CN109649382A - Paths planning method and device, the electronic equipment and computer-readable medium of automatic parking - Google Patents
Paths planning method and device, the electronic equipment and computer-readable medium of automatic parking Download PDFInfo
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- CN109649382A CN109649382A CN201811645405.5A CN201811645405A CN109649382A CN 109649382 A CN109649382 A CN 109649382A CN 201811645405 A CN201811645405 A CN 201811645405A CN 109649382 A CN109649382 A CN 109649382A
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- 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
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Abstract
Present disclose provides a kind of paths planning methods of automatic parking, comprising: obtains the multiframe parking stall image of the fish-eye camera shooting of parking vehicles；According to multiframe parking stall image, the dotted line testing result of parking stall is determined；Parking path is determined according to the dotted line testing result of the parking stall.The unstable result due to fish-eye camera to parking stall measure is avoided, can not accurately determine parking stall position, in turn results in the unstable problem of driving trace.Using the dotted line testing result for the parking stall that the algorithm based on fish-eye camera obtains, makes the dotted line testing result according to parking stall in different phase, restore the actual position of parking stall, and carry out accurate parking path planning based on this.The disclosure additionally provides a kind of path locus smoothing apparatus, electronic equipment and computer-readable medium towards automatic parking.
Description
Technical field
This disclosure relates to automobile technical field, and in particular, to paths planning method and device, the electronics of automatic parking are set
Standby and computer-readable medium.
Background technique
The built-in 180 degree fish eye lens of fish-eye camera, monitoring range can be realized independently a wide range of without dead up to 180 degree
The panoramic camera of angle monitoring.The image that fish-eye camera is found a view, by the image procossing of master chip inside fish-eye camera
Technology, is modified spherical surface image and drawing expansion is handled, and is converted into the normal plane view of suitable human eye.Product is using high
The vehicle-mounted special image sensor of specification can support the stringent environmental requirement of vehicle-mounted wide temperature.
In the prior art, parking stall measure and path planning are a highly important ring during automatic parking, common lens
Limited viewing angle is difficult to provide more complete parking stall location information, in turn results in parking path planning inaccuracy.
It should be noted that the above description of the technical background be intended merely to it is convenient to technical solution of the present invention carry out it is clear,
Complete explanation, and facilitate the understanding of those skilled in the art and illustrate.Cannot merely because these schemes of the invention
Background technology part is expounded and thinks that above-mentioned technical proposal is known to those skilled in the art.
Summary of the invention
The embodiment of the present disclosure proposes paths planning method and device, the electronic equipment and computer-readable Jie of automatic parking
Matter.
In a first aspect, the embodiment of the present disclosure provides a kind of paths planning method of automatic parking, comprising:
Obtain the multiframe parking stall image of the fish-eye camera shooting of parking vehicles；
According to multiframe parking stall image, the dotted line testing result of parking stall is determined；
Parking path is determined according to the dotted line testing result of the parking stall.
It is in some embodiments, described that parking path step is determined according to the dotted line testing result of the parking stall, comprising:
It using the rear shaft center of the parking vehicles as origin, rear axle is x-axis by the parking vehicles, rear shaft center and front axle
The line at center is that y-axis is modeled；
If the parking vehicles do not enter parking stall, parking stall position is determined according to the dotted line testing result of the parking stall, and
The first parking path is determined according to the parking stall position.
It is in some embodiments, described that parking path step is determined according to the dotted line testing result of the parking stall, further includes:
It controls the parking vehicles to travel according to first parking path, if in the dotted line testing result of the parking stall
Whether the position including the first parking stall line judges the minimum range of the parking vehicles and first parking stall line less than the first threshold
Value；If being less than, it is determined that the second parking path, and control the parking vehicles and travelled according to second parking path；
If the position of position and the second parking stall line in the dotted line testing result of the parking stall including the first parking stall line, root
The position of parking stall middle line is determined according to the position of first parking stall line and the position of the second parking stall line, and judges the y-axis and institute
Whether the angle for stating parking stall middle line is less than second threshold；If being less than, it is determined that the final position of second parking path.
It is in some embodiments, described that parking path step is determined according to the dotted line testing result of the parking stall, further includes:
The parking vehicles are controlled to travel according to second parking path to the final position of second parking path,
And determine the angle of the y-axis and the parking stall middle line；
Third parking path is determined according to the angle of the y-axis and the parking stall middle line.
It is in some embodiments, described that parking path step is determined according to the dotted line testing result of the parking stall, further includes:
It controls the parking vehicles to travel according to the third parking path, if in the dotted line testing result of the parking stall
Do not include the position of parking stall starting point, judges in the dotted line testing result of the parking stall whether to include car arrester and/or parking stall terminal
Position；
If so, determining the 4th parking path according to the position of the position of the car arrester and/or halt；
It is parked according to first parking path, second parking path, the third parking path and the described 4th
Path determines parking path.
Second aspect, the embodiment of the present disclosure provide a kind of path planning apparatus of automatic parking, comprising:
Module is obtained, the multiframe parking stall image that the fish-eye camera for obtaining parking vehicles is shot；
First determining module, for determining the dotted line testing result of parking stall according to multiframe parking stall image；
Second determining module, for determining parking path according to the dotted line testing result of the parking stall.
In some embodiments, second determining module, comprising:
Model submodule, for by the parking vehicles using the rear shaft center of the parking vehicles as origin, rear axle x
The line of axis, rear shaft center and front axle center is that y-axis is modeled；
First determines submodule, if not entering parking stall for the parking vehicles, is detected according to the dotted line of the parking stall
As a result it determines parking stall position, and the first parking path is determined according to the parking stall position.
In some embodiments, second determining module, further includes:
First judging submodule is travelled for controlling the parking vehicles according to first parking path, if described
Include the position of the first parking stall line in the dotted line testing result of parking stall, judges the parking vehicles and first parking stall line most
Whether small distance is less than first threshold；
Second determines submodule, if for being less than, it is determined that the second parking path, and the parking vehicles are controlled according to institute
State the second parking path traveling；
Second judgment submodule, if in the dotted line testing result of the parking stall include the first parking stall line position and
The position of second parking stall line determines the position of parking stall middle line according to the position of the position of first parking stall line and the second parking stall line
It sets, and judges whether the y-axis and the angle of the parking stall middle line are less than second threshold；
Third determines submodule, if for being less than, it is determined that the final position of second parking path.
In some embodiments, second determining module, further includes:
4th determines submodule, travels according to second parking path to described second for controlling the parking vehicles
The final position of parking path, and determine the angle of the y-axis and the parking stall middle line；
5th determines submodule, for determining third parking path according to the angle of the y-axis and the parking stall middle line.
In some embodiments, second determining module, further includes:
Third judging submodule is travelled for controlling the parking vehicles according to the third parking path, if described
Do not include the position of parking stall starting point in the dotted line testing result of parking stall, judge in the dotted line testing result of the parking stall whether include
The position of car arrester and/or parking stall terminal；
6th determines submodule, for if so, determining the according to the position of the position of the car arrester and/or halt
Four parking paths；
7th determines submodule, for being parked according to first parking path, second parking path, the third
Path and the 4th parking path, determine parking path.
The third aspect, the embodiment of the present disclosure provide a kind of electronic equipment, comprising: one or more processors；Storage dress
It sets, is stored thereon with one or more programs；If one or more of programs are executed by one or more of processors,
So that one or more of processors realize the path planning of the automatic parking as described in implementation method any in first aspect
Method.
Fourth aspect, the embodiment of the present disclosure provide a kind of computer-readable medium, are stored thereon with computer program,
In, described program is performed the paths planning method for realizing the automatic parking as described in implementation method any in first aspect.
The paths planning method for the automatic parking that the disclosure provides, the multiframe parking stall figure that can be shot according to fish-eye camera
As determining the dotted line testing result of parking stall, and parking path is determined according to the dotted line testing result of parking stall.It avoids due to common
Camera lens limited viewing angle is difficult to provide more complete parking stall location information, in turn results in the problem of parking path planning inaccuracy.It adopts
With the dotted line testing result for the parking stall that the algorithm based on fish-eye camera obtains, is detected and tied according to the dotted line of parking stall in different phase
Fruit restores the actual position of parking stall, and carries out accurate parking path planning based on this.
Detailed description of the invention
Attached drawing is used to provide to further understand embodiment of the disclosure, and constitutes part of specification, with this
Disclosed embodiment is used to explain the disclosure together, does not constitute the limitation to the disclosure.By reference to attached drawing to detailed example
Embodiment is described, and the above and other feature and advantage will become apparent those skilled in the art, in attached drawing
In:
Fig. 1 is a kind of process flow diagram of the paths planning method for automatic parking that the embodiment of the present disclosure provides；
The process flow diagram of step S3 in Fig. 1 that Fig. 2 provides for the embodiment of the present disclosure；
Fig. 3 is the parking path schematic diagram that the embodiment of the present disclosure provides；
Fig. 4 is a kind of structural schematic diagram of the parking stall position determining means for automatic parking that the embodiment of the present disclosure provides；
Fig. 5 is a kind of another structural representation of the parking stall position determining means for automatic parking that the embodiment of the present disclosure provides
Figure.
Specific embodiment
To make those skilled in the art more fully understand the technical solution of the disclosure, the disclosure is mentioned with reference to the accompanying drawing
The parking stall position of the automatic parking of confession is determining and device, electronic equipment and computer-readable medium are described in detail.
Example embodiment will hereinafter be described more fully hereinafter with reference to the accompanying drawings, but the example embodiment can be with difference
Form embodies and should not be construed as being limited to embodiment set forth herein.Conversely, the purpose for providing these embodiments is
It is thoroughly and complete to make the disclosure, and those skilled in the art will be made to fully understand the scope of the present disclosure.
Term as used herein is only used for description specific embodiment, and is not intended to limit the disclosure.As used herein
, "one" is also intended to "the" including plural form singular, unless in addition context is expressly noted that.It will also be appreciated that
Be, when in this specification use term " includes " and/or " by ... be made " when, specify there are the feature, entirety, step,
Operation, element and/or component, but do not preclude the presence or addition of other one or more features, entirety, step, operation, element,
Component and/or its group.
Unless otherwise defined, the otherwise meaning of all terms (including technical and scientific term) used herein and this field
The normally understood meaning of those of ordinary skill is identical.It will also be understood that such as those those of limit term in common dictionary and answer
When being interpreted as having and its consistent meaning of meaning under the background of the relevant technologies and the disclosure, and will be not interpreted as having
There are idealization or excessively formal meaning, unless clear herein so limit.
A kind of paths planning method embodiment for automatic parking that the disclosure provides is as follows:
The executing subject of the embodiment of the present disclosure is server-side, as shown in Figure 1, showing one kind of embodiment of the present disclosure offer
The process flow diagram of the paths planning method of automatic parking, includes the following steps.
Step S1 obtains the multiframe parking stall image of the fish-eye camera shooting of parking vehicles.
Due to common lens limited viewing angle, it is difficult to provide more complete parking stall location information, in turn results in parking path rule
Draw inaccuracy.Fish-eye camera is different from common lens, and monitoring range is up to 180 degree.Since parking stall has very strong priori special
Sign can restore the position of entire parking stall using parking stall point and parking stall line in detail when describing parking stall, therefore, the present invention
The world coordinates of parking stall is obtained using based on the detection of the dotted line of fish-eye camera, keeps testing result more stable.Using flake
Camera obtains the corresponding image in parking stall, so that obtaining the corresponding image in parking stall according to fish-eye camera determines parking stall position, into
One step accurately carries out parking path planning.
In this step, the multiframe parking stall image that shooting is obtained from the fish-eye camera of parking vehicles, is taken the photograph by flake
The parking stall location information that the multiframe parking stall image shot as head determines is more accurate complete.It should be noted that fish-eye camera
Positioned at the tailstock of parking vehicles.
Step S2 determines the dotted line testing result of parking stall according to multiframe parking stall image.
In this step, the algorithm based on fish-eye camera can obtain the corresponding parking stall measure of any one frame parking stall image
As a result, the parking stall coordinate of i.e. any one frame parking stall image.More environmental informations can will be obtained using fish eye lens, are parking stall
Modeling is provided and is preferably supported.The algorithm of the dotted line testing result of the corresponding parking stall of multiframe parking stall image, Ke Yigen are obtained herein
According to being used, excessive explanation is not done herein.Before without any parking space information, then it is assumed that this parking stall obtained at this time
Dotted line testing result is accurately, to record the position of parking stall.
It should be noted that the dotted line testing result of parking stall includes parking stall point testing result and parking stall line testing result.Vehicle
It include parking stall starting point and parking stall terminal in site primer result.As shown in figure 3, showing the road of parking of embodiment of the present disclosure offer
Diameter schematic diagram, a are parking stall starting point, and b is parking stall terminal.Parking stall line testing result include the first parking stall line, the second parking stall line and
Car arrester, there are two types of situation, the first situation is that the first parking stall line is the left line in parking stall, and the second parking stall line is the right line in parking stall；Second
Kind situation is that the first parking stall line is the right line in parking stall, and the second parking stall line is the left line in parking stall.As shown in figure 3, c is the left line in parking stall, d is vehicle
The right line in position.
Step S3 determines parking path according to the dotted line testing result of the parking stall.
In this step, the dotted line testing result based on the parking stall obtained in step S2 determines parking path stage by stage.Pool
Bus or train route diameter is divided into four-stage, and parking vehicles are according to the first parking path, the second parking path, third parking path, the 4th pool
The sequence of bus or train route diameter is parked.As shown in figure 3, parking vehicles are clockwise into parking stall, parking vehicles according to 1,2,3,4 sequence
It parks.
Preferably, described as shown in Fig. 2, showing the process flow diagram of step S3 in Fig. 1 of embodiment of the present disclosure offer
Step S3 determines parking path according to the dotted line testing result of the parking stall, comprising:
The parking vehicles using the rear shaft center of the parking vehicles as origin, rear axle are x-axis by S301, rear shaft center
Line with front axle center is that y-axis is modeled.
In this step, as depicted x-axis and y-axis in model in Fig. 3, the coordinate of the rear shaft center of parking vehicles is
(0,0), i.e., coordinate system is changing during parking vehicle parking, and the dotted line testing result of parking stall is also changing, parking stall position
It sets and is also changing.
S302 determines parking stall position according to the dotted line testing result of the parking stall if the parking vehicles do not enter parking stall
It sets, and the first parking path is determined according to the parking stall position.
In this step, if parking vehicles do not enter parking stall, fish-eye camera can take less parking stall at this time
Point and parking stall line, the dotted line testing result of parking stall is less, cannot be accurately obtained parking stall real world coordinates.According to the point of parking stall
Line testing result estimates parking stall position, and control parking vehicles stop to suitable position, starts automatic parking.Determine that first parks road
Diameter be parking vehicles with left-hand or dextrad maximum angle to the direction running close to parking stall, for example, as shown in figure 3, parking vehicles
Clockwise into parking stall, the first parking path is direction running of the parking vehicles with left-hand maximum angle to close parking stall, i.e. route
1。
Preferably, as shown in Fig. 2, the step S3, determines parking path according to the dotted line testing result of the parking stall, also
Include:
S303 controls the parking vehicles and travels according to first parking path, if the dotted line of the parking stall detects
As a result include the position of the first parking stall line in, judge whether the parking vehicles and the minimum range of first parking stall line are less than
First threshold, if so, thening follow the steps S304；If it is not, process terminates.
In this step, control parking vehicles travel according to the first parking path, at this time in the dotted line testing result of parking stall
Including a small amount of parking stall point and parking stall line as a result, the result of parking stall line is more accurate, therefore, if parking stall point testing result and vehicle
Bit line testing result all exists, and parking stall line testing result is preferentially used, if there is no parking stall line testing result, using parking stall point
Testing result is modified.If in the dotted line testing result of parking stall include the first parking stall line position, judge parking vehicles with
Whether the minimum range of the first parking stall line is less than first threshold.For example, as shown in figure 3, parking vehicles clockwise into parking stall, if
Include the position of the right line in parking stall in the dotted line testing result of parking stall, judges whether parking vehicles and the minimum range of the right line in parking stall are small
In first threshold.First threshold can according to need sets itself, generally a lesser numerical value.
S304 determines the second parking path, and controls the parking vehicles and travel according to second parking path.
In this step, it if it is judged that the minimum range of parking vehicles and the first parking stall line is less than first threshold, determines
Second parking path be parking vehicles with left-hand or dextrad maximum angle to the direction running far from parking stall.For example, such as Fig. 3 institute
Show, clockwise into parking stall, the second parking path is direction of the parking vehicles with dextrad maximum angle to separate parking stall for parking vehicles
Traveling, i.e. route 2.After determining the second parking path, control parking vehicles travel according to the second parking path.
S305, if the position of position and the second parking stall line in the dotted line testing result of the parking stall including the first parking stall line
It sets, the position of parking stall middle line is determined according to the position of the position of first parking stall line and the second parking stall line, and judge the y-axis
Whether it is less than second threshold with the angle of the parking stall middle line, if so, thening follow the steps S306；If it is not, process terminates.
In this step, the dotted line testing result of parking stall includes the position of the first parking stall line and the position of the second parking stall line
When, that is, include the position of the right line in position and parking stall of the left line in parking stall, is carried out by the position of the right line in position and parking stall of the left line in parking stall
The position for translating available parking stall middle line, such as the parking stall middle line e in Fig. 3.At this point, control parking vehicles park road according to second
Diameter traveling, judges whether y-axis and the angle of parking stall middle line are less than second threshold.Second threshold can according to need sets itself,
A generally lesser angle, such as 30 degree.
S306 determines the final position of second parking path.
In this step, if it is judged that the angle of y-axis and parking stall middle line is less than second threshold, the second parking path is determined
Final position, control parking vehicles stop.
Preferably, as shown in Fig. 2, the step S3, determines parking path according to the dotted line testing result of the parking stall, also
Include:
S307 controls the parking vehicles and travels according to second parking path to the terminal of second parking path
Position, and determine the angle of the y-axis and the parking stall middle line.
In this step, if parking vehicles travel according to the second parking path to the final position of the second parking path,
It include at this time parking stall point and parking stall line in the dotted line testing result of parking stall as a result, the result of parking stall line is more accurate.Therefore, such as
Fruit parking stall point testing result and parking stall line testing result all exist, and parking stall line testing result are preferentially used, if there is no parking stall
Line testing result is modified using parking stall point testing result.Still on the basis of the middle line of parking stall, y-axis and parking stall at this time are determined
The angle of middle line.
S308 determines third parking path according to the angle of the y-axis and the parking stall middle line.
In this step, the angle that the angle of the y-axis and the parking stall middle line confirmed as needs to turn at this time determines
Third parking path is for parking vehicles with the angle of y-axis and parking stall middle line again to the direction running close to parking stall.For example, as schemed
Shown in 3, clockwise into parking stall, third parking path is route 3 for parking vehicles.
Preferably, as shown in Fig. 2, the step S3, determines parking path according to the dotted line testing result of the parking stall, also
Include:
S309 controls the parking vehicles and travels according to the third parking path, if the dotted line of the parking stall detects
As a result do not include the position of parking stall starting point in, judge in the dotted line testing result of the parking stall whether to include car arrester and/or vehicle
The position of position terminal, if so, thening follow the steps S310；If it is not, process terminates.
In this step, control parking vehicles travel according to third parking path, at this time if the dotted line of parking stall detects knot
Do not include the position of parking stall starting point in fruit, judges in the dotted line testing result of parking stall whether to include car arrester and/or parking stall terminal
Position.It should be noted that there is no the position that both can't detect parking stall starting point or can't detect car arrester and/or parking stall end
The situation of point.
S310 determines the 4th parking path according to the position of the position of the car arrester and/or halt.
In this step, if judging the position in the dotted line testing result of parking stall including car arrester and/or parking stall terminal,
It include three kinds of situations, the first situation only includes the position of car arrester in the dotted line testing result of parking stall；Second case,
The position of halt is only included in the dotted line testing result of parking stall；The third situation both included in the dotted line testing result of parking stall
The position of halt also includes the position of car arrester.For example, as shown in figure 3, car arrester is f.For first two situation, then count
The distance between origin is arrived in the position for calculating car arrester or halt, as stop distance, stops according to the stop distance.Needle
To the third situation, the position for the halt that will test out and the position of car arrester are summed according to corresponding Weight,
By the sum found out and origin calculating difference, the distance finally obtained is stopped as stop distance according to the stop distance.Really
Fixed 4th parking path is that parking vehicles stop according to stop distance.For example, as shown in figure 3, parking vehicles clockwise into
Parking stall, the 4th parking path are route 4.
S311, according to first parking path, second parking path, the third parking path and the described 4th
Parking path determines parking path.
In this step, determine that parking path is that parking vehicles moor according to the first parking path, the second parking path, third
Bus or train route diameter, the 4th parking path sequence park.
The paths planning method for the automatic parking that the embodiment of the present disclosure provides, the multiframe that can be shot according to fish-eye camera
Parking stall image determines the dotted line testing result of parking stall, and determines parking path according to the dotted line testing result of parking stall.Avoid by
In common lens limited viewing angle, it is difficult to provide more complete parking stall location information, in turn results in parking path planning inaccuracy
Problem.Using the dotted line testing result for the parking stall that the algorithm based on fish-eye camera obtains, in different phase according to the point of parking stall
Line testing result restores the actual position of parking stall, and carries out accurate parking path planning based on this.
It should be noted that although describing the operation of the method for the present invention in the accompanying drawings with particular order, this is not required that
Or hint must execute these operations in this particular order, or have to carry out operation shown in whole and be just able to achieve the phase
The result of prestige.Additionally or alternatively, it is convenient to omit multiple steps are merged into a step and executed by certain steps, and/or will
One step is decomposed into execution of multiple steps.
It should be noted that in the disclosure, technological means involved in the various embodiments described above is in the feelings that do not disagree
Condition can be combined with each other.
A kind of path planning apparatus embodiment for automatic parking that the disclosure provides is as follows:
In the above-described embodiment, a kind of paths planning method of automatic parking, corresponding, the disclosure are provided
Additionally provide a kind of path planning determining device of automatic parking.
As shown in figure 4, the structure for showing a kind of path planning apparatus of automatic parking of embodiment of the present disclosure offer is shown
It is intended to, comprising: obtain module 11, the first determining module 12, the second determining module 13.
Wherein, module 11 is obtained, the multiframe parking stall image that the fish-eye camera for obtaining parking vehicles is shot；
First determining module 12, for determining the dotted line testing result of parking stall according to multiframe parking stall image；
Second determining module 13, for determining parking path according to the dotted line testing result of the parking stall.
A kind of another embodiment of path planning apparatus for automatic parking that the disclosure provides is as follows:
As shown in figure 5, showing a kind of another knot of the path planning apparatus of automatic parking of embodiment of the present disclosure offer
Structure schematic diagram, on the basis of the above embodiments, second determination unit 13, comprising:
Submodule 131 is modeled, for being by origin, rear axle of the rear shaft center of the parking vehicles by the parking vehicles
The line of x-axis, rear shaft center and front axle center is that y-axis is modeled；
First determines submodule 132, if not entering parking stall for the parking vehicles, is examined according to the dotted line of the parking stall
It surveys result and determines parking stall position, and the first parking path is determined according to the parking stall position.
Further, second determining module 13, further includes:
First judging submodule 133 is travelled for controlling the parking vehicles according to first parking path, if institute
The position in the dotted line testing result of parking stall including the first parking stall line is stated, judges the parking vehicles and first parking stall line
Whether minimum range is less than first threshold；
Second determines submodule 134, if for being less than, it is determined that the second parking path, and control the parking vehicles and press
It is travelled according to second parking path；
Second judgment submodule 135, if in the dotted line testing result of the parking stall include the first parking stall line position
The position with the second parking stall line is set, parking stall middle line is determined according to the position of the position of first parking stall line and the second parking stall line
Position, and judge whether the y-axis and the angle of the parking stall middle line are less than second threshold；
Third determines submodule 136, if for being less than, it is determined that the final position of second parking path.
Further, second determining module 13, further includes:
4th determines submodule 137, travels according to second parking path to described for controlling the parking vehicles
The final position of second parking path, and determine the angle of the y-axis and the parking stall middle line；
5th determines submodule 138, determines that third is parked road for the angle according to the y-axis and the parking stall middle line
Diameter.
Further, second determining module 13, further includes:
Third judging submodule 139 is travelled for controlling the parking vehicles according to the third parking path, if institute
State do not include in the dotted line testing result of parking stall parking stall starting point position, judge whether wrap in the dotted line testing result of the parking stall
Include the position of car arrester and/or parking stall terminal；
6th determines submodule 1310, for if so, true according to the position of the position of the car arrester and/or halt
Fixed 4th parking path；
7th determines submodule 1311, for according to first parking path, second parking path, the third
Parking path and the 4th parking path, determine parking path.
In addition, the description of realization details and technical effect for above-mentioned each module and submodule, may refer to aforementioned side
The explanation of method embodiment, details are not described herein again.
The embodiment of the present disclosure additionally provides a kind of electronic equipment, the electronic equipment include: one or more processors and
Storage device；Wherein, one or more programs are stored on storage device, when said one or multiple programs by said one or
When multiple processors execute, so that said one or multiple processors realize the road of the automatic parking as provided by previous embodiment
Diameter planing method.
The embodiment of the present disclosure additionally provides a computer readable storage medium, is stored thereon with computer program, wherein should
Computer program is performed the paths planning method for realizing the automatic parking as provided by previous embodiment.
It will appreciated by the skilled person that in whole or certain steps, device in method disclosed hereinabove
Functional module/unit may be implemented as software, firmware, hardware and its combination appropriate.In hardware embodiment, with
Division between the functional module/unit referred in upper description not necessarily corresponds to the division of physical assemblies；For example, a physics
Component can have multiple functions or a function or step and can be executed by several physical assemblies cooperations.Certain physical sets
Part or all physical assemblies may be implemented as by processor, as central processing unit, digital signal processor or microprocessor are held
Capable software is perhaps implemented as hardware or is implemented as integrated circuit, such as specific integrated circuit.Such software can be with
Distribution on a computer-readable medium, computer-readable medium may include computer storage medium (or non-transitory medium) and
Communication media (or fugitive medium).As known to a person of ordinary skill in the art, term computer storage medium is included in use
In any method or technique of storage information (such as computer readable instructions, data structure, program module or other data)
The volatile and non-volatile of implementation, removable and nonremovable medium.Computer storage medium include but is not limited to RAM,
ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storages, magnetic holder,
Tape, disk storage or other magnetic memory apparatus or it can be used for storing desired information and can be accessed by a computer
Any other medium.In addition, known to a person of ordinary skill in the art be, communication media generally comprises computer-readable finger
It enables, other data in the modulated data signal of data structure, program module or such as carrier wave or other transmission mechanisms etc,
It and may include any information delivery media.
Example embodiment has been disclosed herein, although and use concrete term, they are only used for simultaneously only should
It is interpreted general remark meaning, and is not used in the purpose of limitation.In some instances, aobvious to those skilled in the art and
Be clear to, unless otherwise expressly stated, the feature that description is combined with specific embodiment that otherwise can be used alone, characteristic and/
Or element, or the feature, characteristic and/or element of description can be combined with other embodiments and be applied in combination.Therefore, art technology
Personnel will be understood that, in the case where not departing from the scope of the present disclosure illustrated by the attached claims, can carry out various forms
With the change in details.
Claims (12)
1. a kind of paths planning method of automatic parking, comprising:
Obtain the multiframe parking stall image of the fish-eye camera shooting of parking vehicles；
According to multiframe parking stall image, the dotted line testing result of parking stall is determined；
Parking path is determined according to the dotted line testing result of the parking stall.
2. the paths planning method of automatic parking according to claim 1, wherein described to be examined according to the dotted line of the parking stall
It surveys result and determines parking path step, comprising:
It using the rear shaft center of the parking vehicles as origin, rear axle is x-axis by the parking vehicles, rear shaft center and front axle center
Line be y-axis modeled；
If the parking vehicles do not enter parking stall, parking stall position is determined according to the dotted line testing result of the parking stall, and according to
The parking stall position determines the first parking path.
3. the paths planning method of automatic parking according to claim 2, wherein described to be examined according to the dotted line of the parking stall
It surveys result and determines parking path step, further includes:
It controls the parking vehicles to travel according to first parking path, if including in the dotted line testing result of the parking stall
The position of first parking stall line, judges whether the parking vehicles and the minimum range of first parking stall line are less than first threshold；
If being less than, it is determined that the second parking path, and control the parking vehicles and travelled according to second parking path；
If the position of position and the second parking stall line in the dotted line testing result of the parking stall including the first parking stall line, according to institute
The position of the position and the second parking stall line of stating the first parking stall line determines the position of parking stall middle line, and judges the y-axis and the vehicle
Whether the angle of position middle line is less than second threshold；
If being less than, it is determined that the final position of second parking path.
4. the paths planning method of automatic parking according to claim 3, wherein described to be examined according to the dotted line of the parking stall
It surveys result and determines parking path step, further includes:
It controls the parking vehicles to travel according to second parking path to the final position of second parking path, and really
The angle of the fixed y-axis and the parking stall middle line；
Third parking path is determined according to the angle of the y-axis and the parking stall middle line.
5. the paths planning method of automatic parking according to claim 4, wherein described to be examined according to the dotted line of the parking stall
It surveys result and determines parking path step, further includes:
It controls the parking vehicles to travel according to the third parking path, if do not wrapped in the dotted line testing result of the parking stall
The position for including parking stall starting point, judge in the dotted line testing result of the parking stall whether include car arrester and/or parking stall terminal position
It sets；
If so, determining the 4th parking path according to the position of the position of the car arrester and/or halt；
According to first parking path, second parking path, the third parking path and the 4th parking path,
Determine parking path.
6. a kind of path planning apparatus of automatic parking, comprising:
Module is obtained, the multiframe parking stall image that the fish-eye camera for obtaining parking vehicles is shot；
First determining module, for determining the dotted line testing result of parking stall according to multiframe parking stall image；
Second determining module, for determining parking path according to the dotted line testing result of the parking stall.
7. the path planning apparatus of automatic parking according to claim 6, wherein second determining module, comprising:
Model submodule, for using the rear shaft center of the parking vehicles as origin, rear axle be x-axis by the parking vehicles, after
The line of axis center and front axle center is that y-axis is modeled；
First determines submodule, if not entering parking stall for the parking vehicles, according to the dotted line testing result of the parking stall
It determines parking stall position, and the first parking path is determined according to the parking stall position.
8. the path planning apparatus of automatic parking according to claim 7, wherein second determining module, further includes:
First judging submodule is travelled for controlling the parking vehicles according to first parking path, if the parking stall
Dotted line testing result in include the first parking stall line position, judge the most narrow spacing of the parking vehicles Yu first parking stall line
From whether less than first threshold；
Second determines submodule, if for being less than, it is determined that the second parking path, and the parking vehicles are controlled according to described the
Two parking paths traveling；
Second judgment submodule, if in the dotted line testing result of the parking stall include the first parking stall line position and second
The position of parking stall line determines the position of parking stall middle line according to the position of the position of first parking stall line and the second parking stall line, and
Judge whether the y-axis and the angle of the parking stall middle line are less than second threshold；
Third determines submodule, if for being less than, it is determined that the final position of second parking path.
9. the path planning apparatus of automatic parking according to claim 8, wherein second determining module, further includes:
4th determines submodule, is travelled to described second according to second parking path for controlling the parking vehicles and is parked
The final position in path, and determine the angle of the y-axis and the parking stall middle line；
5th determines submodule, for determining third parking path according to the angle of the y-axis and the parking stall middle line.
10. the path planning apparatus of automatic parking according to claim 9, wherein second determining module is also wrapped
It includes:
Third judging submodule is travelled for controlling the parking vehicles according to the third parking path, if the parking stall
Dotted line testing result in do not include parking stall starting point position, judge in the dotted line testing result of the parking stall whether to include holding up traffic
The position of device and/or parking stall terminal；
6th determines submodule, for if so, determining the 4th pool according to the position of the position of the car arrester and/or halt
Bus or train route diameter；
7th determines submodule, for according to first parking path, second parking path, the third parking path
With the 4th parking path, parking path is determined.
11. a kind of electronic equipment, comprising:
One or more processors；
Storage device is stored thereon with one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors
Realize the paths planning method such as automatic parking as claimed in any one of claims 1 to 5.
12. a kind of computer-readable medium, is stored thereon with computer program, wherein described program is performed realization as weighed
Benefit requires the paths planning method of any automatic parking in 1-5.
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| CN201811645405.5A CN109649382A (en) | 2018-12-29 | 2018-12-29 | Paths planning method and device, the electronic equipment and computer-readable medium of automatic parking |
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| CN201811645405.5A CN109649382A (en) | 2018-12-29 | 2018-12-29 | Paths planning method and device, the electronic equipment and computer-readable medium of automatic parking |
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| CN112562412A (en) * | 2020-12-07 | 2021-03-26 | 广州小鹏自动驾驶科技有限公司 | Data processing method and device |
| CN113435386A (en) * | 2021-07-08 | 2021-09-24 | 浙江吉利控股集团有限公司 | Visual parking space lossless filtering method and device and storage medium |
| CN114274948A (en) * | 2021-12-15 | 2022-04-05 | 武汉光庭信息技术股份有限公司 | Automatic parking method and device based on 360-degree panorama |
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