CN106585627A - Parking auxiliary system and automobile - Google Patents
Parking auxiliary system and automobile Download PDFInfo
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- CN106585627A CN106585627A CN201610976109.8A CN201610976109A CN106585627A CN 106585627 A CN106585627 A CN 106585627A CN 201610976109 A CN201610976109 A CN 201610976109A CN 106585627 A CN106585627 A CN 106585627A
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- 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
- B60W2554/00—Input parameters relating to objects
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
Abstract
The invention provides a parking auxiliary system and an automobile. A parking lot position detection module is used for detecting a photographed image, so as to obtain an effective parking lot position information image. A detection module is used for detecting an unobstructed region nearby a mobile terminal. A positioning module is used for calculating the speed and direction of the mobile terminal, and obtains the posture of the mobile terminal and the relative position of the mobile terminal relative to an effective parking lot position or the unobstructed region through combining with the effective parking lot position or the unobstructed region. Moreover, a path planning module enables an effective parking lot image corresponding to an effective parking lot image selection signal to serve as a selected parking lot position image corresponding to the selected parking lot position, and carries out the planning of a parking path according to the parking lot position information or the unobstructed region related with the selected parking lot image and the type of a parking lot. The system can accurately detect the position of a parking space, carry out the effective planning of the parking path after the parking position is selected, and control the automobile to arrive at the parking space along the planned path intelligently and conveniently.
Description
Technical field
The present invention relates to automation field, more particularly to a kind of parking assisting system and automobile.
Background technology
Automatic parking refers to that driver have found a preferable parking site, only need gently start button, settle down, put
Pine, other all can be automatically performed, it is not necessary to toss to and fro again.Big city parking space is limited, sails automobile into narrow and small sky
Between become a required skill.Seldom have and do not take the situation that some twists and turns has just stopped car, parking may cause traffic jam, god
Jing is tired out and bumper hit it is curved.So a set of accurate complete parking assisting system is very important, and in automatic parking
During, the accuracy that parking site is found is again whether follow-up automatic parking is safe and successfully basic, so improving
During automatic parking, the accuracy and effectiveness that parking site is found is problem demanding prompt solution.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of parking assisting system and vapour
Car, for solving the problems, such as that parking system of the prior art can not accurately and effectively search out preferable stop.
For achieving the above object and other related purposes, the present invention provides a kind of parking assisting system, be applied to it is mobile eventually
On end, the system includes：
Warehouse compartment detection module, to detect the image of shooting effective warehouse compartment positional information is obtained；Detecting module, for visiting
Survey the area of feasible solutions that there is no barrier around mobile terminal；Locating module, for calculating the speed and boat of the mobile terminal
To, and with reference to effective warehouse compartment positional information or area of feasible solutions, obtain the attitude and relative efficiency warehouse compartment of the mobile terminal
Or the relative position of area of feasible solutions；Path planning module, for by the corresponding effective warehouse compartment of an effective warehouse compartment figure selected signal
Figure is used as the corresponding selected warehouse compartment figure of selected warehouse compartment, and the effective warehouse compartment position according to the selected warehouse compartment graphical association is believed
The warehouse compartment type of breath or the area of feasible solutions and the selected warehouse compartment figure, plans parking path.
In a specific embodiment of the invention, the warehouse compartment detection module detection image obtains effective warehouse compartment positional information
Mode includes：Photographic head and range unit communication connection on the warehouse compartment detection module and mobile terminal, the photographic head is taken the photograph
Take in the image of the image for forming the certain viewing angles with regard to the mobile terminal, the range unit is used to detect described image
In the possibility warehouse compartment region that the region of covering is related to whether there is barrier, and the warehouse compartment detection module combine described image with
And the testing result of the range unit obtains the effective warehouse compartment in the possibility warehouse compartment region that is related to of region that described image is covered
Corresponding effective warehouse compartment positional information.
In a specific embodiment of the invention, the detecting module updates the area of feasible solutions by radar detection.
In a specific embodiment of the invention, the parking assisting system also include interactive module, for show with it is described
The effective position of the corresponding effective warehouse compartment figure of warehouse compartment positional information, the attitude of the mobile terminal and relative efficiency warehouse compartment,
Or/and for obtaining effective warehouse compartment figure selected signal.
In a specific embodiment of the invention, the parking assisting system also includes control module, controls described mobile whole
Moor in the selected warehouse compartment along the parking path at end；Wherein, the control mode of the control module at least include it is following in
One or more：People is dynamic, semi-automatic, full-automatic.
In a specific embodiment of the invention, the people is dynamic to be included：The interactive module provides operation indicating, the control
Module does not work；The operation indicating at least include it is following in one kind：Steering wheel beat how many angles, gear set several grades and
How clutch controls.
In a specific embodiment of the invention, it is described it is semi-automatic including：The interactive module receives semiautomatic control instruction,
The control module only control direction disk, gear, clutch and brake are completely by driver's control.
It is described automatically to include in a specific embodiment of the invention：The interactive module receives Automatic Control instruction；
The control module is parked automatically according to Automatic Control instruction control mobile terminal according to the parking path.
In a specific embodiment of the invention, the warehouse compartment detection module includes：Image formation unit, to according at least
The image that photographic head described in shoots, forms the image of the certain viewing angles with regard to the mobile terminal；Line extracting unit, with institute
State image formation unit communication be connected, to extract described image in possibility warehouse compartment region in all straight lines；First warehouse compartment
Location information acquiring unit, is connected with line extracting unit communication, according to default first warehouse compartment feature, to extract institute
The effective straight line in all straight lines is stated as warehouse compartment line, the first storehouse in the possible warehouse compartment region is obtained according to the warehouse compartment line
Position positional information；Second warehouse compartment location information acquiring unit, it is special to combine default second warehouse compartment by the range unit
Levy and the possibility warehouse compartment region near the mobile terminal is detected, obtain the second storehouse with the second warehouse compartment characteristic matching
Position positional information；Effective warehouse compartment location information acquiring unit, to merge the first warehouse compartment positional information and described second
Warehouse compartment positional information, obtains effective warehouse compartment positional information.
In a specific embodiment of the invention, merge the first warehouse compartment positional information and the second warehouse compartment position letter
Breath, obtains one kind that the mode of effective warehouse compartment positional information is at least included in the following manner：Mode one：According to second warehouse compartment
Positional information is verified to the first warehouse compartment positional information, to obtain effective warehouse compartment positional information；Specially：When obtaining
When getting the first warehouse compartment positional information, the first warehouse compartment positional information pair is judged according to the second warehouse compartment positional information
Whether the warehouse compartment with warehouse compartment line answered is sky warehouse compartment, and according to the corresponding first warehouse compartment position letter of empty warehouse compartment with warehouse compartment line
Breath and/or the second warehouse compartment positional information obtain effective warehouse compartment positional information；Mode two：Believed according to the first warehouse compartment position
Breath is verified to the second warehouse compartment positional information, to obtain effective warehouse compartment positional information；Specially：When getting
When stating the second warehouse compartment positional information, the corresponding sky of the second warehouse compartment positional information is judged according to the first warehouse compartment positional information
Whether warehouse compartment has the warehouse compartment line of composition warehouse compartment, and according to the corresponding first warehouse compartment positional information of empty warehouse compartment with warehouse compartment line
And/or second warehouse compartment positional information obtain effective warehouse compartment positional information.
In a specific embodiment of the invention, the warehouse compartment detection module also includes：Memory element, with first warehouse compartment
Location information acquiring unit and the communication of the second warehouse compartment location information acquiring unit are connected, and be stored with default first warehouse compartment
Feature and the second warehouse compartment feature；The first warehouse compartment feature includes one or more in following characteristics：Feature one：It is default
Warehouse compartment shape；Feature two：Warehouse compartment is made up of or special angle rectilinear(-al) two parallel lines and a vertical line, the parallel lines
Between spacing in default warehouse compartment length range；Feature three：The straight line of composition warehouse compartment is with the gray scale difference value in other regions more than pre-
If gray scale difference value threshold value；Feature four：The shape of adjacent warehouse compartment is identical；Feature five：Warehouse compartment is by two relative lines and an intersecting lens
Composition, the spacing between the relative line is in default warehouse compartment length range；The angle of the relative line and the intersecting lens is pre-
If in angular range；The second warehouse compartment feature at least includes：The width range and length range of default warehouse compartment.
In a specific embodiment of the invention, the warehouse compartment type include be arranged in parallel warehouse compartment, vertically disposed warehouse compartment,
And it is inclined at an angle the warehouse compartment of setting.
In a specific embodiment of the invention, the parking path includes that multiple paths for determining the parking path are crucial
Position, the control module controls the mobile terminal and moors in the selected warehouse compartment according to the path key position.
In a specific embodiment of the invention, the mobile terminal is mobile unit or smart mobile phone.
For achieving the above object and other related purposes, the present invention also provides a kind of automobile, including an at least photographic head, extremely
A few range unit and the as above parking assisting system described in any one.Image graph is as image graph is as image graph is as image graph
Picture
As above, parking assisting system of the invention and automobile, the image for shooting is detected using warehouse compartment detection module, to obtain
Effective warehouse compartment positional information image；The area of feasible solutions that there is no barrier around mobile terminal is detected by detecting module；Utilize
Locating module calculates the speed of mobile terminal and course, and with reference to effective warehouse compartment positional information or area of feasible solutions, obtains mobile whole
The attitude at end and the relative position of relative efficiency warehouse compartment or area of feasible solutions；And path planning module chooses in an effective warehouse compartment figure
The corresponding effective warehouse compartment figure of signal is used as the corresponding selected warehouse compartment figure of selected warehouse compartment, and foundation selectes warehouse compartment graphical association
Warehouse compartment positional information or area of feasible solutions and warehouse compartment type projects parking path.The present invention can accurately detect parking stall position simultaneously
Parking path is effectively planned after parking place is chosen, intelligence easily controls automobile along the path Bo Ru parking stalls planned
In.
Description of the drawings
Fig. 1 is shown as the parking assisting system module diagram in one embodiment of the present invention.
Fig. 2 is shown as interactive interface display schematic diagram in a specific embodiment of the present invention.
Fig. 3 is shown as the warehouse compartment type schematic diagram applied in a specific embodiment of the invention.
Fig. 4 is shown as the warehouse compartment type schematic diagram applied in a specific embodiment of the invention.
Fig. 5 is shown as the composition schematic diagram of warehouse compartment detection module in a specific embodiment of the invention.
Fig. 6 is shown as automobile automatic parking path schematic diagram in a specific embodiment of the present invention.
Component label instructions
10 parking assisting systems
11 warehouse compartment detection modules
111 image formation units
112 line extracting units
113 first warehouse compartment location information acquiring units
114 second warehouse compartment location information acquiring units
115 effective warehouse compartment location information acquiring units
116 memory element
12 locating modules
13 detecting modules
14 path planning modules
15 interactive module
16 control modules
21 automobiles
22 left fields
23 right side areas
24 warehouse compartment figures
40 automobiles
41～43 warehouse compartments
A～D key positions
Specific embodiment
Embodiments of the present invention are illustrated below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands easily other advantages and effect of the present invention.The present invention can also pass through concrete realities different in addition
The mode of applying is carried out or applies, the every details in this specification can also based on different viewpoints with application, without departing from
Various modifications and changes are carried out under the spirit of the present invention.It should be noted that, in the case where not conflicting, following examples and enforcement
Feature in example can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates in a schematic way the basic structure of the present invention
Think, only show in illustrating then with relevant component in the present invention rather than according to component count during actual enforcement, shape and size
Draw, it is actual when the implementing kenel of each component, quantity and ratio can be a kind of random change, and its assembly layout kenel
It is likely more complexity.
Fig. 1 is referred to, the parking assisting system module diagram in one embodiment of the present invention is shown as.It is described
Parking assisting system 10, is applied on mobile terminal, and the mobile terminal is preferably the mobile unit being applied on automobile, or is
One smart mobile phone etc., illustrates below so that the mobile terminal is the mobile unit being applied on automobile as an example.The system
10 include warehouse compartment detection module 11, locating module 12, detecting module 13 and path planning module 14.
The warehouse compartment detection module 11, to detection image effective warehouse compartment positional information is obtained；Preferably, the warehouse compartment inspection
Photographic head and range unit communication connection on surveying module 11 and automobile, the photographic head is absorbed for being formed with regard to the automobile
Certain viewing angles image image, the range unit is used to detect the possibility warehouse compartment area that is related to of region that described image is covered
Whether there is barrier in domain, and the warehouse compartment detection module is obtained with reference to the testing result of described image and the range unit
Take the corresponding effective warehouse compartment positional information of effective warehouse compartment in the possibility warehouse compartment region that is related to of region of described image covering；
The locating module 12, for calculating speed and the course of the vehicle body of the automobile, and with reference to effective warehouse compartment
Positional information or area of feasible solutions, obtain the attitude of the automobile and the relative position of relative efficiency warehouse compartment or area of feasible solutions.
The detecting module 13 is used for around probe vehicle vehicle body the area of feasible solutions that there is no barrier；Preferably, it is described
Detecting module 13 is a radar, whether to there is barrier in detection zone, and when there is no barrier in region, can as may be used
Row region, it is preferred that the region that be not made up of warehouse compartment line but can be parked is there may be in the area of feasible solutions.
Path planning module 14, with the warehouse compartment detection module 11, locating module 12 and the communication link of detecting module 13
Connect, for using the corresponding effective warehouse compartment figure of an effective warehouse compartment figure selected signal as the corresponding selected warehouse compartment figure of selected warehouse compartment
Shape, and according to effective warehouse compartment positional information or the area of feasible solutions of the selected warehouse compartment graphical association, the selected warehouse compartment figure
The warehouse compartment type of shape and the area of feasible solutions of the detection of the detecting module 13, plan parking path.Wherein, it is described to select
It is the warehouse compartment region with warehouse compartment line that effective warehouse compartment positional information of warehouse compartment graphical association is corresponding, selected warehouse compartment figure now
It is corresponding with warehouse compartment line.
And the selected warehouse compartment graphical association the area of feasible solutions it is corresponding for not have warehouse compartment line can be used for stop
Depletion region, and selected warehouse compartment figure now can obtain from default warehouse compartment graphics template, the default warehouse compartment figure
Shape template at least includes：Vertically disposed warehouse compartment figure, the warehouse compartment figure be arrangeding in parallel and the warehouse compartment figure being obliquely installed.
And in a particular application, can to select warehouse compartment figure be adjusted at any angle, for example, can according to it is upper and lower, left,
And the Image Adjusting operation on the right side, selected warehouse compartment figure is adjusted the position needed to user, further according to the storehouse obtained after adjustment
Bit pattern, further plans parking path.
Preferably, the system 10 also includes the interactive module 15, with the warehouse compartment detection module 11 and described fixed
Position module 12 is communicated to connect, for showing and effective corresponding effective warehouse compartment figure of warehouse compartment positional information and the automobile
Attitude and relative efficiency warehouse compartment position, or/and obtain an effective warehouse compartment figure selected signal.
Preferably, the system 10 also include control module 16, for control the automobile along the parking path moor into
In the selected warehouse compartment；The selected warehouse compartment can be the warehouse compartment being made up of warehouse compartment line, can also be the example in a depletion region
Such as in the area of feasible solutions.Wherein, the control mode of the control module at least include it is following in one or more：People
It is dynamic, semi-automatic, full-automatic.Wherein people moves and is, by user's control steering wheel, gear and brake, is carried out according to parking path
Park；A semi-automatic part in user's control steering wheel, gear and brake, and another part controls automatically for machine
System, to make automobile be parked according to parking path；It is automatically during parking, to the steering wheel, gear and to stop
The control of car is all to be carried out automatically, it is not necessary to artificial intervention.
In a specific embodiment of the invention, the people is dynamic to be included：The interactive module 15 provides operation indicating, the control
Molding block does not work completely；The operation indicating at least include it is following in one kind：Steering wheel how many angles, gear is beaten and sets several
How shelves and clutch control.
In a specific embodiment of the invention, it is described it is semi-automatic including：The interactive module 15 receives semiautomatic control and refers to
Order, the control module only control direction disk, gear, clutch and brake are completely by driver's control.
It is described automatically to include in a specific embodiment of the invention：The interactive module 15 receives Automatic Control and refers to
Order；The control module is parked automatically according to the full control instruction control automobile according to the parking path, completely not
Need artificial intervention.
Preferably, the control module is also to according to the parking path is to the attitude of the automobile and selectes storehouse relatively
The relative position of position is adjusted, and controls the automobile and moors in the selected warehouse compartment along the parking path.
Wherein, the certain viewing angles can determine according to factors such as the installation sites of the type of photographic head and photographic head,
The figure of the right side perspective with regard to the automobile can be for example only formed to carry out the adjustment of image aspects according to the demand of user
Picture, and for example only form the image of the left side perspective with regard to the automobile.And in the description of the embodiments below, with certain viewing angles
Image be as a example by the vertical view panoramic picture with regard to the automobile on the front side, rear side, left side and the right side that include the automobile
Illustrate, be, for example, the automobile shown in Fig. 2 with regard to the vertical view panoramic picture of the automobile in a concrete application
21 in parking lot.The barrier includes docking at the automobile in the warehouse compartment in the possible warehouse compartment region.The vertical view
The region of panorama map combining may only cover a little local area of actual parking stall area, it is also possible to cover actual parking stall face
A long-pending big local area, or the entire area for covering actual parking stall area.The region for overlooking panorama map combining
In except including may warehouse compartment region, also including non-warehouse compartment region (being very unlikely to be the region of warehouse compartment).
Because ultrasound wave directivity is strong, energy expenditure is slow, and that what is propagated in media as well is distant, thus ultrasound wave Jing is normal
For the measurement of distance, using ultrasound examination it is often relatively rapid, convenient, calculate it is simple, be easy to accomplish real-time control.So
The range unit of the present invention is preferably a supersonic range finder.
The principle of ultrasonic ranging is：Ultrasonic transmitter to a direction launches ultrasound wave, while x time
Start timing, ultrasound wave is propagated in atmosphere, barrier is encountered in way and just returns immediately, ultrasonic receiver receives echo
Just stop timing immediately.
The aerial spread speed of ultrasound wave is 340m/s, according to the time t of timer record, it is possible to which calculating is set out
Distance (s) of the exit point away from barrier, i.e.,：S=340t/2.Here it is so-called time difference telemetry.The principle of ultrasonic ranging
Be be using the aerial spread speed of ultrasound wave, it is known that measurement sound wave run into that barrier reflects after transmitting when
Between, launch point is calculated to the actual range of barrier according to transmitting and the time difference for receiving.
In order to study and utilizing ultrasound wave, people to design and made many supersonic generators.Generally speaking, surpass
Sonic generator can be divided into two big class：One class is that with electrically producing ultrasound wave, a class is mechanically to produce ultrasound
Ripple.
Wherein, electrically including piezo-electric type, magnetostriction type and power type etc.；Mechanical system has jar (unit of capacitance) system flute, the liquid whistle
With air-flow siren etc..The frequency of the ultrasound wave produced by them, power and acoustic wave character are different, thus purposes also each not phase
Together.What is more commonly used at present is piezoelectric-type ultrasonic wave producer.
Combine above-mentioned ultrasonic ranging principle, can according to the range unit detect to may be in warehouse compartment region
Distance to judge the possible warehouse compartment region in whether there is barrier, for example, when detecting to may be in warehouse compartment region
Distance for 1 meter when, you can judge there is barrier in the possible warehouse compartment region, it is impossible to for stopping, when when detecting to can
When distance in energy warehouse compartment region is 8 meters, you can judge there is no barrier in the possible warehouse compartment region, can be used for stopping,
Belong to an effective warehouse compartment.
In another specific embodiment, the range unit is alternatively a laser range finder.
Laser range finder is the instrument for carrying out Accurate Determining (also known as laser ranging) to the distance of target using laser.Laser
Diastimeter operationally projects a branch of very thin laser to target, and by photoelectric cell the laser beam of target reflection, timer are received
Laser beam is determined from the time for being transmitted into reception, is calculated from observer's range-to-go.
Laser range finder is lightweight, small volume, speed simple to operate are fast and accurate, is normally used for required precision higher
In measuring environment, but its application cost is higher, so in the case of not being very high to schedule requirement of finding range in the present invention, it is also excellent
First select supersonic range finder as above.
In a specific embodiment, the possibility warehouse compartment region near the automobile includes that the left side for being located at the automobile is preset
Distance in region, the region in the right side predeterminable range of the automobile, positioned at the automobile front preset apart from interior
Region, the region in the rear predeterminable range of the automobile, the area in the left front predeterminable range of the automobile
Domain, the region in the right front predeterminable range of the automobile, the region in the left back predeterminable range of the automobile,
Or/and the region in the right back predeterminable range of the automobile.
And in concrete application, certain the several region group in above-mentioned zone can also be specified into the possible warehouse compartment region,
For example, in one embodiment, region in the left side predeterminable range of the automobile is only selected and positioned at the automobile
Right side predeterminable range in region be the possible warehouse compartment region, in another specific embodiment, only select, positioned at the vapour
Region in the left side predeterminable range of car, the region in the right side predeterminable range of the automobile and positioned at the automobile
Front preset distance in region be the possible warehouse compartment region.The selection composition in the possible warehouse compartment region can also be to make by oneself
Other building forms that justice is arranged, can be adjusted according to concrete condition, be not limited with several building forms of foregoing description.
And in the embodiment shown in Fig. 2, the possible warehouse compartment region include be located at institute's automobile 21 left field 22 with
And right side area 23.
Fig. 5 is further regarded to, the composition schematic diagram of warehouse compartment detection module in a specific embodiment of the invention is shown as.It is described
Warehouse compartment detection module 11 preferably includes image formation unit 111, line extracting unit 112, the first warehouse compartment positional information and obtains single
First 113, second warehouse compartment location information acquiring unit 114 and effectively warehouse compartment location information acquiring unit 115.
Described image forms unit 111, to the image shot according to photographic head at least described in, is formed with regard to the vapour
The image of the certain viewing angles of car；Pass as shown in Figure 2 is chosen in the present embodiment with regard to the image of the certain viewing angles of the automobile
In the vertical view panoramic picture of the automobile.Described image forms unit 111 in the image shot according to photographic head at least described in,
Before forming the image with regard to the certain viewing angles of the automobile, also include that the image shot to the photographic head carries out pretreatment
Process, the pretreatment at least includes the one kind in the following manner：
Mode one：Noise is removed to the image that each photographic head shoots；
Wherein, the digital picture in reality is subjected to imaging device and external environmental noise in digitized and transmitting procedure
Interference etc. affects, referred to as noisy image or noise image.The process for reducing noise in digital picture is referred to as image denoising.
Noise is the major reason of image interference.One images there may be in actual applications various noises,
These noises may be produced in the transmission, it is also possible to be produced in quantization etc. is processed.Can be by it according to the relation of noise and signal
It is divided into three kinds of forms：F (x, y) represents given original picture, and g (x, y) presentation image signal, n (x, y) represents noise.
1) additive noise：This noise like is unrelated with input image signal, noisy image be represented by f (x, y)=g (x, y)+
The noise produced during the camera-scanning image of n (x, y), interchannel noise and vidicon just belongs to this noise like.
2) multiplicative noise：This noise like is relevant with picture intelligence, noisy image be represented by f (x, y)=g (x, y)+n (x,
Y) g (x, y), noise during flying spot scanner scanned picture, the correlated noise in TV image, the grain noise in film just belongs to
In this noise like.
3) quantizing noise：This noise like is unrelated with input image signal, is that quantizing process has quantization error, then reflects
Receiving terminal and produce.
Generally image denoising wave filter includes following several：
1st, mean filter
The granule for being highly suitable for removing in the image obtained by scanning using the mean filter of neighborhood averaging is made an uproar
Sound.Field averaging method effectively inhibits noise, and as well as averagely blooming is caused, fog-level is with field partly
Footpath is directly proportional.
The smoothness that geometric mean wave filter is reached can be compared with arithmetic equal value wave filter.But the meeting in filtering
Lose less pictorial detail.Harmonic wave mean filter is more preferable to " salt " noise effects, but is not suitable for " Fructus Piperiss " noise.It
It is good at processing other noises as Gaussian noise.Inverse harmonic wave mean filter is more suitable for processing impulsive noise.But it has
Individual shortcoming, exactly must be it is to be understood that noise be dark noise or bright noise.In order to select suitable filter order numerical symbol, such as
The symbol of fruit exponent number has selected wrong may cause catastrophic consequence.
2nd, adaptive wiener filter
It can adjust the output of wave filter according to the local variance of image, and local variance is bigger, the smooth work of wave filter
With stronger.Its final goal be make recovery image f^ (x, y) and original image f (x, y) mean square error e2=E [(f (x,
Y)-f^ (x, y) 2] it is minimum.The filter effect of the method is better than mean filter effect, to retain image edge and other
HFS is very useful, but amount of calculation is larger.Wiener filter is to the imaging filtering best results with white noise.
3rd, median filter
It is a kind of conventional Nonlinear Smoothing Filter.Its ultimate principle be in digital picture or Serial No. a bit
Value with the intermediate value of each point value in a field of the point replace its major function be allow surrounding pixel gray value difference than larger
Pixel change to take the value close with the pixel value of surrounding.Such that it is able to eliminate isolated noise spot, so medium filtering is for filter
Except the salt-pepper noise of image it is highly effective.Median filter can accomplish the edge for not only having removed noise but also having protected image.So as to
Obtain relatively satisfactory recovery effect.And, the statistical property of image is not needed during actual operation.This also brings many sides
Just, it is but many to some details.The method that particularly the more image of point, line, pinnacle details should not adopt medium filtering.
4th, morphology scratch filter
To open and closure will combine and can be used to filter noise, it is optional first to there is noisy image to carry out unlatching operation
Select structural element matrix bigger than the size of noise, thus the result opened is by the noise remove in background.It is finally to previous
The image that step is obtained carries out closed procedure, and the noise on image is removed.According to the characteristics of the method it is recognised that the method is suitable
Image type is object size in image all than larger.And without tiny details, to such scene image partition
Effect can be relatively good.
5th, Wavelet Denoising Method
This method remains most of wavelet coefficient comprising signal, therefore can preferably keep pictorial detail.It is little
Wave analysiss carry out image denoising mainly 3 steps：
(1) wavelet decomposition is carried out to picture intelligence；
(2) threshold value quantizing is carried out to the high frequency coefficient after hierachical decomposition；
(3) using 2-d wavelet reconstructed image signal.
Mode two：Demarcation correction is carried out to the image that each photographic head shoots according to default demarcation correction rule；Institute
It is, for example, a transition matrix to state demarcation correction rule, to carry out school to the image that the photographic head shoots according to the transition matrix
Just.
Mode three：Cutting is carried out to the image that each photographic head shoots, is pieced together and video smoothing process.Image mosaic
Exactly a series of pictures for mutually overlapping for Same Scene is synthesized the image of a big wide viewing angle.After splicing
Image request be farthest close to original image, distortion is as little as possible, without obvious stitching thread.
The property of original image is the most important factor for affecting merging algorithm for images, and the mode that original image is obtained is different,
Image integrity matter also has very big difference, needs to use different stitching algorithms.It is broadly divided into following several classes：
I) cylinder/sphere/cubic panorama splicing
The intermediate scheme of panorama sketch mainly has spherical panoramic image, Cylindrical panoramic image and cubic panorama.Cylindrical panoramic image
Easily obtain, the scene of any sight can be generated, but it is restricted to the ken of vertical direction；The complete earth's surface of spherical panoramic image energy is whole
View space, but the scene torsional deformation at the two poles of the earth can be caused；Cubic panorama is typically by the picture group that 6 width Radix Rumiciss are 90 °
Into, it is easy to the storage of data, it is easy to show, it is mainly used in three-dimension virtual reality field..
Cylinder model is the Panoramagram montage model for most generally adopting, and the method requires camera around vertical rotation axis (such as three feet
Frame) make to horizontally rotate.After projecting image onto on a unified cylinder, Bonding Problem is translated between cylinder epigraph
Translation problem.The concentric circular stitching algorithm of the propositions such as Heung2YeungShum is a kind of method for depending on camera parameter.Should
Algorithm is considered as the variation of cylinder model.
II) the splicing based on perspective transform
The splicing of perspective transform is to the motion of camera without strict restriction.But in order to prevent the appearance of parallax, it is desired to quilt
The scenery of shooting is an approximate plane, and in shooting, subject distance camera far can be considered as plane it enough.When what is obtained
It is the fragmentation pattern picture for putting in order unknown, or the motion mode of camera is unknown, can adopt this model.
III) the splicing based on affine transformation
Affine transformation is approximate frequently as the one kind based on perspective transform panorama sketch, camera tilt angles degree is little, focal length foot
Preferable matching result affine transformation can be obtained when enough big to be defined on continuous image.
IV) the image mosaic based on image retrieval
With CBIR method carry out image mosaic be it is a kind of combine image data base, image retrieval,
The joining method of the technologies such as pattern recognition.First artwork is divided into many fritters, then to each fritter, from image data base
Find image visually most close therewith.Finally the image selected from data base is constituted one greatly with substitution method
Figure.
The line extracting unit 112, with described image formed unit 111 communication be connected, to extract described image in
Possibility warehouse compartment region in all straight lines；In the present embodiment, because general automobile is at traveling parking lot, parking warehouse compartment one
As enter the both sides of road positioned at garage, so, in the present embodiment, include being located at the possibility warehouse compartment region near the automobile
Region in the left side predeterminable range of the automobile and said as a example by the region in the right side predeterminable range of the automobile
It is bright, and the region in the left side predeterminable range of the automobile and the region in the right side predeterminable range of the automobile point
The left field 22 and right side area 23 of automobile 21 that Wei be not as shown in Figure 2, and only detect the straight line in the region.
Preferably, by hough change detections and the possibility storehouse in the panoramic picture near the automobile is extracted
All straight lines in the region of position.Hough transform is a kind of parameter estimation techniques using voting principle.Its principle is to utilize image
Space and the point-line duality of Hough parameter spaces, the test problems in image space parameter space is transformed into.By
Simple cumulative statistics is carried out in parameter space, the method detection of straight lines of accumulator peak value is then found in Hough parameter spaces.
The essence of Hough transform is to be clustered the pixel with certain relation in image space, and searching can use certain these pixels
The parameter space accumulation corresponding point that one analytical form is connected.In the case where parameter space is less than two dimension, this conversion
There is preferable effect.
Included by the principle of hough change detection straight lines：For the straight line in plane, in cartesian coordinate system
In, common are point slope form, two kinds of method for expressing of two point form.But hough conversion in, it is considered to be another expression side
Formula：(r, theta) is used to represent straight line.Wherein r is distance of the straight line to origin, and theta is the vertical line of the straight line
With the angle of x-axis.Become using hough and bring the thought of detection of straight lines and be exactly：For the straight line that each point assumes n direction, lead to
Normal n=180, the angle precision of the straight line for now detecting is 1 °, and (r, theta) coordinate of this n bar straight line is calculated respectively, obtains n
Individual coordinate points.If the point to be judged has N number of, (r, the theta) coordinate for finally giving has N*n.Relevant this N*n (r,
Theta) coordinate, wherein theta are discrete angles, have 180 values.If multiple points are point-blank, then must
There is this multiple point in certain value theta_i of theta=, the r approximately equals of this multiple point are in r_i.That is this multiple point
All on straight line (r_i, theta_i).In actual straight-line detection situation, if it exceeds the point of certain amount possesses identical
(r, theta) coordinate, then it is determined that there is straight line herein.
The method of the straight-line detection can also be to carry out straight line inspection using method of least square in another specific embodiment
Survey, or with reference to random Hough transformation (RHT) noise resisting ability characteristic high with method of least square (LSM) fitting precision by force,
Straight-line detection is carried out based on random Hough transformation and method of least square.The line detection method can be used for background noise it is relatively strong and
There is the image of certain bending in straight line, accuracy of detection is high.First, the approximate location of straight line is determined with random Hough transformation, is obtained
Straight line parameter and quantity；Then, using gained straight line parameter, the point in image is calculated to the distance of straight line, according to distance, can be with
Determine the point set near every straight line, reject noise spot and noise；Finally, an each point concentrated is intended with method of least square
Close, obtain accurate straight line parameter.
The first warehouse compartment location information acquiring unit 113, is connected, to according to pre- with line extracting unit communication
If the first warehouse compartment feature, extract the effective straight line in all straight lines as warehouse compartment line, institute is obtained according to the warehouse compartment line
State the first warehouse compartment positional information in possible warehouse compartment region；Wherein, in another specific embodiment, the first warehouse compartment feature is extremely
Include one or more in following characteristics less：
Feature one：Default warehouse compartment shape；The warehouse compartment shape is for example set to rectangle, and has vertically disposed multiple squares
Shape region (as shown in Figure 2), the multiple rectangular areas (as shown in Figure 3) be arrangeding in parallel and it is inclined at an angle setting
Rectangular area (as shown in Figure 4).It is vertically arranged, be arranged in parallel and rectangular area or incline when the straight line for detecting can constitutes one
When requirement in the tiltedly rectangular area of setting, and the size of the rectangular area and warehouse compartment national standard requires to match, then
May determine that the rectangular area that the straight line for detecting is constituted has corresponded to a warehouse compartment.
Feature two：Warehouse compartment is made up of or special angle rectilinear(-al) two parallel lines and a vertical line, the parallel lines
Between spacing in default warehouse compartment length range；Two parallel lines are, for example, the length direction positioned at warehouse compartment shown in Fig. 2
The parallel lines at upper two ends, the vertical line is straight line along the warehouse compartment length direction and vertical with two parallel lines, and phase
Adjacent two groups of two parallel lines and a vertical line identify a warehouse compartment, and two adjacent LBPs default
Warehouse compartment width range in.The default warehouse compartment length range and default warehouse compartment width range according in national standard to corresponding
The requirement of the length and width of the warehouse compartment of vehicle and be configured.For example, in national standard, to vertically disposed kart
The width of warehouse compartment is 2.8 meters, so, default warehouse compartment width range herein can be 2.8 meters～3.0 meters.
Feature three：The straight line of composition warehouse compartment is with the gray scale difference value in other regions more than default gray scale difference value threshold value；Usual group
Straight line into warehouse compartment profile is higher compared with the brightness of its peripheral region, can pass through the gray scale for judging straight line and the region around straight line
Whether difference is used as judging that whether the straight line is a standard of effective straight line of composition warehouse compartment more than a threshold value.
Feature four：The shape of adjacent warehouse compartment is identical, and general warehouse compartment will not isolate presence, it will usually have multiple identical setting sides
The warehouse compartment shape of formula is in a row, such as adjacent warehouse compartment be the warehouse compartment shape that vertically disposed warehouse compartment shape or be arranged in parallel,
Or when being the warehouse compartment shape being obliquely installed, the region is judged for a warehouse compartment region.
Feature five：Warehouse compartment is made up of two relative lines and an intersecting lens, and the spacing between the relative line is in default warehouse compartment
In length range；The angle of the relative line and the intersecting lens is in the range of predetermined angle；
Five kinds of warehouse compartment features of the above may be used solely to judge the presence of warehouse compartment, but in order to improve the essence of warehouse compartment detection
Degree, multiple features being combined, whether come the region of comprehensive descision rectilinear(-al) be a warehouse compartment region.
For example, binding characteristic two and feature three, and the warehouse compartment for detecting be made up of two parallel lines and a vertical line or
Special angle rectilinear(-al), the spacing between the parallel lines while constitutes the straight line of warehouse compartment in default warehouse compartment length range
With the gray scale difference value in other regions more than default gray scale difference value threshold value, i.e., when meeting feature two and feature three simultaneously, judge straight line
The region of composition is an effective warehouse compartment region, improves the precision of warehouse compartment detection.
Again for example, binding characteristic two, feature three and feature four, and the warehouse compartment for detecting is by two parallel lines and one
Vertical line is constituted or special angle rectilinear(-al), and the spacing between the parallel lines is in default warehouse compartment length range, and while group
The gray scale difference value of straight line and other regions into warehouse compartment is more than default gray scale difference value threshold value, and the shape of adjacent warehouse compartment is identical, i.e.,
When meeting feature two, feature three and feature four simultaneously, judge the region of rectilinear(-al) for an effective warehouse compartment region.
Again for example, binding characteristic one, feature two, feature three and feature four, and the warehouse compartment for detecting and default warehouse compartment
Shape is identical, and is made up of two parallel lines and a vertical line, and the spacing between the parallel lines is in default warehouse compartment length range
It is interior, and while constitute the gray scale difference value in straight line and other regions of warehouse compartment more than default gray scale difference value threshold value, and adjacent warehouse compartment
Shape is identical, i.e., when meeting feature one, feature two, feature three and feature four simultaneously, judge the region of rectilinear(-al) for a warehouse compartment
Region.
In another specific embodiment, or the warehouse compartment feature to selecting arranges priority, and first high to priority
Warehouse compartment feature is compared, and then the warehouse compartment feature taken second place to priority is compared, in the warehouse compartment feature applied, preferentially
When the minimum warehouse compartment feature of level is all matched, judgement gets effective warehouse compartment.
For example, selected characteristic two and feature three are used as the warehouse compartment feature applied, and the priority of feature two is more than warehouse compartment three
Priority, i.e. when the straight line for detecting is in the case where feature two is met, that is, the warehouse compartment for detecting is by two parallel lines and one
Bar vertical line is constituted or special angle rectilinear(-al), and the spacing between the parallel lines is in default warehouse compartment length range, then judges
Whether the straight line for detecting meets feature three, that is, constitute the straight line of warehouse compartment with the gray scale difference value in other regions more than default gray scale difference
Value threshold value, under conditions of feature two is met, when also meeting feature three, judges the region of rectilinear(-al) for an effective warehouse compartment
Region, improves the precision of warehouse compartment detection.
Again for example, selected characteristic two, feature three and feature four are the warehouse compartment feature of application, and the priority of feature two is big
In feature three, the priority of feature three is more than feature four, that is, the warehouse compartment for detecting is made up of two parallel lines and a vertical line
Or special angle rectilinear(-al), when the spacing between the parallel lines is in default warehouse compartment length range, both met wanting for feature two
Ask, then further the straight line of detection composition warehouse compartment is more than default gray scale difference value threshold value with the gray scale difference value in other regions, that is, meet
The requirement of feature three, then further detect that the shape of adjacent warehouse compartment is identical, that is, meet the requirement of feature four, i.e., default excellent with this
First level order, judges the region of rectilinear(-al) for an effective warehouse compartment region.
Again for example, selected characteristic one, feature two, feature three and feature four are the warehouse compartment feature of application, feature one it is excellent
First level is more than feature two, and the priority of feature two is more than feature three, the priority of feature three is more than feature four, i.e., when detecting
When warehouse compartment is identical with default warehouse compartment shape, the requirement of feature one is met, then further detect that the straight line for getting meets warehouse compartment
It is made up of or special angle rectilinear(-al) two parallel lines and a vertical line, the spacing between the parallel lines is long in default warehouse compartment
Requirement in the range of degree, had both met the requirement of feature two, then further detection constitutes the straight line of warehouse compartment and the gray scale in other regions
Difference meets the requirement of feature three more than default gray scale difference value threshold value, then further detect that the shape of adjacent warehouse compartment is identical, i.e.,
Meet the requirement of feature four, i.e., with the default priority orders, judge the region of rectilinear(-al) for an effective warehouse compartment region.
Priority between the feature of selection can be manually set as the case may be, it is possible to be adjusted in real time
It is whole.
The second warehouse compartment location information acquiring unit 114, to combine default second storehouse by the range unit
Position feature is detected to the possibility warehouse compartment region near the automobile, obtains the second storehouse with the second warehouse compartment characteristic matching
Position positional information；The second warehouse compartment feature at least includes：The width range and length range of default warehouse compartment.The warehouse compartment
Width range and length range can be configured according to the requirement in GB for warehouse compartment.In concrete application embodiment
In, the range unit is the supersonic range finder of two sides for being respectively arranged at the automobile 21, the ultrasonic ranging
Device is long range supersonic range finder of the distance that can be measured more than 10 meters, in the automobile 21 through corresponding warehouse compartment
When, the depth in the possibility warehouse compartment region near automobile can be measured by being arranged at the range unit of the side of the automobile 21
Degree, in vertically disposed parking lot, the depth should be with the similar length of corresponding warehouse compartment, and according to the traveling road of the automobile 21
Line, obtains the corresponding width in respective depth region, and in vertically disposed parking lot, the corresponding width of the depth areas and phase
Answer the similar width of warehouse compartment.
Effective warehouse compartment location information acquiring unit 115, to merge the first warehouse compartment positional information and described
Second warehouse compartment positional information, obtains effective warehouse compartment positional information.
In a specific embodiment of the invention, the mode of the fusion at least includes the one kind in the following manner：Mode one：
The first warehouse compartment positional information is verified according to the second warehouse compartment positional information, to obtain effective warehouse compartment position
Information；Specially：When the first warehouse compartment positional information is got, according to the second warehouse compartment positional information described is judged
Whether the corresponding warehouse compartment with warehouse compartment line of one warehouse compartment positional information is that sky warehouse compartment (is judged in corresponding warehouse compartment with the presence or absence of barrier
Hinder thing), and obtained according to the corresponding first warehouse compartment positional information of empty warehouse compartment with warehouse compartment line and/or the second warehouse compartment positional information
Effective warehouse compartment positional information；Mode two：The second warehouse compartment positional information is entered according to the first warehouse compartment positional information
Row verification, to obtain effective warehouse compartment positional information；Specially：When the second warehouse compartment positional information is got, according to
The first warehouse compartment positional information judges whether the corresponding empty warehouse compartment of the second warehouse compartment positional information has the storehouse of composition warehouse compartment
Bit line, and obtained according to the corresponding first warehouse compartment positional information of empty warehouse compartment with warehouse compartment line and/or the second warehouse compartment positional information
Effective warehouse compartment positional information.Can exclude will not be the depletion region in warehouse compartment region in parking lot as effective storehouse
Position.
Further, relative position, the attitude of automobile 40, the Yi Jiku of the planning of the parking path and selected warehouse compartment
The type of position is relevant, and the warehouse compartment type includes the warehouse compartment be arrangeding in parallel, vertically disposed warehouse compartment and is inclined at an angle
The warehouse compartment of setting.In a specific embodiment, effective warehouse compartment is for example including the warehouse compartment 41 shown in Fig. 6, warehouse compartment 42 and warehouse compartment
43, and warehouse compartment 41, warehouse compartment 42 and warehouse compartment 43 are arranged vertically, are detecting the warehouse compartment 41, warehouse compartment 42 and warehouse compartment 43
When, the initial position and attitude of relatively each warehouse compartment of the automobile be, for example, as shown in the automobile 40 at the position A in Fig. 6, and
With the initial position that position A is the automobile 40, when the warehouse compartment 42 described in the choosing is the selected warehouse compartment, the path planning mould
Block 14 has cooked up the path BCD in figure, and includes the position of 3 keys, position B, position C, position in the path of planning
D, successively by automobile 40, position A is moved to position B, position C, position D from, you can complete parking for planning.It is vertical for this
The planning in the path of warehouse compartment, needs to consider that automobile, when garage is poured into, meets the pole of the barrier without impinging on the warehouse compartment left and right sides
Limit condition is put in storage.And for horizontally disposed warehouse compartment, the planning of parking path needs to meet and do not touch during automobile warehouse-in
Condition of the warehouse compartment from the nearest warehouse compartment angle of automobile.
During parking, the vehicle body of automobile 40 is constantly mobile, to select relatively in order to be able to accurately control automobile
The movement of warehouse compartment, needs the relative position and attitude for obtaining the relatively selected warehouse compartment of automobile accurate in real time.The locating module 12
By calculate automobile 40 vehicle body velocities and course by obtain the relative position and appearance of the relative efficiency warehouse compartment of automobile 40
State.Specially：The speed of the vehicle body of automobile is obtained by using the speed of the wheel of automobile 40 and the wheelspan of the automobile 40 for measuring
And course.
In a specific embodiment of the invention, the interactive module 15 also with effective warehouse compartment location information acquiring unit
115 communications are connected, and according to effective warehouse compartment positional information, extract the physical bit confidence at least two summits of correspondence warehouse compartment
Breath, and according to the physical location information at least two summit, corresponding effectively warehouse compartment is shown in default interactive interface
Figure.
Preferably, the interactive module 15 is also to by the graphical virtual of the automobile to the interface, and by automobile
During mooring corresponding warehouse compartment, real-time display automobile moor into corresponding virtual screen, so that user can understand in time
The process parked and state.Preferably, when the warehouse compartment shown in the warehouse compartment figure shown in interactive interface with panoramic picture has partially
During difference, user can adjust manually the warehouse compartment figure to corresponding default warehouse compartment figure coincidence.For example by the four of warehouse compartment
The warehouse compartment figure that the physical location information on individual summit shows in the panoramic picture is shown in the warehouse compartment figure 24 in Fig. 2, it is seen that
The warehouse compartment figure 24 has certain deviation with the corresponding warehouse compartment shown in the panoramic picture, user can according to it is upper and lower, left, with
And the Image Adjusting operation on the right side, the warehouse compartment figure 24 is adjusted to warehouse compartment corresponding with the panoramic picture and is overlapped.
In another specific embodiment, the warehouse compartment figure selected in interactive module 15 is in the area of feasible solutions
One warehouse compartment, and equally can be operated according to upper and lower, left and the right side Image Adjusting, warehouse compartment figure is adjusted to user's needs
Position, further according to the warehouse compartment figure obtained after adjustment, further plans parking path.
15 pieces of the interactive module is, for example, a touch display screen, and the touch-control carried out by user is input into, and selects corresponding
Warehouse compartment.
Touch screen provides output interface and input interface simultaneously between equipment and user.Touch screen controller connects and transmits/receives
Send from/go to the signal of telecommunication of touch screen.The touch screen then displays to the user that visual output.This visual output can include text
Sheet, figure, video and its combination in any.Some or all visual outputs can be corresponding with user-interface object, hereinafter will
Its more details are described.
Touch screen also receives the input of user based on tactile and/or tactile contact.The touch screen forms one and receives use
The touch sensitive surface of family input.The touch screen and touch screen controller (together with any associated module in memorizer and/or
Instruction set is together) contact (and any movement or interruption of the touch) on detection touch screen, and by connecing for detecting
Thixotroping changes interacting for the user interface object of such as one or more soft-key buttons etc with display on the touchscreen into.
In one exemplary embodiment, one or more handss of the contact point between touch screen and user corresponding to user
Refer to.The touch screen can use LCD (liquid crystal display) technologies or LPD (light emitting polymer displays) technology, but in other realities
Apply and can use in example other Display Techniques.
Touch screen and touch screen controller can be detected contact using any one of various Touch technologies and its be moved
Dynamic or interruption, these Touch technologies include but is not limited to electric capacity, resistance, infrared and surface acoustic wave techniques, and other close biographies
Sensor array, or for determining the other technologies of the one or more points contacted with touch screen.User can be using any suitable
When object or accessory, such as instruction pen, finger etc. are contacting touch screen.
The touch display screen also has a contact/motion module, and the contact/motion module is together with touch screen controller
To detect the contact with touch screen.Contact/the motion module is included for performing what the detection of the contact with touch screen was associated
The various component softwares of various operations, the operation for example, determines whether to come in contact, and determines whether the contact moves, and chases after
Movement on track touch screen, and determine whether the contact is interrupted (whether stopping contact).Determine the operation that contact point is moved
Can include determining that speed (amplitude), speed (amplitude and direction) and/or the acceleration of contact point (including amplitude and/or side
To).In certain embodiments, contact/motion module also detects the contact on touch pad with touch screen controller.
The touch display screen also has figure module in running, and the figure module is included for being on the touchscreen
Now with the various known software components for showing figure.Notice that term " figure " includes that any object of user, bag can be shown to
Include but be not limited to text, webpage, icon (such as including the user interface object including soft-key button), digital picture, video, dynamic
Draw etc..
In certain embodiments, figure module includes light intensity module.The light intensity module control user interface object is this kind of aobvious
Show the light intensity of Drawing Object on the touchscreen.Intensity control can include increasing or reducing the light intensity of Drawing Object.At some
In embodiment, the increase or reduction can follow predefined function.
The user interface state of user interface state module control device.The user interface state module can include locking
Module and unlocked state.Locking module detection by equipment to being transformed into user interface lock-out state, and equipment is transformed into into lock
Determine the satisfaction of any one condition in one or more conditions of state.Unlocked state is detected to equipment is transformed into into user circle
Face released state, and any one satisfaction equipment being transformed in one or more conditions of released state.Below
In the more details related to user interface state will be described.
In a specific embodiment of the invention, the control module preferably controls the automobile along described using pid algorithm
Parking path is moored in the selected warehouse compartment.Control module is according to the parking path planned choosing relative with the automobile of real-time detection
The relative position and attitude for determining warehouse compartment is compared, and according to the deviation for comparing, carries out ratio (P), integration (I) and differential (D)
Computing, exports unified standard signal, and the actuator for controlling automobile is operated, and realizes that the position to automobile and attitude are carried out
Adjustment, progressively to make automobile that the purpose into selected warehouse compartment is moored along the path planned.PID control method is ratio, integration, micro-
The linear combination for dividing, proportional action P is only directly proportional to deviation；Integral action I is accumulation of the deviation to the time；Differential action D is
The rate of change of deviation.
In a specific embodiment of the invention, the warehouse compartment detection module 11 also includes：Memory element 116, with described
One warehouse compartment location information acquiring unit 113 and the communication of the second warehouse compartment location information acquiring unit 114 are connected, and are stored with described pre-
If the first warehouse compartment feature and the second warehouse compartment feature；The first warehouse compartment feature includes one or more in following characteristics：
Feature one：Default warehouse compartment shape；Feature two：Warehouse compartment is made up of or special angle straight line group two parallel lines and a vertical line
Into the spacing between the parallel lines is in default warehouse compartment length range；Feature three：The straight line of composition warehouse compartment and the ash in other regions
Degree difference is more than default gray scale difference value threshold value；Feature four：The shape of adjacent warehouse compartment is identical；Feature five：Warehouse compartment is by two relative lines
With an intersecting lens composition, the spacing between the relative line is in default warehouse compartment length range；The relative line intersects with described
The angle of line is in the range of predetermined angle；The second warehouse compartment feature at least includes：The width range and length of default warehouse compartment
Degree scope.
Described memory element 116 may include high-speed random access memory, and may also include nonvolatile memory,
Such as one or more disk storage equipments, flash memory device or other non-volatile solid-state memory devices.In certain embodiments,
Memory module 32 can also include the memorizer of one or more processors, such as via RF circuits or outside port and communication
The network attached storage of network access, wherein the communication network can be the Internet, one or more in-house networks, LAN
(LAN), wide area network (WLAN), storage area network (SAN) etc. or other are appropriately combined.Memory module controller controllable device
Access of the other assemblies of such as CPU and interface circuit etc to memorizer.
In a specific embodiment of the invention, the mobile terminal is mobile unit or smart mobile phone.When described mobile whole
Hold for smart mobile phone when, the photographic head and the range unit and the communication connection of the smart mobile phone are to pass through
Bluetooth、CDMA2000、GSM、Infrared(IR)、ISM、RFID、UMTS/3GPPw/HSDPA、UWB、WiMAXWi-Fi
Radio communication is carried out with the one kind in the wireless communication protocol such as ZigBee.During will aiding in parking, with regard to path planning
Data processing is integrated in smart mobile phone, can reduce the data processing pressure of car-mounted terminal.
Further, the parking assisting system 10 is present in the smart mobile phone with a kind of formation of APP, opens institute
The mode of APP is stated, for example, is included：User's manual unlocking, and the smart mobile phone detect automobile car-mounted terminal send from
It is dynamic park request when, the smart mobile phone opens the APP.
Preferably, the mobile electronic device preferably includes memorizer, Memory Controller, one or more processors
(CPU), interface circuit, RF (radio frequency) circuit, voicefrequency circuit, speaker, mike, input/output (I/O) subsystem, touch
Display screen, other outputs or control device, and outside port.These components are by one or more communication bus or holding wire
Communicated.
The mobile electronic device can be any portable electric appts, including but not limited to notebook computer, flat board electricity
Brain, smart mobile phone, multimedia player, personal digital assistant (PDA) etc., it is also possible to including wherein two or multinomial group
Close.It should be appreciated that the equipment enumerated in the present embodiment is an example of portable electric appts, the component of the equipment can be with
Than being given in diagram with more or less of component, or with different component Configurations.Various assemblies shown in figure can
To be realized with the combination of hardware, software or software and hardware, including one or more signal processing and/or special road.
The I/O subsystems provide the interface between the input/output peripheral hardware and interface circuit of equipment, input/output peripheral
Such as touch screen and other input/control devicess.The I/O subsystems include touch screen controller and for other outputs or control
One or more input controllers of control equipment.One or more of input controllers receive/send from/to go to other defeated
Enter or control device the signal of telecommunication.Described other input/control devicess may include that physical button (for example presses button, rocking bar is pressed
Button etc.), dial, slider switch, stick etc..
Or in another specific embodiment, the car-mounted terminal of the automobile can also fill the photographic head and the range finding
The data is activation of acquisition is put into a high in the clouds, and the parking assisting system 10 is integrated in the server associated with the high in the clouds
In, and result is sent to the car-mounted terminal to be shown, equally the main processes of data are positioned over into cloud
End, can reduce the data processing pressure of the automobile.
Or in another specific embodiment, the data that the photographic head and the range unit are obtained are uploaded to a net
In network platform, and the server set associated with the network platform into the parking assisting system to the photographic head and the survey
The data uploaded away from device are processed, and the car-mounted terminal of the automobile or other mobile terminals can pass through registered in advance
User name password login to the network platform, to obtain the result of the parking assisting system, and carry out corresponding
The operation such as display.
In sum, parking assisting system of the invention and automobile, the image for shooting is detected using warehouse compartment detection module, with
Obtain effective warehouse compartment positional information image；The area of feasible solutions that there is no barrier around mobile terminal is detected by detecting module；
Speed and the course of mobile terminal are calculated using locating module, and with reference to effective warehouse compartment positional information, obtains the appearance of mobile terminal
The relative position of state and relative efficiency warehouse compartment；And path planning module is by the corresponding effective storehouse of an effective warehouse compartment figure selected signal
Bit pattern as the corresponding selected warehouse compartment figure of selected warehouse compartment, and according to the warehouse compartment positional information for selecting warehouse compartment graphical association or can
Row region and warehouse compartment type, plan parking path.The present invention can accurately detect parking stall position and after parking place is chosen
Effectively planning parking path, intelligent easily to control along the path Bo Ru parking stalls that automobile edge has been planned.So, the present invention has
Effect overcomes various shortcoming of the prior art and has high industrial utilization.
The principle and its effect of above-described embodiment only illustrative present invention, it is of the invention not for limiting.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and the scope without prejudice to the present invention to above-described embodiment.Cause
This, such as those of ordinary skill in the art is complete with institute under technological thought without departing from disclosed spirit
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (13)
1. a kind of parking assisting system, it is characterised in that be applied on mobile terminal, the system includes：
Warehouse compartment detection module, to detect the image of shooting effective warehouse compartment positional information is obtained；
Detecting module, for detecting the area of feasible solutions that there is no barrier around mobile terminal；
Locating module, for calculating speed and the course of the mobile terminal, and with reference to effective warehouse compartment positional information or can
Row region, obtains the attitude of the mobile terminal and the relative position of relative efficiency warehouse compartment or area of feasible solutions；
Path planning module, for using the corresponding effective warehouse compartment figure of an effective warehouse compartment figure selected signal as selected warehouse compartment pair
The selected warehouse compartment figure answered, and according to effective warehouse compartment positional information or the area of feasible solutions of the selected warehouse compartment graphical association,
And the warehouse compartment type of the selected warehouse compartment figure, plan parking path.
2. parking assisting system according to claim 1, it is characterised in that：The warehouse compartment detection module detection image is obtained
The mode of effectively warehouse compartment positional information includes：The warehouse compartment detection module communicates with photographic head and range unit on mobile terminal
Connection, the photographic head absorbs the image for forming the image of the certain viewing angles with regard to the mobile terminal, the range finding dress
Detect with the presence or absence of barrier, and the warehouse compartment in putting for detecting the possibility warehouse compartment region that the region that described image is covered is related to
The possibility storehouse that module is related to reference to the region that the testing result of described image and the range unit obtains described image covering
The corresponding effective warehouse compartment positional information of effective warehouse compartment in the region of position.
3. parking assisting system according to claim 1, it is characterised in that：The detecting module is updated by radar detection
The area of feasible solutions.
4. parking assisting system according to claim 2, it is characterised in that：The parking assisting system also includes interaction mould
Block, for showing and the corresponding effective warehouse compartment figure of the effective warehouse compartment positional information, the attitude of the mobile terminal and relative
The position of effective warehouse compartment, or/and for obtaining effective warehouse compartment figure selected signal.
5. parking assisting system according to claim 4, it is characterised in that：The parking assisting system also includes control mould
Block, controls the mobile terminal and moors in the selected warehouse compartment along the parking path；Wherein, the controlling party of the control module
Formula at least include it is following in one or more：People is dynamic, semi-automatic, full-automatic.
6. parking assisting system according to claim 5, it is characterised in that the people is dynamic to be included：The interactive module is carried
For operation indicating, the control module does not work；The operation indicating at least include it is following in one kind：Steering wheel beats how many angles
Spend, gear sets several grades and how clutch controls.
7. parking assisting system according to claim 5, it is characterised in that it is described it is semi-automatic including：The interactive module
Receive semiautomatic control instruction, the control module according to the semiautomatic control instruct control direction disk, gear, clutch, with
And brake is by driver's control.
8. parking assisting system according to claim 5, it is characterised in that described automatically to include：The interactive module
Receive Automatic Control instruction；The control module is automatically according to Automatic Control instruction control mobile terminal according to described
Parking path is parked.
9. parking assisting system according to claim 2, it is characterised in that：The warehouse compartment detection module includes：
Image formation unit, to the image shot according to photographic head at least described in, forms the spy with regard to the mobile terminal
Determine the image at visual angle；
Line extracting unit, with described image formed unit communication be connected, to extract described image in possibility warehouse compartment region
Interior all straight lines；
First warehouse compartment location information acquiring unit, is connected, to according to default first storehouse with line extracting unit communication
Position feature, extracts the effective straight line in all straight lines as warehouse compartment line, and according to the warehouse compartment line the possible warehouse compartment is obtained
The first warehouse compartment positional information in region；
Second warehouse compartment location information acquiring unit, to combine default second warehouse compartment feature to described by the range unit
Possibility warehouse compartment region near mobile terminal is detected, and is obtained and is believed with the second warehouse compartment position of the second warehouse compartment characteristic matching
Breath；
Effective warehouse compartment location information acquiring unit, to merge the first warehouse compartment positional information and the second warehouse compartment position
Information, obtains effective warehouse compartment positional information；
Memory element, communicate phase with the first warehouse compartment location information acquiring unit and the second warehouse compartment location information acquiring unit
Even, be stored with the default first warehouse compartment feature and the second warehouse compartment feature；
The first warehouse compartment feature includes one or more in following characteristics：
Feature one：Default warehouse compartment shape；
Feature two：Warehouse compartment is by two parallel lines and a vertical line or special angle rectilinear(-al), the spacing between the parallel lines
In default warehouse compartment length range；
Feature three：The straight line of composition warehouse compartment is with the gray scale difference value in other regions more than default gray scale difference value threshold value；
Feature four：The shape of adjacent warehouse compartment is identical；
Feature five：Warehouse compartment is made up of two relative lines and an intersecting lens, and the spacing between the relative line is in default warehouse compartment length
In the range of；The angle of the relative line and the intersecting lens is in the range of predetermined angle；
The second warehouse compartment feature at least includes：The width range and length range of default warehouse compartment.
10. parking assisting system according to claim 9, it is characterised in that：Merge the first warehouse compartment positional information with
And the second warehouse compartment positional information, obtain one kind that the mode of effective warehouse compartment positional information is at least included in the following manner：
Mode one：The first warehouse compartment positional information is verified according to the second warehouse compartment positional information, it is described to obtain
Effective warehouse compartment positional information；Specially：When the first warehouse compartment positional information is got, believed according to the second warehouse compartment position
Breath judges whether the corresponding warehouse compartment with warehouse compartment line of the first warehouse compartment positional information is sky warehouse compartment, and according to warehouse compartment line
The corresponding first warehouse compartment positional information of empty warehouse compartment and/or the second warehouse compartment positional information obtain effective warehouse compartment positional information；
Mode two：The second warehouse compartment positional information is verified according to the first warehouse compartment positional information, it is described to obtain
Effective warehouse compartment positional information；Specially：When the second warehouse compartment positional information is got, believed according to the first warehouse compartment position
Breath judges whether the corresponding empty warehouse compartment of the second warehouse compartment positional information has the warehouse compartment line of composition warehouse compartment, and according to warehouse compartment
The corresponding first warehouse compartment positional information of empty warehouse compartment of line and/or the second warehouse compartment positional information obtain effective warehouse compartment position letter
Breath.
11. parking assisting systems according to claim 5, it is characterised in that：The parking path includes multiple determination institutes
State the path key position of parking path, the control module control the mobile terminal according to the path key position moor into
In the selected warehouse compartment.
12. parking assisting systems according to claim 1, it is characterised in that：The mobile terminal is mobile unit or intelligence
Can mobile phone.
13. a kind of automobiles, including an at least photographic head, at least a range unit and such as any one of claim 1～12 institute
The parking assisting system stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610976109.8A CN106585627B (en) | 2016-11-07 | 2016-11-07 | Parking assisting system and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610976109.8A CN106585627B (en) | 2016-11-07 | 2016-11-07 | Parking assisting system and automobile |
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| Publication Number | Publication Date |
|---|---|
| CN106585627A true CN106585627A (en) | 2017-04-26 |
| CN106585627B CN106585627B (en) | 2019-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610976109.8A Active CN106585627B (en) | 2016-11-07 | 2016-11-07 | Parking assisting system and automobile |
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| CN109138561A (en) * | 2017-06-16 | 2019-01-04 | 纵目科技（上海）股份有限公司 | The method and system of virtual parking stall automatic parking is set |
| CN109299686A (en) * | 2018-09-14 | 2019-02-01 | 深圳市灵动飞扬科技有限公司 | A kind of parking stall recognition methods, device, equipment and medium |
| CN109398349A (en) * | 2018-09-11 | 2019-03-01 | 同济大学 | A kind of automatic parking method and system based on geometric programming and intensified learning |
| CN109859260A (en) * | 2017-11-30 | 2019-06-07 | 华为技术有限公司 | Determine the method, apparatus and computer readable storage medium of parking stall position |
| CN110211420A (en) * | 2019-06-25 | 2019-09-06 | 重庆长安汽车股份有限公司 | Judge current scene whether be parking lot method, system and computer readable storage medium |
| CN110322680A (en) * | 2018-03-29 | 2019-10-11 | 纵目科技（上海）股份有限公司 | A kind of bicycle position detecting method, system, terminal and storage medium based on specified point |
| CN110576848A (en) * | 2019-08-27 | 2019-12-17 | 北京踏歌智行科技有限公司 | Dynamic path planning method and device |
| CN111434550A (en) * | 2019-01-15 | 2020-07-21 | 初速度（苏州）科技有限公司 | Simulation-based parking strategy generation method and system |
| CN112124304A (en) * | 2020-11-24 | 2020-12-25 | 天津天瞳威势电子科技有限公司 | Library position positioning method and device and vehicle-mounted equipment |
| CN112829740A (en) * | 2019-11-25 | 2021-05-25 | 湖北亿咖通科技有限公司 | Vehicle control method and device for autonomous parking and vehicle |
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| CN115179925A (en) * | 2022-05-18 | 2022-10-14 | 合众新能源汽车有限公司 | Parking method and system based on mobile terminal |
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| CN109138561A (en) * | 2017-06-16 | 2019-01-04 | 纵目科技（上海）股份有限公司 | The method and system of virtual parking stall automatic parking is set |
| CN109859260B (en) * | 2017-11-30 | 2021-02-12 | 华为技术有限公司 | Method and device for determining parking position and computer readable storage medium |
| CN109859260A (en) * | 2017-11-30 | 2019-06-07 | 华为技术有限公司 | Determine the method, apparatus and computer readable storage medium of parking stall position |
| CN110322680A (en) * | 2018-03-29 | 2019-10-11 | 纵目科技（上海）股份有限公司 | A kind of bicycle position detecting method, system, terminal and storage medium based on specified point |
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| CN110211420A (en) * | 2019-06-25 | 2019-09-06 | 重庆长安汽车股份有限公司 | Judge current scene whether be parking lot method, system and computer readable storage medium |
| CN110211420B (en) * | 2019-06-25 | 2021-11-30 | 重庆长安汽车股份有限公司 | Method and system for judging whether current scene is parking lot or not and computer readable storage medium |
| CN110576848A (en) * | 2019-08-27 | 2019-12-17 | 北京踏歌智行科技有限公司 | Dynamic path planning method and device |
| CN112829740A (en) * | 2019-11-25 | 2021-05-25 | 湖北亿咖通科技有限公司 | Vehicle control method and device for autonomous parking and vehicle |
| WO2021208886A1 (en) * | 2020-04-13 | 2021-10-21 | 长城汽车股份有限公司 | Method, device and system for monitoring motion trajectory of vehicle |
| CN112124304A (en) * | 2020-11-24 | 2020-12-25 | 天津天瞳威势电子科技有限公司 | Library position positioning method and device and vehicle-mounted equipment |
| CN113246968B (en) * | 2021-06-15 | 2021-10-22 | 成都信息工程大学 | Automatic driving automobile accurate parking control method and device |
| CN113246968A (en) * | 2021-06-15 | 2021-08-13 | 成都信息工程大学 | Automatic driving automobile accurate parking control method and device |
| CN115179925A (en) * | 2022-05-18 | 2022-10-14 | 合众新能源汽车有限公司 | Parking method and system based on mobile terminal |
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