and the parking space symmetry line.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for assisted parking of a vehicle according to any one of claims 1 to 7.
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| CN202011560866.XA CN112721915A (en) | 2020-12-25 | 2020-12-25 | Parking assist method, parking assist apparatus, vehicle, and storage medium |
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