CN105355083A - Vision-based 360-degree parking assist intelligent guiding system - Google Patents
Vision-based 360-degree parking assist intelligent guiding system Download PDFInfo
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- CN105355083A CN105355083A CN201510924119.2A CN201510924119A CN105355083A CN 105355083 A CN105355083 A CN 105355083A CN 201510924119 A CN201510924119 A CN 201510924119A CN 105355083 A CN105355083 A CN 105355083A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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Abstract
The invention discloses a vision-based 360-degree parking assist intelligent guiding system. On the basis of a 360-degree panoramic parking system, and through utilization of an image processing algorithm, a parking spot is detected in a vertical view, detected parking spot information is marked on a display screen, a parking sport information prompt is given to a driver, an optimal vehicle parking route is calculated according to a relative position relationship between the detected parking spot and a current vehicle, the optimal parking route is marked on the display screen, and parking guiding information is provided for the driver. The system can guide the driver, and the driver can adjust an existing parking route according to the provided guiding information, so the driver can enable the vehicle to be parked in the parking spot successfully, and the system helps the driver park the vehicle well.
Description
Technical field
The present invention relates to image and technical field of video processing, specifically 360 degree of a kind of view-based access control model auxiliary intelligent guidance systems of parking.
Background technology
Have at present on some vehicles and a rearview camera has been installed, when driver is stopped, can see by navigation screen the picture that rear camera photographs, utilize this picture to help oneself to stop.This is the simplest parking assisting system of one, and it has following features: the image display photographed by camera on a display screen, can not provide parking space information, can not guide driver.The scheme more advanced than only installation rearview camera scheme is installation 4 cameras, utilizes stitching algorithm to be spliced by the image that 4 cameras photograph, forms 360 degree of panorama vertical views, and can switch the image of 4 cameras by button.360 degree of panoramic parking systems can help driver to stop greatly, but said system still cannot provide parking space information for driver, can not guide driver.
Summary of the invention
The object of the present invention is to provide 360 of a kind of view-based access control model degree of auxiliary intelligent guidance systems of parking, to solve the problem proposed in above-mentioned background technology.
For achieving the above object, the invention provides following technical scheme:
A kind of 360 degree of auxiliary intelligent guidance systems of parking of view-based access control model, on the basis of 360 degree of panoramic parking systems, utilize image processing algorithm, detect parking stall in a top view, the parking space information detected is marked on a display screen, to the prompting of driver's parking space information, and according to the relative position relation of the parking stall detected and Current vehicle, calculate the optimum parking route of vehicle, and optimum is stopped route mark on a display screen, provide stopping guide information to driver.
As the further scheme of the present invention: the using method of 360 degree of auxiliary intelligent guidance systems of parking of described view-based access control model, comprises the following steps:
(1) when driver opens 360 degree of panoramic parking systems, show now to enter shutdown phase, detection algorithm is started working;
(2) utilize detection algorithm to detect stop line, and the stop line detected is marked on a display screen, provide parking space information to driver;
(3) calculate optimum parking route according to the relative position relation of parking stall and Current vehicle, the route that stopped by optimum mark on a display screen, provides stopping guide information to driver.
As the present invention's further scheme: in step (1), the step of detection algorithm comprises: a. rim detection; B.Hough converts; C. straight line is screened; D. the intersection point of each vertical line is asked; E. intersection point merges; F. point of intersection neighborhood image average judges; G. parking stall is marked.
Compared with prior art, the invention has the beneficial effects as follows: the present invention can calculate optimum parking route according to the relative position relation of parking stall and Current vehicle by detection algorithm, more parking assisting information can be provided to driver, stopping guide information is provided to driver, can guide driver, driver can adjust existing parking route according to the guidance information provided, make driver to stop into parking stall smoothly, helps driver better to stop.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of detection algorithm in 360 degree of auxiliary intelligent guidance systems of parking of view-based access control model.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
A kind of 360 degree of auxiliary intelligent guidance systems of parking of view-based access control model, on the basis of 360 degree of panoramic parking systems, utilize image processing algorithm, detect parking stall in a top view, the parking space information detected is marked on a display screen, to the prompting of driver's parking space information, and according to the relative position relation of the parking stall detected and Current vehicle, calculate the optimum parking route of vehicle, and optimum is stopped route mark on a display screen, provide stopping guide information to driver; Driver can be facilitated like this to find parking stall and stop, alleviate burden when driver is stopped, to the Consumer's Experience that driver is good during parking, this guidance system can carry out work on existing panoramic parking system, looks around ECU and should be able to support corresponding image processing algorithm work.
360 degree of auxiliary intelligent guidance systems of parking of view-based access control model, comprise the following steps during its work:
(1) when driver opens 360 degree of panoramic parking systems, show now to enter shutdown phase, detection algorithm is started working.
The object of detection algorithm is the parking stall in order to detect in image, refers to the process flow diagram of the detection algorithm shown in Fig. 1.
Some explanations are carried out to the step in detection algorithm process flow diagram below.First be rim detection.Parking stall is made up of stop line, stop line belongs to ground visible marking, utilize rim detection can by the rim detection of stop line out, during rim detection, adopt the larger eigenwert Edge detected of structure tensor, and utilize the direction of structure tensor larger eigenwert characteristic of correspondence vector to obtain Single pixel edge; Next carry out Hough transform, by straight-line detection all in image out, this wherein just comprises straight line corresponding to stop line, and adopt 3 arrays of voting during Hough transform, when voting, the traversal interval of θ is not [0 °, 360 °], but [θ
0-5 °, θ
0+ 5 °], θ here
0according to structure tensor larger eigenwert characteristic of correspondence vector calculation out, the normal direction of this edge fragment is represented; Here the ballot mode adopted can be called " among a small circle vote ", adopts ballot among a small circle to have 2 benefits to be: the 1st, if adopt mode of voting between the whole district, namely the traversal interval of θ is [0 °, 360 °], then calculated amount is very large, and existing edge fragment directional information cannot utilize; 2nd, if do not voted among a small circle, only utilize edge fragment directional information to carry out single ballot, then some straight lines can be caused correctly to be detected.Detect parking stall to carry out on vertical view, vertical view is spliced by 4 fish-eye cameras and obtains after distortion correction, in image, some linear edge is not perfectly clear, also namely the edge fragment direction of same straight line is incomplete same, now just need to vote among a small circle and offset the inconsistent problem in edge fragment direction, increase the robustness of detection of straight lines; Then screen straight line, screening straight line adopts 2 principles: the 1st principle is length principle, if namely straight line length is too short, is then rejected by this straight line; When Hough transform, can record by all pixel information of straight line, thus the starting and terminal point of straight line can be determined, utilize starting and terminal point can obtain the length of straight line; 2nd principle is proportionality principle, namely by straight line count and the ratio of straight length should be greater than a numerical value, find in the process of detection of straight lines, some straight line is made up of the point of wide apart, and these points are very sparse, these straight lines are interference straight lines, need to reject; After rejecting straight line, the straight line negligible amounts in figure; Then be the intersection point asking each vertical line, because parking stall is made up of vertical line, all vertical line intersection points tried to achieve the home position just can determining parking stall; After intersection point is tried to achieve, carry out intersection point merging, the reason doing intersection point merging is in stop line point of intersection, often produce multiple very near intersection point leaned on, the reason producing this phenomenon is that edge corresponding to parking stall has 2, can detect 2 or many edges when straight-line detection, when asking the intersection point of vertical line, these many straight lines will produce multiple intersection point with other straight line; Here carries out point of intersection neighborhood image average to judge, owing to disturbing the existence of straight line, some intersection point is not intersection point corresponding to parking stall, and the method rejecting interference intersection point analyzes point of intersection neighborhood image and adopts the average of neighborhood image to reject interference intersection point; After above-mentioned steps, can determine position, parking stall, mark position, parking stall also processes next frame image, repeats above-mentioned steps.
(2) stop line detected is marked on a display screen, provide parking space information to driver, image marks stop line information and can strengthen the cognition of driver to stop line position;
(3) calculate optimum parking route according to the relative position relation of parking stall and Current vehicle, the route that stopped by optimum mark on a display screen, provides stopping guide information to driver.The existing parking route of driver also will be marked on a display screen, and driver can adjust existing parking route according to the guidance information provided, and make driver to stop into parking stall smoothly.
The present invention should run on existing 360 degree of panoramic parking systems, because 360 degree of panoramic parking systems can provide the information of vehicle's surroundings, and forms vertical view; ECU arithmetic capability of looking around of the present invention must be higher, because detect parking stall to real-time panoramic view picture and calculate parking route and need very large calculated amount, look around ECU and must can support such computing, the prerequisite that this system can work is that ground exists clear, complete stop line, if ground does not have stop line or stop line fuzzy, imperfect, then this system cannot normally work.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.Any Reference numeral in claim should be considered as the claim involved by limiting.
In addition, be to be understood that, although this instructions is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of instructions is only for clarity sake, those skilled in the art should by instructions integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (3)
1. 360 degree of a view-based access control model auxiliary intelligent guidance systems of parking, it is characterized in that, on the basis of 360 degree of panoramic parking systems, utilize image processing algorithm, detect parking stall in a top view, the parking space information detected is marked on a display screen, to the prompting of driver's parking space information, and according to the relative position relation of the parking stall detected and Current vehicle, calculate the optimum parking route of vehicle, and optimum is stopped route mark on a display screen, provide stopping guide information to driver.
2. a using method for 360 degree of view-based access control model as claimed in claim 1 auxiliary intelligent guidance systems of parking, is characterized in that, comprise the following steps:
(1) when driver opens 360 degree of panoramic parking systems, show now to enter shutdown phase, detection algorithm is started working;
(2) utilize detection algorithm to detect stop line, and the stop line detected is marked on a display screen, provide parking space information to driver;
(3) calculate optimum parking route according to the relative position relation of parking stall and Current vehicle, the route that stopped by optimum mark on a display screen, provides stopping guide information to driver.
3. the using method of 360 degree of view-based access control model according to claim 2 auxiliary intelligent guidance systems of parking is characterized in that, in step (1), the step of detection algorithm comprises: a. rim detection; B.Hough converts; C. straight line is screened; D. the intersection point of each vertical line is asked; E. intersection point merges; F. point of intersection neighborhood image average judges; G. parking stall is marked.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106541944A (en) * | 2016-11-07 | 2017-03-29 | 纵目科技（上海）股份有限公司 | A kind of warehouse compartment detection method, system and mobile device |
| CN107719361A (en) * | 2017-10-10 | 2018-02-23 | 深圳市豪恩汽车电子装备股份有限公司 | Automatic parking assisting method and system based on image vision |
| CN108275147A (en) * | 2018-01-25 | 2018-07-13 | 浙江吉利汽车研究院有限公司 | A kind of control method and its control system for vehicle parking |
| CN108394416A (en) * | 2018-01-30 | 2018-08-14 | 惠州市德赛西威汽车电子股份有限公司 | A kind of parking stall shows householder method and system |
| CN108791063A (en) * | 2018-03-22 | 2018-11-13 | 惠州市德赛西威汽车电子股份有限公司 | A kind of parking stall method for catching based on ADAS |
| US10242575B1 (en) | 2017-12-05 | 2019-03-26 | Industrial Technology Research Institute | Marked parking space identification system and method thereof |
| CN109649384A (en) * | 2019-02-15 | 2019-04-19 | 华域汽车系统股份有限公司 | A kind of parking assistance method |
| CN110544386A (en) * | 2019-09-18 | 2019-12-06 | 奇瑞汽车股份有限公司 | parking space identification method and device and storage medium |
| WO2020048152A1 (en) * | 2018-09-05 | 2020-03-12 | 武汉中海庭数据技术有限公司 | Method and system for extracting parking space in underground parking lot in high-precision map making |
| CN110892464A (en) * | 2017-08-07 | 2020-03-17 | 日立汽车系统株式会社 | Parking control device and method |
| US10822030B2 (en) | 2017-12-12 | 2020-11-03 | Industrial Technology Research Institute | Parking guidance system, parking guidance method thereof and automatic parking system |
| CN112356826A (en) * | 2020-10-28 | 2021-02-12 | 惠州华阳通用电子有限公司 | Parking assisting method and storage medium |
| CN112562384A (en) * | 2019-09-10 | 2021-03-26 | 现代自动车株式会社 | Apparatus and method for providing overhead view image of parking space |
| CN112799391A (en) * | 2020-09-15 | 2021-05-14 | 华人运通(上海)自动驾驶科技有限公司 | Parking method and device for narrow parking space, vehicle and storage medium |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106541944B (en) * | 2016-11-07 | 2019-03-05 | 纵目科技（上海）股份有限公司 | A kind of warehouse compartment detection method, system and mobile device |
| CN106541944A (en) * | 2016-11-07 | 2017-03-29 | 纵目科技（上海）股份有限公司 | A kind of warehouse compartment detection method, system and mobile device |
| CN110892464A (en) * | 2017-08-07 | 2020-03-17 | 日立汽车系统株式会社 | Parking control device and method |
| CN107719361A (en) * | 2017-10-10 | 2018-02-23 | 深圳市豪恩汽车电子装备股份有限公司 | Automatic parking assisting method and system based on image vision |
| US10242575B1 (en) | 2017-12-05 | 2019-03-26 | Industrial Technology Research Institute | Marked parking space identification system and method thereof |
| US10822030B2 (en) | 2017-12-12 | 2020-11-03 | Industrial Technology Research Institute | Parking guidance system, parking guidance method thereof and automatic parking system |
| CN108275147A (en) * | 2018-01-25 | 2018-07-13 | 浙江吉利汽车研究院有限公司 | A kind of control method and its control system for vehicle parking |
| CN108394416B (en) * | 2018-01-30 | 2020-01-31 | 惠州市德赛西威汽车电子股份有限公司 | parking space display auxiliary method and system |
| CN108394416A (en) * | 2018-01-30 | 2018-08-14 | 惠州市德赛西威汽车电子股份有限公司 | A kind of parking stall shows householder method and system |
| CN108791063B (en) * | 2018-03-22 | 2020-05-22 | 惠州市德赛西威汽车电子股份有限公司 | Parking space capturing method based on ADAS |
| CN108791063A (en) * | 2018-03-22 | 2018-11-13 | 惠州市德赛西威汽车电子股份有限公司 | A kind of parking stall method for catching based on ADAS |
| WO2020048152A1 (en) * | 2018-09-05 | 2020-03-12 | 武汉中海庭数据技术有限公司 | Method and system for extracting parking space in underground parking lot in high-precision map making |
| CN109649384A (en) * | 2019-02-15 | 2019-04-19 | 华域汽车系统股份有限公司 | A kind of parking assistance method |
| CN109649384B (en) * | 2019-02-15 | 2020-08-14 | 华域汽车系统股份有限公司 | Parking assisting method |
| CN112562384A (en) * | 2019-09-10 | 2021-03-26 | 现代自动车株式会社 | Apparatus and method for providing overhead view image of parking space |
| CN112562384B (en) * | 2019-09-10 | 2024-05-31 | 现代自动车株式会社 | Apparatus and method for providing overhead view image of parking space |
| CN110544386A (en) * | 2019-09-18 | 2019-12-06 | 奇瑞汽车股份有限公司 | parking space identification method and device and storage medium |
| CN112799391A (en) * | 2020-09-15 | 2021-05-14 | 华人运通(上海)自动驾驶科技有限公司 | Parking method and device for narrow parking space, vehicle and storage medium |
| CN112356826A (en) * | 2020-10-28 | 2021-02-12 | 惠州华阳通用电子有限公司 | Parking assisting method and storage medium |
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