CN103600707A - Parking position detecting device and method of intelligent parking system - Google Patents
Parking position detecting device and method of intelligent parking system Download PDFInfo
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- CN103600707A CN103600707A CN201310545995.5A CN201310545995A CN103600707A CN 103600707 A CN103600707 A CN 103600707A CN 201310545995 A CN201310545995 A CN 201310545995A CN 103600707 A CN103600707 A CN 103600707A
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Abstract
The invention discloses a parking position detecting device of an intelligent parking system. The parking position detecting device comprises a sensor unit, a signal processing unit, and a man-machine interface unit. The sensor unit comprises four wide-angle cameras and an ultrasonic ranging sensor. The signal processing unit comprises an annular view generation module and a parking position detecting module. The man-machine interface unit comprises an output module used for displaying an annular view and detected garage positions, and an input module used for receiving various commands inputted by a driver. The parking position detecting module comprises a garage position line detection submodule, an obstacle vehicle detection submodule and a parking position output submodule. The invention further discloses a parking position detecting method of the intelligent parking system. A low-cost sensor scheme is adopted, accuracy and precision of parking position detection are improved by mixing distance value obtained by the ultrasonic ranging sensor with image information collected by the cameras, and parking positions can be effectively detected under multiple conditions that garage lines and obstacle vehicles exist on a ground.
Description
Technical field
The invention belongs to automobile technical field, relate to drive assist system, refer more particularly to parking position detecting device and the method for Intelligent parking system.
Background technology
Along with the increase of automobile pollution, parking stall growing tension, this problem of parking difficulty becomes more serious.For unfamiliar new hand, vehicle safety stop into parking position very difficult; Even for experienced chaufeur, it is not an easy thing that vehicle is stopped into narrow and small parking position yet.Developing intellectual resource parking system, is conducive to guarantee the safety of the process of parking, and improves traveling comfort and the convenience of the process of parking simultaneously.
Intelligent parking system generally comprises following module: parking position detection module, path planning module, tracking module, execution module and human-machine interface module.Parking position detection module is the basis of Intelligent parking system, affects to a great extent the performance of whole parking system.
At present, the parking position method of inspection of Intelligent parking system mainly comprises following three kinds: 1. utilize ultrasonic distance-measuring sensor to carry out parking position detection.Owing to there is fillet in vehicle front or rear end, be subject to the limitation of ultrasonic distance-measuring sensor self character, at fillet place, front and back end, there is the phenomenon that does not receive echo, this will cause the parking position detecting than actual bigger than normal; In addition, this method is not suitable for that ground exists warehouse compartment line but the situation of obstacle car before and after not having yet, as parking area etc.The auxiliary system that parks of Volkswagen utilizes the sonac that is arranged on bumper/spoiler both sides, when Vehicle Driving Cycle, vehicle both sides is scanned, and then is detected parking position.This system all has lift-launch in the vehicles such as way sight, Magotan, CC under masses.2. utilize laser radar to carry out parking position detection, its advantage is that accuracy of detection is high, but laser radar is with high costs.The patent CN10187849 of Honda Motor Co.'s application utilizes radar installation to send electromagnetic wave with specific time interval, according to the reception result of backward wave, detect the reflecting point that electromagnetic wave reflects on object, and according to pre-stored parking having or not of space from the body dimensions data of car and the arrangement of reflecting point judgement.3. utilize machine vision technique to carry out parking position detection, its difficult point is that image is vulnerable to the impact of the environmental conditionss such as shade, illumination.Wang Xudong has proposed the bright spot feature detection parking position based on Radon conversion and the method for extracting empty parking position based on interest window in " research of automatic parking method and system based on looking around ".Above scheme respectively has advantage, but Shortcomings still.
Summary of the invention
The object of the present invention is to provide a kind of parking position detecting device and method of Intelligent parking system, on ground, have warehouse compartment line and exist in the multiple situation of obstacle car parking position effectively to be detected.
For reaching above object, solution of the present invention is:
A parking position detecting device for Intelligent parking system, comprising: sensor unit: be positioned at camera and distance measuring sensor on automobile body; Signal processing unit: panoramic view generation module, parking position detection module; Man machine interface: output module is in order to show panoramic view and the warehouse compartment detecting, and load module is in order to accept the various instructions of chaufeur input.
Described parking position detection module comprises the bit line detection sub-module of parking, obstacle car detection sub-module, parking position output sub-module; The bit line detection sub-module of parking utilizes the ground bit line of parking to detect parking position; Obstacle car detection sub-module utilizes obstacle car test to survey parking position; Parking position output sub-module, according to the testing result of park bit line detection sub-module and obstacle car detection sub-module, is finally determined parking position.
Described sensor unit comprises four wide-angle cameras that are positioned at vehicle front side, rear side, left side, right side and the ultrasonic distance-measuring sensor that is positioned at vehicle both sides.
The installation site of described four cameras should guarantee four camera collections to picture cover vehicle's surroundings 360 degree regions, and adjacent two camera collections to picture have overlapping region.
Described man machine interface output module by the parking position Overlapping display detecting on panoramic view, if the parking position mal detecting or the wish that does not meet chaufeur, chaufeur can by load module adjustment park bit position and (or) direction, chaufeur change park bit position and (or) after direction, four angular coordinates of new parking position are outputed to the path planning module of Intelligent parking system.
The bit line detection sub-module of parking in the parking position detecting device of described Intelligent parking system is determined the method for parking position, comprises the steps: (1) image pretreatment; (2) from panoramic view, extract straight line; (3) straight line is carried out to post-processing, to retain line segment corresponding to ground parking position line, delete other mixed and disorderly line segments; (4) obtain rectangle parking position.
Obstacle car detection sub-module in the parking position detecting device of described Intelligent parking system is determined the method for parking position: according to the position of the front and back end profile of obstacle car, determine parking position.
First obstacle car front end profile position in global coordinate system adopts following methods to determine: distance value and vehicle posture information that (1) utilizes ultrasonic distance-measuring sensor to obtain, simulate the straight line corresponding to obstacle car side profile; (2), when the distance value generation positive transition of ultrasonic distance-measuring sensor, store this panoramic view constantly; (3) in panoramic view, set area-of-interest (ROI), make obstacle car front end profile be positioned at area-of-interest; (4) to described area-of-interest image gray processing, do rim detection, obtain the obstacle car front end profile coordinate of protruding point (the most front point) forward; (5) by the most front, to the straight line simulating, make vertical line, determine the position of obstacle car front end profile in global coordinate system;
If there are two obstacle cars, second obstacle car rear end profile position in global coordinate system adopts following methods to determine: distance value and vehicle posture information that (6) utilize ultrasonic distance-measuring sensor to obtain, simulate the straight line corresponding to obstacle car side profile; (2), when negative saltus step occurs the distance value of ultrasonic distance-measuring sensor, store this panoramic view constantly; (3) in panoramic view, set area-of-interest, make obstacle car rear end profile be positioned at area-of-interest; (4) to described area-of-interest image gray processing, do rim detection, obtain obstacle car front end profile backward protruding point be the coordinate of rearmost point; (5) by rearmost point, to the straight line simulating, make vertical line, determine the position of obstacle car rear end profile in global coordinate system.
Owing to having adopted technique scheme, the present invention has following beneficial effect: adopt low-cost sensor plan, the graphicinformation that the distance value obtaining by fusion ultrasonic distance-measuring sensor and camera collection arrive, improved accuracy and precision that parking position detects, and on ground, had warehouse compartment line and exist in the multiple situation of obstacle car and parking position can effectively be detected.
Accompanying drawing explanation
Fig. 1 is the parking position detecting device high-level schematic functional block diagram of Intelligent parking system of the present invention.
Fig. 2 is the diagram of circuit of the parking position method of inspection of Intelligent parking system of the present invention.
Fig. 3 is the arrangement of sensor on vehicle in the embodiment of the present invention.
Fig. 4 is the panoramic view that in the embodiment of the present invention, splicing generates.
Fig. 5 is the algorithm flow chart of the bit line detection sub-module of parking of the present invention.
Fig. 6 is the diagram of circuit of embodiment of the present invention cathetus post-processing approach.
Fig. 7 is the algorithm flow chart of obstacle car detection sub-module of the present invention.
Fig. 8 is the schematic diagram of global coordinate system and vehicle axis system in the present invention.
Fig. 9 is the diagram of circuit that first obstacle car front end profile of the present invention determined method.
Figure 10 is that in the embodiment of the present invention, first obstacle car front end profile determined method schematic diagram.
Figure 11 is by the design sketch of the parking position detecting Overlapping display in panoramic view in the embodiment of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing illustrated embodiment, the present invention is further illustrated.
Refer to Fig. 1 and Fig. 2.
1, sensor unit:
Sensor unit comprises: be positioned at four wide-angle cameras on vehicle front side, rear side, left side, right side and be positioned at the ultrasonic distance-measuring sensor of vehicle both sides.Wherein, the installation site of four cameras should guarantee four camera collections to picture cover vehicle's surroundings 360 degree regions, and adjacent two camera collections to picture have overlapping region.Ultrasonic distance-measuring sensor can be that left and right side is respectively arranged one, can be also that left and right side is arranged respectively a plurality of.In embodiment 1, front camera is arranged in to vehicle front grid place, left and right camera is arranged in back mirror place, left and right, and rear camera is arranged on vehicle back door; At back mirror place, left and right, a ultrasonic distance-measuring sensor is installed respectively.The arrangement of sensor on vehicle as shown in Figure 3.
2, panoramic view generation module
(1) correct distortion
In order to obtain larger field range, four cameras that are positioned at vehicle body surrounding in the present invention are used flake wide-angle camera.The image that fish-eye camera collects exists larger distortion, first needs it to carry out correcting distorted.
In embodiment 2, only consider radial distortion and the tangential distortion of pick up camera, the distortion of camera parameter obtaining according to demarcation, utilize following formula to four camera collections to image carry out respectively correcting distorted:
X
cor=x+x (k
1r
2+ k
2r
4+ k
3r
6)+[2p
1y+p
2(r
2+ 2x
2)] formula (2-1)
Y
cor=y+y (k
1r
2+ k
2r
4+ k
3r
6)+[p
1(r
2+ 2y
2)+2p
2x] formula (2-2)
Wherein, (x, y) is the original coordinates of a certain pixel; (x
cor, y
cor) be the coordinate of this pixel after correcting distorted;
[k
1, k
2, k
3] be radial distortion parameter; [p
1, p
2] be tangential distortion parameter.
(2) generate four width birds-eye views
The four width images of correcting after distortion are carried out respectively to contrary projective transformation, be converted into the birds-eye view of overlooking effect.
1) camera model
What camera imaging model was described is the imaging process of object, and the coordinate of any point in three-dimensional world system of axes is to the mathematics mapping relations between the coordinate of this imaging.
1. world coordinates is tied to the transformation relation of camera coordinate system
Wherein, the rotation matrix that R is 3 * 3; T is 3 * 1 translation vector;
For pick up camera is joined matrix, (X outward
w, Y
w, Z
w) be the coordinate of certain point in world coordinate system in space; (X
c, Y
c, Z
c) be this coordinate in camera coordinate system.
2. camera coordinates is tied to the transformation relation of image coordinate system
Wherein,
For pick up camera internal reference matrix; (x, y) is this coordinate in image coordinate system.
2) contrary perspective projection transformation
From formula (2-4), according to certain the coordinate (X of point in three-dimensional world system of axes
w, Y
w, Z
w) can calculate this coordinate (x, y) in image coordinate system, on the contrary can not.If but certain one dimension in known certain some three-dimensional coordinate can, according to the coordinate (x, y) in this dot image system of axes, calculate the another bidimensional of this three-dimensional coordinate.Inverse perspective mapping just refers to: the position corresponding relation of setting up the point in known plane in point in image coordinate system and three-dimensional world system of axes.
Set up following system of axes: choosing vehicle geometric center point, to be projected in straight down ground point be origin of coordinates O
w; Y
wdirection of principal axis is parallel to vehicle rear axle direction, points to vehicle left side for just; X
wperpendicular to Y
waxle, points to vehicle front for just; Perpendicular to ground, be Z facing up
waxle positive dirction.Using this system of axes as world coordinate system.Now suppose Z
w=0, suppose in image institute a little in three-dimensional world system of axes, all rest on the ground, utilize internal reference matrix and the outer ginseng matrix of four pick up cameras, to four camera acquisitions to image carry out respectively inverse perspective mapping, obtain overlooking the birds-eye view of effect.
(3) splicing generates panoramic view
By inverse perspective mapping, obtain the birds-eye view that four width are overlooked effect, the birds-eye view that adjacent camera obtains has the region that partially overlaps, and by alignment overlapping region, four width birds-eye views can be spliced into panoramic view.
First, set the field range of panoramic view.This has also just determined the zoom factor of birds-eye view;
Then, determine piece.Choose four straight lines in four width birds-eye view overlapping regions between any two as piece.
Finally, four width birds-eye views are cut out, spliced along the position of piece.
Fig. 4 is the panoramic view that in embodiment 2, splicing generates.
3, parking position detection module
Parking position detection module comprises the bit line detection sub-module of parking, obstacle car detection sub-module, parking position output sub-module.The bit line detection sub-module of parking utilizes the ground bit line of parking to detect parking position; Obstacle car detection sub-module utilizes obstacle car test to survey parking position; Parking position output sub-module, according to the testing result of park bit line detection sub-module and obstacle car detection sub-module, is finally determined parking position.
(1) the bit line detection sub-module of parking
The algorithm flow chart of the bit line detection sub-module of parking as shown in Figure 5.
1) image pretreatment
Panoramic view is carried out to gray processing, cromogram is become to gray-scale map.Again gray-scale map is carried out to medium filtering, reduce the noise in image.
2) extract straight line
1. rim detection
In embodiment 3, use canny operator to carry out rim detection to gray-scale map.Canny edge detection operator is used two threshold values, if the gradient of a pixel is greater than upper limit threshold, is considered to edge pixel, if lower than lower threshold, be abandoned, if between between the two, only have when it and just can be accepted when pixel higher than upper limit threshold is connected.
In embodiment 3, adopt Otsu algorithm to calculate the height threshold value of Canny operator.Otsu algorithm basic ideas are to have best separation property between the optimal threshold chosen two classes that should make to obtain with this Threshold segmentation, detailed process has been utilized the grey level histogram of image, so that the gray value variance of target and background is the threshold value that target determines that image is cut apart to the maximum.The high threshold of canny operator is:
T=ArgMax[w
0(t) (u
0(t)-u)
2+ w
1(t) (u
1(t)-u)
2] formula (3-1)
Wherein, T is the high threshold of canny operator; T is the image segmentation threshold of hypothesis; u
0(t) be the average brightness value of all pixels that brightness value is larger than t; w
0(t) for brightness value, be greater than the shared ratio of pixel of t; u
1(t) be the average brightness value of all pixels that brightness value is less than t; w
1(t) for brightness value, be less than the shared ratio of pixel of t; U is the average brightness value of all pixels in image.
Calculate after high threshold T, the more conventional empirical equation that adopts high threshold to equal low threshold value twice obtains low threshold value.
2. Hough transformation
Straight line on two dimensional surface can be described with following equation:
ρ=xcos (θ)+ysin (θ) formula (3-2)
Wherein, ρ be initial point to the distance of straight line, the inclination angle that θ is this straight line.
ρ and θ form two-dimensional space H (ρ, θ), and any point in H (ρ, θ) is the straight line on corresponding a certain plane domain all.Hough conversion is exactly point-line duality of utilizing image space and Hough parameter space, and the test problems in image space is transformed into parameter space.By carry out simple cumulative statistics in parameter space, then at Hough parameter space, find the method detection of straight lines of counting machine peak value.
3) straight line post-processing
Because the bit line of parking has damaged or ground, there is shade etc., may detect many mixed and disorderly line segments.Therefore need to utilize the satisfied constraint condition of bit line of parking, detected straight line is processed, to retain the line segment that warehouse compartment line is corresponding, delete other mixed and disorderly line segments.The satisfied constraint condition of the bit line of parking comprises: park that bit line opposite side is parallel to each other, adjacent side is orthogonal, the live width of the size of standard parking position, the bit line of parking etc., can choose wherein one or several constraint conditions straight line is processed.In embodiment 3, the diagram of circuit of straight line post-processing algorithm as shown in Figure 6.Above algorithm provides a kind of method of straight line post-processing, also can choose different constraint condition in other embodiments.
(2) obstacle car detection sub-module
The algorithm flow chart of obstacle car detection sub-module as shown in Figure 7.
1) calculate the position of first obstacle car front end profile
By the global coordinate system starting point place vehicle rear axle mid point that is defined as to park, be initial point O
g; Y
gdirection of principal axis at the rear direction of principal axis at starting point place of parking, points to vehicle left side for just along vehicle; X
gaxle is perpendicular to Y
gaxle, points to vehicle working direction for just.Vehicle axis system is defined as and take vehicle rear axle mid point as initial point O; Y direction is along the rear direction of principal axis of vehicle, points to vehicle left side for just; X-axis is perpendicular to Y-axis, points to vehicle working direction for just.Vehicle coordinate ties up to and in global coordinate system, follows vehicle movement.Fig. 8 is the global coordinate system that defines in the present invention and the schematic diagram of vehicle axis system.
Calculate the algorithm flow chart of first obstacle car front end outline position as shown in Figure 9.
1. obstacle car side profile straight line
The coordinate of point on I dyscalculia car side profile in global coordinate system
Ultrasonic distance-measuring sensor can be that left and right side is respectively arranged one, can be also that left and right side is arranged respectively a plurality of.In embodiment 4, vehicle left and right side is respectively arranged a ultrasonic distance-measuring sensor.Vehicle to overtake, utilizes ultrasonic distance-measuring sensor, obtains distance value between vehicle and obstacle car.When positive transition does not occur the distance value returning when ultrasonic distance-measuring sensor, utilize the installation site parameter of distance value and ultrasonic distance-measuring sensor, obtain point on the side profile coordinate in vehicle axis system.
X=X
ultformula (3-1)
Y=dis+Y
ultformula (3-2)
Wherein, (X, Y) is point on the side profile coordinate in vehicle axis system; (X
ult, Y
ult) be the coordinate of ultrasonic transduter installation site in vehicle axis system; The method of calculating of dis is as follows: the distance value that its value is returned for left side ultrasonic distance-measuring sensor, or the opposite number of the distance value that returns of right side ultrasonic distance-measuring sensor.
Wherein, positive transition refers to: the absolute value of the dis of current time is greater than given threshold value with respect to the increase of the absolute value of the dis of previous moment.
The corresponding vehicle posture information constantly of recycling, calculates point on the side profile coordinate in global coordinate system.
X
g=(X+x
v) cos θ-(Y+y
v) sin θ formula (3-3)
Y
g=(X+x
v) sin θ+(Y+y
v) cos θ formula (3-4)
Wherein, (X
g, Y
g) be point on the side profile coordinate in global coordinate system; (x
v, y
v, θ) be corresponding vehicle posture information (x constantly
vand y
vbe respectively x, the y coordinate of corresponding vehicle axis system initial point (being vehicle rear axle mid point) constantly in global coordinate system; θ is the course angle of vehicle).
II simulates straight line with the point on side profile
In embodiment 4, by method of least square, the point on side profile is done to fitting of a straight line.
Also can respectively arrange a plurality of ultrasonic distance-measuring sensors at vehicle left and right side in other embodiments.For example,
In arranged on left and right sides, arrange respectively two ultrasonic distance-measuring sensors, can utilize said method matching to obtain two straight lines, the equation of these two straight lines in global coordinate system is respectively: Y
g=k
1x
g+ b
1, Y
g=k
2x
g+ b
2.Get k=0.5* (k
1+ k
2), b=0.5* (b
1+ b
2), obtain straight line Y
g=kX
g+ b, is straight line corresponding to obstacle car side profile.
2. the most front point of obstacle car
Adopt and define with the following method image coordinate system: initial point is defined in to the left upper of image, level is to the right x axle positive dirction, is y axle positive dirction straight down.
I is set ROI
When the distance value generation positive transition of ultrasonic distance-measuring sensor, store this panoramic view constantly.Panoramic view is set to ROI, make obstacle car front end profile be positioned at ROI region.
II gray processing, rim detection
First ROI image is converted to gray-scale map, recycling canny edge detection operator carries out rim detection to gray-scale map.
The most front coordinate in ROI image coordinate system of III
In ROI edge image, find the minimum marginal point of y coordinate figure (in image coordinate system), using it as obstacle car front end profile protruding point (the most front point) forward.
The most front coordinate in global coordinate system of IV
First, calculate the most front coordinate in the image coordinate system of panoramic view:
X
h=X
r+ X
xformula (3-5)
Y
h=Y
r+ Y
yformula (3-6)
Wherein, (X
h, Y
h) be the most front coordinate in the image coordinate system of panoramic view; (X
r, Y
r) be the most front coordinate in the image coordinate system of ROI image; (X
x, Y
y) be the upper left angle point in the ROI region coordinate in the image coordinate system of panoramic view.
Then, calculate the most front coordinate in vehicle axis system:
X
fV=(Y
pix/ 2-Y
h) * (L/Y
pix)+d formula (3-7)
Y
fV=(X
h+ X
pix/ 2) * (L/Y
pix) formula (3-8)
Wherein, (X
fV, Y
fV) be the most front coordinate in vehicle axis system, unit is centimetre; X
pixfor the pixel number of panoramic view in image coordinate system x direction, its value 320 in embodiment 4; Y
pixfor the pixel number of panoramic view in image coordinate system y direction, its value is 550 in the present embodiment; D be the geometric centre of vehicle to the distance of vehicle rear axle, be 130(centimetre in the present embodiment); L is actual distance value corresponding to scope that panoramic view can show on fore-and-aft direction, is 1550(centimetre in the present embodiment).
Finally, calculate the most front coordinate in global coordinate system:
X
f=(X
fV+ x
v) cos θ-(Y
fV+ y
v) sin θ formula (3-9)
Y
f=(X
fV+ x
v) sin θ+(Y
fV+ y
v) cos θ formula (3-10)
Wherein, (X
f, Y
f) be the most front coordinate in global coordinate system; (x
v, y
v, the vehicle posture information (x while being θ) the distance value generation positive transition of ultrasonic transduter
vand y
vbe respectively x, the y coordinate of corresponding vehicle axis system initial point (being vehicle rear axle mid point) constantly in global coordinate system; θ is the course angle of vehicle).
3. the most frontly to side profile straight line, make vertical line
Figure 10 is that in the present embodiment, first obstacle car front end profile determined method schematic diagram.
2) judge whether to exist second obstacle car
After the distance value generation positive transition of ultrasonic distance-measuring sensor, vehicle continues to overtake, if to overtake to preset distance, negative saltus step does not all occur the distance value of ultrasonic distance-measuring sensor, is judged to be and does not have second obstacle car; If not yet drive to preset distance, there is negative saltus step in the distance value of ultrasonic distance-measuring sensor, is judged to be and has second obstacle car.Wherein, negative saltus step refers to: the absolute value of the dis of current time is greater than given threshold value with respect to the decrease of the absolute value of the dis of previous moment.The method of calculating of dis is as follows: the distance value that its value is returned for left side ultrasonic distance-measuring sensor, or the opposite number of the distance value that returns of right side ultrasonic distance-measuring sensor.
3) rectangle parking position
If there is second obstacle car,, according to the position of first obstacle car front end profile and second obstacle car rear end profile, determine two rectangle parking positions between obstacle car; If there is not second obstacle car, according to first obstacle car front end profile or rear end profile, determine rectangle parking position.
(3) parking position output sub-module
The testing result of park bit line detection sub-module and obstacle car detection sub-module is inputed to parking position output sub-module.The testing result of the bit line detection sub-module of parking and obstacle car detection sub-module comprises following four kinds of situations, and the available parking position that parking position output sub-module obtains in four kinds of situations is as shown in the table:
Wherein, √ represents to detect warehouse compartment, and X represents not detect warehouse compartment.
For situation 1, if the parking position district inclusion of obstacle car detection sub-module output is parked, the parking position region of bit line detection sub-module output, exports the parking position that the bit line detection sub-module of parking detects; Otherwise, the parking position that output obstacle car detection sub-module detects.
For situation 3, the parking position that output obstacle car detection sub-module detects.
4, man machine interface
Man machine interface comprises output module and load module.Output module, in order to show panoramic view and the warehouse compartment detecting, can pass through the realizations such as touch-screen, head up display (HUD).Load module, in order to accept the various instructions of chaufeur input, can pass through the realizations such as touch-screen, phonetic order, steering indicating light, the interior button of car.
If the parking position mal of Overlapping display on panoramic view or do not meet the wish of chaufeur, chaufeur can by the load module adjustment of man machine interface park bit position and (or) direction.Chaufeur change park bit position and (or) after direction, four angular coordinates of new parking position are outputed to the path planning module of Intelligent parking system.
Figure 11 is by the design sketch of the parking position detecting Overlapping display in panoramic view.
The above-mentioned description to embodiment is can understand and apply the invention for ease of those skilled in the art.Person skilled in the art obviously can easily make various modifications to these embodiment, and General Principle described herein is applied in other embodiment and needn't passes through performing creative labour.Therefore, the invention is not restricted to above-described embodiment, those skilled in the art are according to announcement of the present invention, and not departing from the improvement that category of the present invention makes and revise all should be within protection scope of the present invention.
Claims (8)
1. a parking position detecting device for Intelligent parking system, is characterized in that: comprising: sensor unit: be positioned at camera and distance measuring sensor on automobile body; Signal processing unit: panoramic view generation module, parking position detection module; Man machine interface: output module is in order to show panoramic view and the warehouse compartment detecting, and load module is in order to accept the various instructions of chaufeur input.
2. the parking position detecting device of Intelligent parking system according to claim 1, is characterized in that: described parking position detection module comprises the bit line detection sub-module of parking, obstacle car detection sub-module, parking position output sub-module; The bit line detection sub-module of parking utilizes the ground bit line of parking to detect parking position; Obstacle car detection sub-module utilizes obstacle car test to survey parking position; Parking position output sub-module, according to the testing result of park bit line detection sub-module and obstacle car detection sub-module, is finally determined parking position.
3. the parking position detecting device of Intelligent parking system according to claim 1, is characterized in that: described sensor unit comprises four wide-angle cameras that are positioned at vehicle front side, rear side, left side, right side and the ultrasonic distance-measuring sensor that is positioned at vehicle both sides.
4. the parking position detecting device of Intelligent parking system according to claim 3, it is characterized in that: the installation site of described four cameras should guarantee four camera collections to picture cover vehicle's surroundings 360 degree regions, and adjacent two camera collections to picture have overlapping region.
5. the parking position detecting device of Intelligent parking system according to claim 1, it is characterized in that: described man machine interface output module by the parking position Overlapping display detecting on panoramic view, if the parking position mal detecting or the wish that does not meet chaufeur, chaufeur can by load module adjustment park bit position and or direction, chaufeur change park bit position and or direction after, four angular coordinates of new parking position are outputed to the path planning module of Intelligent parking system.
6. the bit line detection sub-module of parking in the parking position detecting device of Intelligent parking system claimed in claim 1 is determined the method for parking position, it is characterized in that: comprise the steps: (1) image pretreatment; (2) from panoramic view, extract straight line; (3) straight line is carried out to post-processing, to retain line segment corresponding to ground parking position line, delete other mixed and disorderly line segments; (4) obtain rectangle parking position.
7. the obstacle car detection sub-module in the parking position detecting device of Intelligent parking system claimed in claim 1 is determined the method for parking position, it is characterized in that: according to the position of the front and back end profile of obstacle car, determine parking position.
8. method according to claim 7: it is characterized in that: first obstacle car front end profile position in global coordinate system adopts following methods to determine: distance value and vehicle posture information that (1) utilizes ultrasonic distance-measuring sensor to obtain, simulate the straight line corresponding to obstacle car side profile; (2), when the distance value generation positive transition of ultrasonic distance-measuring sensor, store this panoramic view constantly; (3) in panoramic view, set area-of-interest, make obstacle car front end profile be positioned at area-of-interest; (4) to described area-of-interest image gray processing, do rim detection, obtain the obstacle car front end profile i.e. coordinate of the most front point in protruding point forward; (5) by the most front, to the straight line simulating, make vertical line, determine the position of obstacle car front end profile in global coordinate system;
If there are two obstacle cars, second obstacle car rear end profile position in global coordinate system adopts following methods to determine: distance value and vehicle posture information that (6) utilize ultrasonic distance-measuring sensor to obtain, simulate the straight line corresponding to obstacle car side profile; (7), when negative saltus step occurs the distance value of ultrasonic distance-measuring sensor, store this panoramic view constantly; (8) in panoramic view, set area-of-interest, make obstacle car rear end profile be positioned at area-of-interest; (9) to described area-of-interest image gray processing, do rim detection, obtain obstacle car front end profile backward protruding point be the coordinate of rearmost point; (10) by rearmost point, to the straight line simulating, make vertical line, determine the position of obstacle car rear end profile in global coordinate system.
Priority Applications (1)
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