CN106114623A - A kind of automatic parking paths planning method based on human vision and system - Google Patents
A kind of automatic parking paths planning method based on human vision and system Download PDFInfo
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- CN106114623A CN106114623A CN201610429990.XA CN201610429990A CN106114623A CN 106114623 A CN106114623 A CN 106114623A CN 201610429990 A CN201610429990 A CN 201610429990A CN 106114623 A CN106114623 A CN 106114623A
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- parking
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- screen monitors
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
Abstract
The invention discloses a kind of automatic parking paths planning method based on human vision and system, including controller module of parking, panorama sketch module, middle control large-size screen monitors, power module；Panorama sketch module includes three high-definition cameras, core CPU and memory element, three high-definition cameras are separately mounted to below automobile sided mirror unit and on rear licence-plate support, respectively from left side, right side and shooting high definition picture below；The picture of collection is synthesized a Zhang Quanjing figure by core CPU, sends to controller of parking；Panorama sketch is delivered to middle control large-size screen monitors by CAN by controller of parking；And judge whether the parking path of driver's Freehandhand-drawing meets min. turning radius, if being unsatisfactory for, being adjusted to the camber line of min. turning radius, and generating overall process attitude shade trajectory diagram；Middle control large-size screen monitors show three figure layers, are panorama sketch, Freehandhand-drawing parking path and overall process attitude echo respectively.The present invention by middle control large-size screen monitors human vision monitor under, it is ensured that the safety of process of parking and reliability.
Description
Technical field
The present invention relates to automatic parking technical field, be specifically related to a kind of automatic parking path planning based on human vision
Method and system.
Background technology
Along with the fast development of science and technology, the automobile becoming people's main traffic instrument already increasingly comes intelligent.
Owing to the market demand and technology develop, the application of automatic parking technology is more and more universal, but current automatic parking skill
Art there is also a lot of problem.Such as one of automatic parking technological core is path planning, and in terms of path planning, current is automatic
The inner processor put of technology of parking to calculate path, but due to the complexity of present road and the uncertainty of processor,
Once processor path planning slightly deviation, human vision cannot see again concrete parking path simultaneously, arises that traffic
Accident.Existing major part parking system uses the fixing several parking garages set, it is impossible to the parking stall in the case of self adaptation is any,
And brain is permissible.Parking space's image capture module, major part uses storehouse, built-in path, causes some parking stall not in storehouse, path
In, just do not carry out the error parked.And the brain of people may determine that to park in any parking stall.
In view of the foregoing, it is necessary to a kind of automatic parking paths planning method based on human vision and system are provided.
Summary of the invention
The present invention proposes a kind of automatic parking paths planning method based on human vision and system.Path planning is calculated
Method changes human brain planning into, and one is to reduce cost, and two is that any exquisite algorithm does not all have human brain exquisite, increases reliability.The party
In method, path planning is completed by staff, and path is the most rationally judged by human vision.The present invention solves due to processor
Do not find error that warehouse compartment brings or the security incident that path planning mistake is brought.
To achieve these goals, technical scheme is as follows:
A kind of automatic parking paths planning method based on human vision, comprises the steps:
Step 1, utilizes the image of photographic head shooting vehicle local environment, and synthesizes a Zhang Quanjing figure as figure layer 1, pass through
Middle control large-size screen monitors show；
Step 2, when finding parking stall, driver's staff is with vehicle rear axle central point as starting point, on middle control large-size screen monitors
Drafting rear shaft center's point, to the original path L1 that parks of parking position, shows at middle control large-size screen monitors as figure layer 2；
Step 3, is calculated this original path L1 song curvature of a curve by controller according to cubic spline interpolation and judges whether full
The maximum curvature of foot rear shaft center's point under min. turning radius；If certain section of curve is unsatisfactory for, then carry out path curvatures adjustment,
Obtain new track of parking, new Track Pick-up figure layer 3 of parking park overall process attitude shade trajectory diagram for car load.
Further, described in step 1, the image of shooting includes the ambient image at vehicle left side, right side and rear, described conjunction
Image is become to use RANSAC algorithm.
Further, the realization of step 3 includes the following:
First virgin curve formula is calculated by cubic spline interpolation: curve L1 is divided into n section, and the node coordinate of every section is successively
For (x0,y0),(x1,y1),(x2,y2)......(xn,yn)；
A. material calculation hi=xi+1-xi；(i=0,1 ..., n-1)；
B. by back end coordinate and m0=0, mn=0 brings cubic spline interpolation formula into；m0=0, mn=0 represents curve
Second dervative at first and last end points is 0；
C. dematrix equation, tries to achieve second differential value mi。
D. the coefficient of SPL is calculated:
ai=yi
Wherein i=0,1 ..., n-1；
E. at each subinterval xi≤x≤xi+1In, establishment curvilinear equation:
gi(x)=ai+bi(x-xi)+ci(x-xi)2+di(x-xi)3；
Then whether meet maximum curvature according to curvature formulations judgment curves, if the maximum curvature of being unsatisfactory for, then need to adjust,
By indicated by the solid line for unadjusted curve, take 3 fixed points P0, P1, P2, quadratic power Bezier follow the trail of adjustment and obtain certain section
New curve, is represented by dashed line.
Further, the choosing method of described 3 fixed points P0, P1, P2 is: P0 and P2 is two joints of curve L1 segmental arc
Point, P1 is chosen at virgin curve intersection point of tangent line at P0 and P2.
In order to realize said method, the invention allows for a kind of automatic parking of based on human vision path planning system
System, including controller module of parking, panorama sketch module, middle control large-size screen monitors, power module；Described controller module of parking connects respectively
Described panorama sketch module and described middle control large-size screen monitors, described power module and described controller module of parking, described panorama sketch module
It is connected with described middle control large-size screen monitors, it is provided that running voltage；
Described panorama sketch module includes three high-definition cameras, core CPU and memory element, and three high-definition cameras are respectively
It is arranged on below automobile sided mirror unit and on rear licence-plate support；Three high-definition cameras respectively from left side, right side and shooting below
High definition picture；The picture of three high-definition camera collections is synthesized a Zhang Quanjing figure, and control of parking described in transmission extremely by core CPU
Device；Described memory element is for keeping in panorama sketch and receiving the instruction from controller of parking；
Described controller module of parking is for sending panorama sketch to middle control large-size screen monitors by CAN；And judge driver
Whether the parking path that staff is plotted on middle control large-size screen monitors meets min. turning radius, if being unsatisfactory for, is adjusted to minimum turning partly
The camber line in footpath, and generate overall process attitude shade trajectory diagram based on parking path；
Described middle control large-size screen monitors for display three figure layers, be respectively panorama sketch as figure layer 1, Freehandhand-drawing parking path as figure
Layer 2 and overall process attitude echo are as figure layer 3.
Further, controller of parking described in uses vehicle-mounted ECU, described core CPU employing chip microcontroller.
Beneficial effects of the present invention:
(1) present invention combines high-definition camera, MCU, middle control large-size screen monitors and parks for various different parking stalls the path rule providing new
The method of drawing, improves the utilization rate of city parking position.
(2) process of parking in the present invention by middle control large-size screen monitors under the monitoring of human vision, it is ensured that the peace of process of parking
Full property and reliability, improve driver's trust sense to automatic parking.
(3) equipment that the present invention uses is simple, and highly versatile can extensively be applied.
Accompanying drawing explanation
Fig. 1 is the module signal of automatic parking paths planning method based on human vision and system in the embodiment of the present invention
Figure.
Fig. 2 is the panorama sketch of parking that middle control large-size screen monitors are shown as figure layer 1.
Fig. 3 is that the L1 that middle control large-size screen monitors are shown as figure layer 2 is superimposed upon the image on figure layer 1.
Fig. 4 is path adjustment figure based on min. turning radius.
Fig. 5 is the figure layer 3 that middle control large-size screen monitors show.
Fig. 6 is the position view of three high-definition cameras.
Detailed description of the invention
Below in conjunction with the accompanying drawings and specific embodiment the invention will be further described, it should be pointed out that the most only with
Technical scheme and design principle are illustrated by a kind of optimized technical scheme, but protection scope of the present invention is also
It is not limited to this.
As it is shown in figure 1, a kind of automatic parking path planning system based on human vision of the present invention, including parking
Controller module, panorama sketch module, middle control large-size screen monitors, power module；Described park controller module connect panorama sketch module and in
Control large-size screen monitors, described power module is all connected with controller module of parking, panorama sketch module and middle control large-size screen monitors；
Panorama sketch module includes that three high-definition cameras, core CPU and memory element, three high-definition cameras are respectively mounted
Below automobile sided mirror unit and on rear licence-plate support.Three high-definition cameras respectively from left side, right side and shoot high definition below
Picture；The picture of three high-definition camera collections is synthesized a Zhang Quanjing figure by core CPU, and sends to controller of parking.Described
Core CPU uses chip microcontroller in embodiments of the present invention.
Park controller module for being sent to middle control large-size screen monitors by CAN by panorama sketch, it is judged that it is the fullest that staff draws path
Foot min. turning radius, if being unsatisfactory for, being adjusted to the camber line of min. turning radius, and generating overall process based on parking path
Attitude echo.Controller of parking uses vehicle-mounted ECU to realize in embodiments of the present invention.
Middle control large-size screen monitors for three figure layers of display, be panorama sketch respectively as figure layer 1, hands draw path L1 as figure layer 2 and
Overall process attitude echo is as figure layer 3.
Fig. 2 is the panorama sketch of parking that middle control large-size screen monitors are shown as figure layer 1, driver on the possible parking stall of A point discovery,
Open automatic parking function.Vehicle is by A point to driving to B point, and three photographic head being contained in 1,2,3 positions are kept on all, and arrives B
During point, controller is applied to Point matching according to the RANSAC algorithm (RANSAC algorithm) in computer vision technique
Principle, synthesizes the panorama sketch in a dotted line frame.Synthesis panorama sketch in dotted line frame is the figure layer 1 that middle control large-size screen monitors show.
Fig. 3 is that staff draws parking path L1 (the figure layers 2 of middle control large-size screen monitors) on middle control large-size screen monitors, and staff with rear axle central point is
Starting point, draws the parking path original path L1 of rear shaft center's point.
Fig. 4 is path adjustment figure, controller calculate this original parking path song curvature of a curve according to cubic spline interpolation
Judge whether to meet the maximum curvature of the rear shaft center's point under min. turning radius.If certain section of arc is unsatisfactory for, then by controlling
Device carries out path adjustment.Solid line is that certain section of arc is unsatisfactory for maximum curvature, need to be adjusted to the dotted line of maximum curvature.Concrete method of adjustment
As follows:
First virgin curve formula is calculated by cubic spline interpolation:
Curve L1 is divided into n section, and the coordinate of every section is followed successively by (x0,y0),(x1,y1),(x2,y2)......(xn,yn)；
A. material calculation hi=xi+1-xi；(i=0,1 ..., n-1)；
B. by back end coordinate and m0=0, mn=0 brings cubic spline interpolation formula into；m0=0, mn=0 represents curve
Second dervative at first and last end points is 0；
C. dematrix equation, tries to achieve second differential value mi。
D. the coefficient of SPL is calculated:
ai=yi
Wherein i=0,1 ..., n-1；
E. at each subinterval xi≤x≤xi+1In, create equation
gi(x)=ai+bi(x-xi)+ci(x-xi)2+di(x-xi)3
Then whether maximum curvature is met according to curvature formulations judgment curves.It is unsatisfactory for maximum curvature, then needs to adjust.Real
Line, for not adjust curve, takes 3 fixed points P0, P1, P2, quadratic power Bezier follows the trail of and obtain certain section of new curve.
The choosing method of described 3 fixed points P0, P1, P2 is: P0 and P2 is two nodes of curve L1 segmental arc, and P1 chooses
At virgin curve intersection point of tangent line at P0 and P2.Described quadratic power Bezier formula is:
B (t)=(1-t)2P0+2t(1-t)P1+t2P2,t∈[0,1]；
It is adjusted to dotted line by solid line and P1 point only need to be adjusted to P3 point.
Fig. 5 is the figure layer 3 that middle control large-size screen monitors show, shows that the rear shaft center path to scheme layer 2 is as baseline for middle control large-size screen monitors
Car load overall process attitude shadow region.
Fig. 6 is three high-definition camera position views.It is separately mounted to below automobile sided mirror unit and rear licence-plate support
On；Three high-definition cameras respectively from left side, right side and shooting high definition picture below.
In sum, present invention automatic parking based on human vision paths planning method and system utilize high based on three
Operating mode based on the panorama sketch of clear photographic head, drawing path with staff is the second figure layer, and Driver Vision judges the reasonability in path.
Improve the system adaptability to complex environment, improve the subjectivity in path and objective reliability, alleviate and park difficulty the most not
Cost can be increased considerably.
Described embodiment is illustrating of the feasibility embodiment for the present invention, and they also are not used to limit this
Bright protection domain, all equivalent implementations or changes done without departing from skill spirit of the present invention should be included in the present invention's
Within protection domain.
Claims (6)
1. an automatic parking paths planning method based on human vision, it is characterised in that comprise the steps:
Step 1, utilizes the image of photographic head shooting vehicle local environment, and synthesizes a Zhang Quanjing figure as figure layer 1, by middle control
Large-size screen monitors show；
Step 2, when finding parking stall, driver's staff, with vehicle rear axle central point as starting point, is drawn on middle control large-size screen monitors
Rear shaft center's point, to the original path L1 that parks of parking position, shows at middle control large-size screen monitors as figure layer 2；
Step 3, is calculated this original path L1 song curvature of a curve by controller according to cubic spline interpolation and judges whether to meet
The maximum curvature of the rear shaft center's point under min. turning radius；If certain section of curve is unsatisfactory for, then carries out path curvatures adjustment, obtain
New track of parking；Parked overall process attitude shade trajectory diagram for car load by new Track Pick-up figure layer 3 of parking.
A kind of automatic parking paths planning method based on human vision the most according to claim 1, it is characterised in that step
Described in rapid 1, the image of shooting includes the ambient image at vehicle left side, right side and rear, and described composograph uses stochastic sampling
Consistency algorithm.
A kind of automatic parking paths planning method based on human vision the most according to claim 1, it is characterised in that step
The realization of rapid 3 includes the following:
First being calculated virgin curve formula by cubic spline interpolation: curve L1 is divided into n section, the node coordinate of every section is followed successively by
(x0,y0),(x1,y1),(x2,y2)......(xn,yn)；
A. material calculation hi=xi+1-xi；(i=0,1 ..., n-1)；
B. by back end coordinate and m0=0, mn=0 brings cubic spline interpolation formula into；m0=0, mn=0 represents that curve is in first and last
The second dervative of end points is 0；
C. dematrix equation, tries to achieve second differential value mi。
D. the coefficient of SPL is calculated:
ai=yi
Wherein i=0,1 ..., n-1；
E. at each subinterval xi≤x≤xi+1In, establishment curvilinear equation:
gi(x)=ai+bi(x-xi)+ci(x-xi)2+di(x-xi)3；
Then whether meet maximum curvature according to curvature formulations judgment curves, if the maximum curvature of being unsatisfactory for, then need to adjust, will not
Adjust curve indicated by the solid line, take 3 fixed point P0, P1, P2, by quadratic power Bezier follow the trail of adjust obtain certain section new
Curve, is represented by dashed line.
A kind of automatic parking paths planning method based on human vision the most according to claim 3, it is characterised in that institute
The choosing method stating 3 fixed points P0, P1, P2 is: P0 and P2 is two nodes of curve L1 segmental arc, and P1 is chosen at virgin curve and exists
The intersection point of tangent line at P0 and P2.
5. an automatic parking path planning system based on human vision, it is characterised in that the controller module that includes parking, complete
Scape module, middle control large-size screen monitors, power module；Described controller module of parking connects described panorama sketch module and described middle control respectively
Large-size screen monitors, described power module is connected with described controller module of parking, described panorama sketch module and described middle control large-size screen monitors, it is provided that work
Make voltage；
Described panorama sketch module includes that three high-definition cameras, core CPU and memory element, three high-definition cameras are respectively mounted
Below automobile sided mirror unit and on rear licence-plate support；Three high-definition cameras respectively from left side, right side and shoot high definition below
Picture；The picture of three high-definition camera collections is synthesized a Zhang Quanjing figure, and controller of parking described in transmission extremely by core CPU；
Described memory element is for keeping in panorama sketch and receiving the instruction from controller of parking；
Described controller module of parking is for sending panorama sketch to middle control large-size screen monitors by CAN；And judge driver's staff
Being plotted in whether the parking path on control large-size screen monitors meets min. turning radius, if being unsatisfactory for, being adjusted to min. turning radius
Camber line, and generate overall process attitude shade trajectory diagram based on parking path；
Described middle control large-size screen monitors for display three figure layers, be respectively panorama sketch as figure layer 1, Freehandhand-drawing parking path as figure layer 2
And overall process attitude echo is as figure layer 3.
A kind of automatic parking path planning system based on human vision the most according to claim 5, it is characterised in that institute
Stating controller of parking and use vehicle-mounted ECU, described core CPU uses chip microcontroller.
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