CN107878325A - Determine that parking system re-scales the method, apparatus and automatic calibration system on opportunity - Google Patents
Determine that parking system re-scales the method, apparatus and automatic calibration system on opportunity Download PDFInfo
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- CN107878325A CN107878325A CN201610875754.0A CN201610875754A CN107878325A CN 107878325 A CN107878325 A CN 107878325A CN 201610875754 A CN201610875754 A CN 201610875754A CN 107878325 A CN107878325 A CN 107878325A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/40—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components
- B60R2300/402—Image calibration
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the present invention provides a kind of method, apparatus and automatic calibration system for determining parking system and re-scaling opportunity, the current state information in vehicle travel process can be detected in real time, if the deviation between current state information and the initial state information to prestore exceedes setting deviation threshold, the cue that need to be re-scaled is sent.Whether need to re-scale parking system according to vehicle running state automatic decision, with higher accuracy, and when finding to need to re-scale parking system, driver is reminded immediately, ensure that driver gets the cue for re-scaling parking system in time, avoid driver from bringing potential safety hazard to the process of parking using having parking system devious.
Description
Technical field
The present invention relates to Vehicular intelligent control technology application field, and in particular to when one kind determines that parking system re-scales
The method, apparatus and automatic calibration system of machine.
Background technology
In order to more intuitively show the situation of vehicle periphery to driver, panoramic parking system arises at the historic moment.In panorama
In parking system, surface conditions around are shot by four cameras installed in vehicle body all around.Wherein, install
Front visual angle environment is shot in the camera of vehicle front, is installed on the camera of vehicle right to right visual angle environment
Shot, the camera for being installed on rear view of vehicle is shot to rear visual angle environment, is installed on the camera of vehicle left
Left visual angle environment is shot.Then the four width images photographed are synthesized one completely using image processing techniques
Picture is shown on liquid crystal display.So, as long as driver sees whole vehicle body each area all around with regard to can completely in the car
Domain, completely without any dead angle and blind area, brought great convenience for the process of parking and traffic safety.
Because camera and mould can not possibly reach completely the same, therefore the automobile equipped with panoramic parking system is dispatching from the factory
Before generally require and demarcated, each camera is calibrated, so as to ensure that the image of all directions can correctly splice
Come, one width panorama sketch of composition is watched for driver.But after vehicle release, the calibration result of calibration system is likely to occur partially
The position of camera or setting angle change during difference, such as vehicle use, and the demarcation carried out before dispatching from the factory may nothing
Method is applied to actual conditions, but driver possibly can not obtain the information that camera has occurred and that position or angle change, no
Demarcation can be re-started to camera in time, the panoramic picture that driver sees when parking process can be caused error to be present,
Very likely influence the security during parking.
The content of the invention
The embodiment of the present invention will solve because driver can not obtain parking system calibration result to occur partially in the prior art
Difference, it is impossible to the camera in parking system is re-scaled in time, influence park during security the problem of.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of side for determining parking system and re-scaling opportunity
Method, comprise the following steps：
Obtain the current state information in vehicle travel process；
If the deviation between the current state information and the initial state information to prestore exceedes setting deviation threshold,
Send the cue that need to be re-scaled；
Wherein, the state letter of vehicle when the initial state information is demarcated for the last time to the parking system
Breath.
Alternatively, above-mentioned determination parking system is re-scaled in the method on opportunity, if the current state information is with prestoring
Initial state information between deviation exceed setting deviation threshold, then send need to re-scale cue the step of in
Including：
The current tire pressure monitoring data of tire are obtained according to the current state information；
If the original tire pressure Monitoring Data of the current tire pressure monitoring data of at least one tire and the corresponding tire to prestore
When difference is more than the first given threshold, then the cue that need to be re-scaled is sent.
Alternatively, above-mentioned determination parking system is re-scaled in the method on opportunity, if the current state information is with prestoring
Initial state information between deviation exceed setting deviation threshold, then send need to re-scale cue the step of in
Including：
The current location data of camera is obtained according to the current state information；
If the current location data of at least one camera and the difference of the initial position data of corresponding camera to prestore
During more than the second given threshold, then the cue that need to be re-scaled is sent.
Alternatively, above-mentioned determination parking system is re-scaled in the method on opportunity, if the current state information is with prestoring
Initial state information between deviation exceed setting deviation threshold, then send need to re-scale cue the step of in
Including：
The current angular data of camera are obtained according to the current state information；
If the current angular data of at least one camera and the difference of the initial angle data of corresponding camera to prestore
During more than three given thresholds, then the cue that need to be re-scaled is sent.
Alternatively, above-mentioned determination parking system is re-scaled in the method on opportunity, if the current state information is with prestoring
Initial state information between deviation exceed setting deviation threshold, then send need to re-scale cue the step of it
Also comprise the following steps afterwards：
Start parking system and move automatic calibration device.
The embodiment of the present invention also provides a kind of device for determining parking system and re-scaling opportunity, including：
State information acquisition module, obtain the current state information in vehicle travel process；
Processing module, if the deviation between the current state information and the initial state information to prestore exceedes setting partially
Poor threshold value, then send the cue that need to be re-scaled；Wherein, the initial state information is the last time to be to described park
The status information of vehicle when system is demarcated.
Alternatively, above-mentioned determination parking system re-scales the device on opportunity, and the processing module is specifically used for：
The current tire pressure monitoring data of tire are obtained according to the current state information；
If the original tire pressure Monitoring Data of the current tire pressure monitoring data of at least one tire and the corresponding tire to prestore
When difference is more than the first given threshold, then the cue that need to be re-scaled is sent.
Alternatively, above-mentioned determination parking system re-scales the device on opportunity, and the processing module is specifically used for：
The current location data of camera is obtained according to the current state information；
If the current location data of at least one camera and the difference of the initial position data of corresponding camera to prestore
During more than the second given threshold, then the cue that need to be re-scaled is sent.
Alternatively, above-mentioned determination parking system re-scales the device on opportunity, and the processing module is specifically used for：
The current angular data of camera are obtained according to the current state information；
If the current angular data of at least one camera and the difference of the initial angle data of corresponding camera to prestore
During more than three given thresholds, then the cue that need to be re-scaled is sent.
Alternatively, above-mentioned determination parking system re-scales the device on opportunity, in addition to：
Execution module, start parking system and move automatic calibration device.
The embodiment of the present invention also provides a kind of automatic calibration system, including sensor cluster and determination parking system are marked again
The device of timing machine；Wherein：
The sensor cluster, collection vehicle traveling during current state information；
The device for determining parking system and re-scaling opportunity, the vehicle for obtaining the sensor cluster collection are run over
Current state information in journey；If the deviation between the current state information and the initial state information to prestore exceedes setting
Deviation threshold, then send the cue that need to be re-scaled；Wherein, the initial state information is parked for the last time to described
The status information of vehicle when system is demarcated.
Alternatively, in above-mentioned automatic calibration system, the sensor cluster includes the first sensor of detection wheel tyre pressure；
And/or the second sensor of detection camera position；And/or the 3rd sensor of detection camera angle.
Alternatively, in above-mentioned automatic calibration system, in addition to parking system moves automatic calibration device, for parking system
Re-scaled；
The device for determining parking system and re-scaling opportunity, it is additionally operable to start the dynamic automatic Calibration dress of the parking system
Put.
Compared with prior art, above-mentioned technical proposal provided in an embodiment of the present invention at least has the advantages that：
Scheme described in the embodiment of the present invention, the current state information in vehicle travel process can be detected in real time, if currently
Deviation between status information and the initial state information to prestore exceedes setting deviation threshold, then what transmission need to re-scale carries
Show signal.Whether need to re-scale parking system according to vehicle running state automatic decision, there is higher accuracy, and
And when finding to need to re-scale parking system, driver is reminded immediately, ensure that driver gets in time and mark again
Determine the cue of parking system, avoid driver from bringing potential safety hazard to the process of parking using having parking system devious.
Brief description of the drawings
Fig. 1 is the flow chart for the method that the determination parking system that the embodiment of the present invention 1 provides re-scales opportunity；
Fig. 2 is a kind of flow for determining parking system and re-scaling the method on opportunity that the embodiment of the present invention 2 provides
Figure；
Fig. 3 is another stream for determining parking system and re-scaling the method on opportunity that the embodiment of the present invention 2 provides
Cheng Tu；
Fig. 4 is another described stream for determining parking system and re-scaling the method on opportunity that the embodiment of the present invention 2 provides
Cheng Tu；
Fig. 5 is the flow chart for the method that the determination parking system that the embodiment of the present invention 3 provides re-scales opportunity；
Fig. 6 is a kind of principle for determining parking system and re-scaling the device on opportunity that the embodiment of the present invention 4 provides
Block diagram；
Fig. 7 is another original for determining parking system and re-scaling the device on opportunity that the embodiment of the present invention 4 provides
Manage block diagram；
Fig. 8 is the theory diagram of automatic calibration system described in the embodiment of the present invention 5；
Fig. 9 is that the execution that the embodiment of the present invention 7 provides determines that parking system re-scales the electronic equipment of the method on opportunity
Hardware architecture diagram.
Embodiment
Embodiment 1
The present embodiment provides a kind of method for determining parking system and re-scaling opportunity, the full-vehicle control system applied to vehicle
In system, as shown in figure 1, comprising the following steps：
S101:Obtain the current state information in vehicle travel process.Wherein current state information can include vehicle row
During sailing, any one or several status informations of parking system camera collection information can be had influence on.
S102：Judge whether the deviation between the current state information and the initial state information to prestore exceedes setting
Deviation threshold, if then entering step S103, otherwise return to step S101.
S103：Send the cue that need to be re-scaled.Wherein, the initial state information is the last time to described complete
The status information of vehicle when scape parking system is demarcated.In this step, the cue can pass through the finger on instrument board
Show that lamp is prompted, can be with additional alarm prompt tone.Purpose is to remind driver, and now panoramic parking system needs again
Demarcation, the panoramic view now obtained have relatively large deviation, influence may be brought on the process of parking.Driver can contact 4S as early as possible
Shop, producer etc. re-scale to panoramic parking system.
Under normal circumstances, the parking system of vehicle is when being demarcated every time, what the status information of vehicle was all to determine.Cause
It is camera when being taken pictures to visual angle environment, the image photographed and the position of camera, angle etc. have close relationship.
And the status information of vehicle may have an impact to the position of camera, angle, for example, when being demarcated vehicle state
Information can ensure that four cameras for being installed on vehicle body surrounding are located in same level, by demarcating four width obtained afterwards
Image can carry out it is seamless spliced, but travel a period of time after, the status information of vehicle changes, and causes vehicle body to the left
Roll oblique, then the position for the camera being installed on the left of vehicle body can be significantly lower than the position of other cameras, now take the photograph for four
As deviation necessarily occurs in image that head obtains in splicing, such case should just be carried out again to parking system in time
Demarcation.Therefore, in vehicle each time calibration process, all the status information of vehicle is recorded and preserved, be as judgement
It is no to need the benchmark that re-scales, as long as the deviation of the status information when status information in vehicle travel process is demarcated with this
It is larger, suggest that driver needs to re-scale parking system.
In step S103, the setting deviation threshold can be obtained by demarcation mode.Specifically, not influence the process of parking
In security be defined.Position, the angle information of camera are can determine according to car status information, according to the position of camera
Put, angle information can determine actual environment situation corresponding to the image for the visual angle environment that camera photographs, according to known
Image and actual environment mapping relations, can determine between the actual environment situation and the ambient image that should be shot in theory
Offset distance.Correspondingly, the setting deviation threshold can be pushed away come counter according to the allowed band of the offset distance.
The such scheme of the present embodiment, whether need to mark parking system again according to vehicle running state automatic decision
It is fixed, there is higher accuracy, and when finding to need to re-scale parking system, driver is reminded immediately, ensure
Driver gets the cue for re-scaling parking system in time, avoid driver using have parking system devious to
The process of parking brings potential safety hazard.
Embodiment 2
The determination parking system that the present embodiment provides re-scales the method on opportunity, as shown in Fig. 2 comprising the following steps：
S201:Obtain the current state information in vehicle travel process.
S202：The current tire pressure monitoring data of tire are obtained according to the current state information.
S203：Determine whether the current tire pressure monitoring data of at least one tire and the initial tire of the corresponding tire to prestore
The difference of Monitoring Data is pressed more than the first given threshold, if then entering step S204, otherwise return to step S201.
S204：Send the cue that need to be re-scaled.
In the program, basis for estimation is used as using tire pressure monitoring data, it is assumed that during the last demarcation of vehicle, four wheels
Tire pressure monitoring data are identical, and now the position of four on vehicle body camera can determine according to the position of vehicle body, now to taking the photograph
After being demarcated as head, four width images intactly seamless spliced can obtain the panoramic view of vehicle-periphery.If vehicle
After a period of time is travelled, the tire pressure monitoring data of left side wheel change, and cause vehicle body to tilt to the left, and now left side is taken the photograph
As image that head obtains should be can not be carried out with the images of other cameras it is seamless spliced.Now then need to remind driver
Pay attention to, it is necessary to re-scale parking system.
The present embodiment also provides a kind of method, as shown in figure 3, comprising the following steps：
S301:Obtain the current state information in vehicle travel process.
S302:The current location data of camera is obtained according to the current state information；
S303:Whether the current location data of at least one camera and the initial position number of the corresponding camera that prestores are had
According to difference more than the second given threshold, if then entering step S304, otherwise return to step S301.
S304:Send the cue that need to be re-scaled.
Fig. 4 show the another method of the present embodiment offer, comprises the following steps：
S401:Obtain the current state information in vehicle travel process.
S402:The current angular data of camera are obtained according to the current state information；
S403:Determine whether the current angular data of at least one camera and the initial angle of the corresponding camera to prestore
The difference of degrees of data is more than the 3rd given threshold, if then entering step S404, otherwise return to step 401.
S404:Send the cue that need to be re-scaled.
Scheme as shown in Figure 3 and Figure 4, directly obtain position, the angle-data of camera.Can be by pre-setting position
The modes such as sensor, angular transducer are put to obtain.If vehicle is in the process of moving, the fixture of fixing camera loosens, or
Vehicle body knockdown caused by other situations of person, it all may result in camera position, angle-data changes.According to above-mentioned
Data directly judge whether that needs re-scale, more directly, more accurate.
In the present embodiment, first given threshold, the second given threshold and the 3rd given threshold can be by demarcation sides
Formula obtains, and specific acquisition modes can be identical with setting the logic of deviation threshold described in embodiment 1, no longer retouches in detail herein
State.
Embodiment 3
As shown in figure 5, the method that the determination parking system that the present embodiment provides re-scales opportunity, comprises the following steps：
S501：Obtain the current state information in vehicle travel process；
S502：Judge whether the deviation between the current state information and the initial state information to prestore exceedes setting
Deviation threshold, if then entering step S503, otherwise return to step S501.
S503：Send the cue that need to be re-scaled.
S504：Start panoramic parking system and move automatic calibration device.
Above-mentioned steps S501-503 and the step implementation described in previous embodiment are same or similar.As it was previously stated,
When finding that panoramic parking system needs to re-scale, driver can be prompted by instrument board indicator lamp in time, and be aided with sound
Prompting.Now driver can be re-scaled by contacting 4S shops or producer to panoramic parking system.And for some cars
, automatic calibration device itself is configured with, but need driver artificially to judge whether to need to start automatic Calibration dress
Put.After the scheme in the present embodiment, when according to detecting that panoramic parking system needs to re-scale, you can start panorama
Parking system moves automatic calibration device.Focus in the present embodiment start automatic calibration device opportunity, therefore for how
Automatic Calibration is not described in detail, and can be realized according to prior art.
Embodiment 4
The present embodiment provides a kind of device for determining parking system and re-scaling opportunity, the full-vehicle control system applied to vehicle
In system as shown in fig. 6, including：
State information acquisition module 601, obtain the current state information in vehicle travel process；Current state information can be with
Any one or several status informations including parking system camera collection information in vehicle travel process, can be had influence on.
Processing module 602, set if the deviation between the current state information and the initial state information to prestore exceedes
Determine deviation threshold, then send the cue that need to be re-scaled；Wherein, the initial state information is the last time to described complete
The status information of vehicle when scape parking system is demarcated.The cue can be carried by the indicator lamp on instrument board
Show, can be with additional alarm prompt tone.Purpose is to remind driver, and now panoramic parking system needs to re-scale, now
To panoramic view have relatively large deviation, influence may be brought on the process of parking.Driver can contact 4S shops, producer etc. pair as early as possible
Panoramic parking system is re-scaled.
The setting deviation threshold can be obtained by demarcation mode.Specifically, not influence the security during parking
It is defined.Position, the angle information of camera are can determine according to car status information, according to the position of camera, angle information
The actual environment situation corresponding to the image for the visual angle environment that camera photographs is can determine, according to known image and reality
The mapping relations of environment, it can determine the offset distance between the actual environment situation and the ambient image that should be shot in theory.
Correspondingly, the setting deviation threshold can be pushed away come counter according to the allowed band of the offset distance.
The such scheme of the present embodiment, whether need to mark parking system again according to vehicle running state automatic decision
It is fixed, there is higher accuracy, and when finding to need to re-scale parking system, driver is reminded immediately, ensure
Driver gets the cue for re-scaling parking system in time, avoid driver using have parking system devious to
The process of parking brings potential safety hazard.
As a kind of implementation, the processing module 602 is specifically used for：
The current tire pressure monitoring data of tire are obtained according to the current state information；
If the original tire pressure Monitoring Data of the current tire pressure monitoring data of at least one tire and the corresponding tire to prestore
When difference is more than the first given threshold, then the cue that need to be re-scaled is sent.
Basis for estimation is used as using tire pressure monitoring data, it is assumed that during the demarcation of vehicle the last time, the tire pressure monitoring of four wheels
Data are identical, and now the position of four on vehicle body camera can determine according to the position of vehicle body, and now camera is carried out
After demarcation, four width images intactly seamless spliced can obtain the panoramic view of vehicle-periphery.If vehicle is in traveling one
After the section time, the tire pressure monitoring data of left side wheel change, and cause vehicle body slightly to tilt to the left, now left side camera
The image of acquisition should be can not be seamless spliced with the image progress of other cameras.Now then need to remind driver's note
Meaning is, it is necessary to re-scale parking system.
As another implementation, the processing module 602 is specifically used for：
The current location data of camera is obtained according to the current state information；
If the current location data of at least one camera and the difference of the initial position data of corresponding camera to prestore
During more than the second given threshold, then the cue that need to be re-scaled is sent.
Or the processing module specific 602 is used for：
The current angular data of camera are obtained according to the current state information；
If the current angular data of at least one camera and the difference of the initial angle data of corresponding camera to prestore
During more than three given thresholds, then the cue that need to be re-scaled is sent.
Such scheme directly obtains the position of camera, angle-data.Can be by pre-setting position sensor, angle
The modes such as sensor obtain.If vehicle is in the process of moving, the fixture of fixing camera loosens, or other situations cause
Vehicle body knockdown, all may result in camera position, angle-data changes.It is according to the directly judgement of above-mentioned data
No needs re-scale, more directly, more accurate.
Wherein, first given threshold, the second given threshold and the 3rd given threshold, can be obtained by demarcation mode
Take, specific acquisition modes can be identical with setting the logic of deviation threshold described in embodiment 1, is not described in detail herein.
Further, as shown in fig. 7, determining the device on panoramic parking system demarcation opportunity also includes：
Execution module 603, start panoramic parking system and move automatic calibration device.For some vehicles, itself may match somebody with somebody
Automatic calibration device is equipped with, but needs driver artificially to judge whether to need to start automatic calibration device.Using the present embodiment
In scheme after, when detecting that panoramic parking system needs to re-scale, you can start panoramic parking system move automatic Calibration
Device.Focus on starting the opportunity of automatic calibration device in the present embodiment, therefore for how automatic Calibration is no longer retouched in detail
State, can be realized according to prior art.
Embodiment 5
The present embodiment provides a kind of automatic calibration system, as shown in figure 8, being parked including sensor cluster 801 and determination and being
System re-scales the device 802 on opportunity；Wherein：
The sensor cluster 801, collection vehicle traveling during current state information；The sensor cluster 801
Mounted sensor on vehicle can be used, can also be vehicle placement sensor according to the actual requirements.Specifically, the biography
Sensor component includes the first sensor of detection wheel tyre pressure；And/or the second sensor of detection camera position；And/or inspection
Survey the 3rd sensor of camera angle.
The device 802 for determining parking system and re-scaling opportunity, obtains the vehicle that the sensor cluster 801 gathers
Current state information during traveling；If the deviation between the current state information and the initial state information to prestore surpasses
Setting deviation threshold is crossed, then sends the cue that need to be re-scaled；Wherein, the initial state information is the last time to institute
State the status information of vehicle when panoramic parking system is demarcated.
Automatic calibration system described in the present embodiment, wherein determine parking system re-scale the device 802 on opportunity being capable of root
Whether the vehicle running state automatic decision detected according to the sensor cluster 801 needs to re-scale parking system, tool
There is higher accuracy, and when finding to need to re-scale parking system, remind driver immediately, ensure driver
The cue for re-scaling parking system is got in time, avoids driver using having parking system devious to parking
Journey brings potential safety hazard.
Further, as shown in figure 8, the system, which also includes parking system, moves automatic calibration device 803, for being to parking
System is re-scaled；It is described to determine that parking system re-scales the device on opportunity, be additionally operable to start the parking system it is dynamic from
Dynamic caliberating device.
After the scheme in the present embodiment, when detecting that panoramic parking system needs to re-scale, you can start complete
Scape parking system moves automatic calibration device.
Embodiment 6
The embodiment of the present application provides a kind of nonvolatile computer storage media, and the computer-readable storage medium is stored with
Computer executable instructions, the computer executable instructions can perform the determination parking system weight in above-mentioned any means embodiment
The method on new demarcation opportunity.
Embodiment 7
Fig. 9 is that the execution that the present embodiment provides determines that parking system re-scales the hardware of the electronic equipment of the method on opportunity
Structural representation, the equipment include：
One or more processors 901 and memory 902, in Fig. 9 by taking a processor 901 as an example.
Perform and determine that the equipment for the method that parking system re-scales opportunity can also include：Input unit 903 and output
Device 904.
Processor 901, memory 902, input unit 903 and output device 904 can pass through bus or other modes
Connect, in Fig. 9 exemplified by being connected by bus.
Memory 902 is used as a kind of non-volatile computer readable storage medium storing program for executing, available for storage non-volatile software journey
Sequence, non-volatile computer executable program and module, when being re-scaled such as the determination parking system in the embodiment of the present application
Programmed instruction/module corresponding to the method for machine (for example, state information acquisition module 601, processing module 602 shown in accompanying drawing 6).
Processor 901 is stored in non-volatile software program, instruction and module in memory 902 by operation, so as to perform clothes
The various function application of business device and data processing, that is, realize that the determination parking system of above method embodiment re-scales opportunity
Method.
Memory 902 can include storing program area and storage data field, wherein, storing program area can store operation system
Application program required for system, at least one function；Storage data field can store re-scales opportunity according to determination parking system
Device use created data etc..In addition, memory 902 can include high-speed random access memory, can also wrap
Include nonvolatile memory, for example, at least a disk memory, flush memory device or other non-volatile solid state memories
Part.In certain embodiments, memory 902 is optional including relative to the remotely located memory of processor 901, these are remotely deposited
Reservoir can re-scale the device on opportunity by network connection to determination parking system.The example of above-mentioned network includes but unlimited
In internet, intranet, LAN, mobile radio communication and combinations thereof.
Input unit 903 can receive the numeral or character information of input, and produce with determining that parking system re-scales
The key signals input that the user of the device on opportunity is set and function control is relevant.Output device 904 may include that display screen etc. is aobvious
Show equipment.
One or more of modules are stored in the memory 902, when by one or more of processors
During 901 execution, the method that the determination parking system in above-mentioned any means embodiment re-scales opportunity is performed.
The said goods can perform the method that the embodiment of the present application is provided, and possesses the corresponding functional module of execution method and has
Beneficial effect.Not ins and outs of detailed description in the present embodiment, reference can be made to the method that the embodiment of the present application is provided.
The electronic equipment of the embodiment of the present invention exists in a variety of forms, includes but is not limited to:
(1) mobile communication equipment:The characteristics of this kind equipment is that possess mobile communication function, and to provide speech, data
Communicate as main target.This Terminal Type includes:Smart mobile phone (such as iPhone), multimedia handset, feature mobile phone, and it is low
Hold mobile phone etc..
(2) super mobile personal computer equipment:This kind equipment belongs to the category of personal computer, there is calculating and processing work(
Can, typically also possess mobile Internet access characteristic.This Terminal Type includes:PDA, MID and UMPC equipment etc., such as iPad.
(3) portable entertainment device:This kind equipment can show and play content of multimedia.The kind equipment includes:Audio,
Video player (such as iPod), handheld device, e-book, and intelligent toy and portable car-mounted navigation equipment.
(4) server:The equipment for providing the service of calculating, the composition of server are total including processor, hard disk, internal memory, system
Line etc., server is similar with general computer architecture, but due to needing to provide highly reliable service, therefore in processing energy
Power, stability, reliability, security, scalability, manageability etc. require higher.
(5) other electronic installations with data interaction function.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, it can be as the part that unit is shown or may not be physics list
Member, you can with positioned at a place, or can also be distributed on multiple NEs.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on such understanding, on
The part that technical scheme substantially in other words contributes to prior art is stated to embody in the form of software product, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some fingers
Make to cause a computer equipment (can be personal computer, server, or network equipment etc.) to perform each implementation
Method described in some parts of example or embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (13)
- A kind of 1. method for determining parking system and re-scaling opportunity, it is characterised in that comprise the following steps：Obtain the current state information in vehicle travel process；If the deviation between the current state information and the initial state information to prestore exceedes setting deviation threshold, send The cue that need to be re-scaled；Wherein, the status information of vehicle when the initial state information is demarcated for the last time to the parking system.
- 2. the method according to claim 1 for determining parking system and re-scaling opportunity, it is characterised in that if described current Deviation between status information and the initial state information to prestore exceedes setting deviation threshold, then what transmission need to re-scale carries The step of showing signal includes：The current tire pressure monitoring data of tire are obtained according to the current state information；If the difference of the original tire pressure Monitoring Data of the current tire pressure monitoring data of at least one tire and the corresponding tire to prestore During more than the first given threshold, then the cue that need to be re-scaled is sent.
- 3. the method according to claim 1 for determining parking system and re-scaling opportunity, it is characterised in that if described current Deviation between status information and the initial state information to prestore exceedes setting deviation threshold, then what transmission need to re-scale carries The step of showing signal includes：The current location data of camera is obtained according to the current state information；If the current location data of at least one camera exceedes with the difference of the initial position data of the corresponding camera to prestore During the second given threshold, then the cue that need to be re-scaled is sent.
- 4. the method according to claim 1 for determining parking system and re-scaling opportunity, it is characterised in that if described current Deviation between status information and the initial state information to prestore exceedes setting deviation threshold, then what transmission need to re-scale carries The step of showing signal includes：The current angular data of camera are obtained according to the current state information；If the current angular data of at least one camera exceed with the difference of the initial angle data of the corresponding camera to prestore During three given thresholds, then the cue that need to be re-scaled is sent.
- 5. the method that the determination parking system according to claim any one of 1-4 re-scales opportunity, it is characterised in that if Deviation between the current state information and the initial state information to prestore exceedes setting deviation threshold, then sending needs again Also comprise the following steps after the step of cue of demarcation：Start parking system and move automatic calibration device.
- A kind of 6. device for determining parking system and re-scaling opportunity, it is characterised in that including：State information acquisition module, obtain the current state information in vehicle travel process；Processing module, if the deviation between the current state information and the initial state information to prestore exceedes setting deviation threshold Value, then send the cue that need to be re-scaled；Wherein, the initial state information is entered for the last time to the parking system The status information of rower timing vehicle.
- 7. the device according to claim 6 for determining parking system and re-scaling opportunity, it is characterised in that the processing mould Block is specifically used for：The current tire pressure monitoring data of tire are obtained according to the current state information；If the difference of the original tire pressure Monitoring Data of the current tire pressure monitoring data of at least one tire and the corresponding tire to prestore During more than the first given threshold, then the cue that need to be re-scaled is sent.
- 8. the device according to claim 6 for determining parking system and re-scaling opportunity, it is characterised in that the processing mould Block is specifically used for：The current location data of camera is obtained according to the current state information；If the current location data of at least one camera exceedes with the difference of the initial position data of the corresponding camera to prestore During the second given threshold, then the cue that need to be re-scaled is sent.
- 9. the device according to claim 8 for determining parking system and re-scaling opportunity, it is characterised in that the processing mould Block is specifically used for：The current angular data of camera are obtained according to the current state information；If the current angular data of at least one camera exceed with the difference of the initial angle data of the corresponding camera to prestore During three given thresholds, then the cue that need to be re-scaled is sent.
- 10. the determination parking system according to claim any one of 6-9 re-scales the device on opportunity, it is characterised in that Also include：Execution module, start parking system and move automatic calibration device.
- 11. a kind of automatic calibration system, it is characterised in that including sensor cluster and determine that parking system re-scales opportunity Device；Wherein：The sensor cluster, collection vehicle traveling during current state information；The device for determining parking system and re-scaling opportunity, is obtained in the vehicle travel process that the sensor cluster gathers Current state information；If the deviation between the current state information and the initial state information to prestore exceedes setting deviation Threshold value, then send the cue that need to be re-scaled；Wherein, the initial state information is the last time to the parking system The status information of vehicle when being demarcated.
- 12. automatic calibration system according to claim 11, it is characterised in that：The sensor cluster includes the first sensor of detection wheel tyre pressure；And/or the second sensing of detection camera position Device；And/or the 3rd sensor of detection camera angle.
- 13. the automatic calibration system according to claim 11 or 12, it is characterised in that also include：Parking system moves automatic calibration device, for being re-scaled to parking system；The device for determining parking system and re-scaling opportunity, it is additionally operable to start the dynamic automatic calibration device of the parking system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610875754.0A CN107878325A (en) | 2016-09-30 | 2016-09-30 | Determine that parking system re-scales the method, apparatus and automatic calibration system on opportunity |
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| CN201610875754.0A CN107878325A (en) | 2016-09-30 | 2016-09-30 | Determine that parking system re-scales the method, apparatus and automatic calibration system on opportunity |
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| CN107878325A true CN107878325A (en) | 2018-04-06 |
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| CN108898637A (en) * | 2018-06-13 | 2018-11-27 | 苏州上善知源汽车电子有限公司 | Front camera scaling method |
| CN109591808A (en) * | 2018-10-18 | 2019-04-09 | 蔚来汽车有限公司 | Adjustment method, apparatus and system for automated parking system |
| CN109712196A (en) * | 2018-12-17 | 2019-05-03 | 北京百度网讯科技有限公司 | Camera calibration processing method, device, vehicle control apparatus and storage medium |
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