CN109733388B - Automatic parking monitoring and confirming method and system - Google Patents
Automatic parking monitoring and confirming method and system Download PDFInfo
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Abstract
The invention provides a method and a system for monitoring and confirming automatic parking, comprising the following steps: at an APA, acquiring acceleration, angular velocity and orientation information of a user; obtaining first displacement information of a user from a starting point to a first end point according to the acceleration and the angular velocity; acquiring the rotating speed information and the yaw angle of the vehicle; obtaining second displacement information of the vehicle from the starting point to a second terminal point according to the rotating speed information and the yaw angle; obtaining relative distance and direction information from the user to the vehicle according to the first displacement information and the second displacement information; when the relative distance is smaller than or equal to a preset distance threshold, obtaining included angle information of the user and the vehicle according to the direction information of the user to the vehicle and the orientation information of the user; when the included angle information is smaller than or equal to the preset angle threshold, correct user orientation information is obtained, the operation is simple, the automatic parking condition can be monitored and confirmed more conveniently and naturally, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to an automatic parking monitoring and confirming method and system.
Background
In the existing solutions of the automatic parking APA, a mobile phone APP is used to assist the automatic parking operation, and specifically, in order to ensure that the automatic parking is always under the human monitoring, a user needs to press an operation button for automatic parking on a mobile phone interface for a long time. Once the user releases the operation button for automatic parking, the automatic parking operation is immediately stopped to ensure safety.
Disclosure of Invention
In view of this, the present invention provides a method and a system for monitoring and confirming automatic parking, which are simple to operate, and can monitor and confirm the automatic parking more conveniently and naturally, thereby improving user experience.
In a first aspect, an embodiment of the present invention provides an automatic parking monitoring and confirming method, which is applied to an APA, and includes:
acquiring acceleration, angular velocity and orientation information of a user;
obtaining first displacement information of the user from a starting point to a first end point according to the acceleration and the angular velocity;
acquiring the rotating speed information and the yaw angle of the vehicle;
obtaining second displacement information of the vehicle from the starting point to a second terminal point according to the rotating speed information and the yaw angle;
obtaining relative distance and direction information from a user to the vehicle according to the first displacement information and the second displacement information;
when the relative distance is smaller than or equal to a preset distance threshold value, obtaining included angle information of the user and the vehicle according to the direction information of the user to the vehicle and the orientation information of the user;
and when the included angle information is smaller than or equal to a preset angle threshold value, obtaining correct user orientation information.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the acceleration, the angular velocity, and the orientation information of the user are obtained by:
obtaining the acceleration according to an acceleration sensor in an Inertial Measurement Unit (IMU) sensor in the electronic equipment carried by the user, obtaining the angular velocity according to a gyroscope in the IMU sensor, and obtaining the orientation information of the user according to a geomagnetic sensor in the IMU sensor.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the rotation speed information and the yaw angle are obtained by:
and obtaining the rotating speed information according to the wheel speed sensor of the vehicle, and obtaining the yaw angle according to the IMU sensor of the vehicle.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the obtaining information of an included angle between the user and the vehicle according to the information of the direction from the user to the vehicle and the information of the orientation of the user includes:
according to the direction information from the user to the vehicle and the orientation information of the user, obtaining an included angle between the direction information from the user to the vehicle and the orientation information of the user;
and the included angle is included angle information of the user and the vehicle.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the method further includes:
if the position of the vehicle is within a preset range, judging whether an APA process is finished;
and if the APA process is finished, ending the APA process.
In a second aspect, an embodiment of the present invention further provides an automatic parking monitoring and confirming system, which is applied to an APA, and the system includes:
in combination with the first aspect, the embodiments of the present invention provide a first possible implementation manner of the first aspect, wherein,
a first acquisition unit for acquiring acceleration, angular velocity, and orientation information of a user;
the second acquisition unit is used for acquiring first displacement information of the user from a starting point to a first end point according to the acceleration and the angular velocity;
a third acquisition unit for acquiring the rotation speed information and the yaw angle of the vehicle;
the fourth obtaining unit is used for obtaining second displacement information of the vehicle from the starting point to a second terminal point according to the rotating speed information and the yaw angle;
a fifth obtaining unit, configured to obtain a relative distance and information about a direction from a user to a vehicle according to the first displacement information and the second displacement information;
a sixth obtaining unit, configured to, when the relative distance is smaller than or equal to a preset distance threshold, obtain information of an included angle between the user and the vehicle according to the direction information from the user to the vehicle and the orientation information of the user;
and the seventh obtaining unit is used for obtaining the correct information of the user orientation when the included angle information is smaller than or equal to a preset angle threshold value.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, wherein the acceleration, the angular velocity, and the orientation information of the user are obtained by:
obtaining the acceleration according to an acceleration sensor in an Inertial Measurement Unit (IMU) sensor in the electronic equipment carried by the user, obtaining the angular velocity according to a gyroscope in the IMU sensor, and obtaining the orientation information of the user according to a geomagnetic sensor in the IMU sensor.
With reference to the second aspect, an embodiment of the present invention provides a second possible implementation manner of the second aspect, where the rotation speed information and the yaw angle are obtained by:
and obtaining the rotating speed information according to the wheel speed sensor of the vehicle, and obtaining the yaw angle according to the IMU sensor of the vehicle.
With reference to the second aspect, an embodiment of the present invention provides a third possible implementation manner of the second aspect, where the system further includes:
if the position of the vehicle is within a preset range, judging whether an APA process is finished;
and if the APA process is finished, ending the APA process.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the first aspect when executing the computer program.
The embodiment of the invention provides a method and a system for monitoring and confirming automatic parking, which comprises the following steps: at an APA, acquiring acceleration, angular velocity and orientation information of a user; obtaining first displacement information of a user from a starting point to a first end point according to the acceleration and the angular velocity; acquiring the rotating speed information and the yaw angle of the vehicle; obtaining second displacement information of the vehicle from the starting point to a second terminal point according to the rotating speed information and the yaw angle; obtaining relative distance and direction information from the user to the vehicle according to the first displacement information and the second displacement information; when the relative distance is smaller than or equal to a preset distance threshold, obtaining included angle information of the user and the vehicle according to the direction information of the user to the vehicle and the orientation information of the user; when the included angle information is smaller than or equal to the preset angle threshold, correct user orientation information is obtained, the operation is simple, the automatic parking condition can be monitored and confirmed more conveniently and naturally, and the user experience is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is an initialization schematic diagram of an automatic parking monitoring and confirming method according to an embodiment of the present invention;
fig. 2 is a flowchart of an automatic parking monitoring and confirming method according to an embodiment of the present invention;
fig. 3 is a schematic view of an application scenario of the automatic parking monitoring and confirming method according to an embodiment of the present invention;
fig. 4 is a second schematic view of an application scenario of the automatic parking monitoring and confirming method according to the first embodiment of the present invention;
fig. 5 is a third schematic view of an application scenario in the automatic parking monitoring and confirming method according to the first embodiment of the present invention;
fig. 6 is a fourth schematic view of an application scenario in the automatic parking monitoring and confirming method according to the first embodiment of the present invention;
fig. 7 is a flowchart illustrating a parking sequence in an automatic parking monitoring and confirming method according to an embodiment of the present invention;
fig. 8 is an overall flowchart of an automatic parking monitoring and confirming method according to an embodiment of the present invention;
fig. 9 is a schematic view of an automatic parking monitoring and confirming system according to a second embodiment of the present invention.
Icon:
10-a first acquisition unit; 20-a second acquisition unit; 30-a third acquisition unit; 40-a fourth acquisition unit; 50-a fifth obtaining unit; 60-a sixth acquisition unit; 70-seventh acquisition unit.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For the understanding of the present embodiment, the following detailed description will be given of the embodiment of the present invention.
The first embodiment is as follows:
as shown in fig. 1, the user wears the smart watch and sits in the vehicle, completing the initialization process. At this moment, the user opens vehicle monitoring program, and the vehicle passes through the bluetooth with intelligent wrist-watch and is connected, but not only is limited to the bluetooth and connects, can set up according to actual conditions, for example, the vehicle can also be connected through wireless mode such as honeycomb, WIFI with intelligent wrist-watch. The user sets up the time and IMU (Inertial Measurement Unit) sensor position coordinate of intelligent watch and vehicle, guarantee the time and the position coordinate synchronization of intelligent watch and vehicle, and begin to calculate time simultaneously, intelligent watch and vehicle position coordinate are synchronous this moment, and use here as the origin, record both ends sensor initial value, the initial orientation information of user is recorded to the earth magnetism sensor of intelligent watch IMU sensor, use the gyroscope to begin to record the relative corner of user for initial orientation information simultaneously, and then obtain user's orientation information.
Fig. 2 is a flowchart of an automatic parking monitoring and confirming method according to an embodiment of the present invention.
Referring to fig. 2, the implementation subject is an APA (Auto Parking Assist system), and the method includes the steps of:
step S101, acquiring acceleration, angular velocity and orientation information of a user;
specifically, an acceleration is obtained according to an acceleration sensor in an IMU sensor in the electronic device carried by the user, an angular velocity is obtained according to a gyroscope in the IMU sensor, and orientation information of the user is obtained according to a geomagnetic sensor in the IMU sensor, wherein the orientation information of the user obtained according to the smart watch is in accordance with the direction of the orientation information of the eyes of the user. Here, the electronic device carried by the user is a wearable smart watch, but is not limited to a smart watch, and the electronic device may be a smart watch or other wearable smart bracelet, or may be a mobile electronic device such as a handheld smartphone. The IMU sensor in the intelligent watch is set according to actual conditions, the minimum is 9 axes or even 12 axes, and 9 axes are selected here. The so-called 9-axis IMU sensor is actually a combination of three sensors: the device comprises a 3-axis acceleration sensor, a 3-axis gyroscope and a 3-axis magnetic sensor, wherein the 3-axis acceleration sensor is used for detecting an acceleration signal of an object in a carrier coordinate system independently in 3 axes, the 3-axis gyroscope is used for detecting an angular velocity signal of a carrier relative to a navigation coordinate system, and the 3-axis magnetic sensor is also called a 3-axis electronic compass and comprises a magnetometer, the principle of the magnetometer is similar to that of a compass, and the magnetometer is used for testing the magnetic field intensity and the azimuth so as to locate the azimuth of the device. Therefore, here, the acceleration, angular velocity, and orientation information of the user can be acquired from the smart watch worn by the user.
Step S102, obtaining first displacement information of a user from a starting point to a first end point according to the acceleration and the angular velocity;
specifically, the starting point of the user is set as the origin of coordinates of the intelligent watch IMU sensor, the initial speed is 0, and the initial orientation information of the user is recorded. Wherein, the starting point is that the user wears the intelligent wrist-watch and sits in the vehicle. By usingThe intelligent watch IMU sensor sends acceleration, angular velocity and orientation information of a user to the APA, and the APA obtains first displacement information of the user from a starting point to a first terminal point in coordinates of the intelligent watch IMU sensor according to the received acceleration and angular velocity of the user. For example, when the user starts to automatically park the vehicle, the coordinate is (0,0) when the position in the vehicle is the starting point, namely the origin of coordinates, and the coordinate is (x) when the user gets off the vehicle for a certain distance in the coordinate system of the intelligent watch IMU sensor1,y1) Thus, first displacement information of the user from the start point to the first end point can be obtained.
Further, step S102 further includes:
calculating a value of the first displacement information according to equation (1):
wherein s is1Is the value of the first displacement information, (x)1,y1) The coordinates in the coordinate system of the IMU sensor at the time the user reaches the first end point.
Step S103, acquiring the rotating speed information and the yaw angle of the vehicle;
specifically, rotation speed information is obtained according to a wheel speed sensor of the vehicle, and a yaw angle is obtained according to an IMU sensor of the vehicle. Here, the IMU sensor of the vehicle has only 3 axes, including three information of lateral acceleration, longitudinal acceleration, and yaw angle.
Step S104, obtaining second displacement information of the vehicle from the starting point to a second terminal point according to the rotating speed information and the yaw angle;
specifically, the user origin point is set to be consistent with the vehicle origin point, so that the origin of coordinates of the vehicle's IMU sensor is the same as the origin of coordinates of the smart watch IMU sensor, and the initial speed is also 0. After the user leaves the vehicle, the vehicle starts an APA process, a wheel speed sensor and an IMU sensor of the vehicle send rotation speed information and a yaw angle to the APA, and the APA obtains second displacement information of the vehicle from a starting point to a second terminal point according to the rotation speed information and the yaw angle. For example, vehiclesWhen the automatic parking is started, the starting point is the origin of coordinates, namely the coordinates are (0,0), and after a period of time of automatic parking, the coordinates are (x) in the coordinate system of the IMU sensor of the vehicle2,y2) Thus, the second displacement information of the automatically parked vehicle from the start point to the second end point can be obtained.
Further, step S104 further includes:
calculating a value of the second displacement information according to equation (2):
wherein s is2Is the value of the second displacement information, (x)2,y2) The coordinates in the coordinate system of the IMU sensor at the time the vehicle reaches the second end point.
Step S105, obtaining the relative distance and the direction information from the user to the vehicle according to the first displacement information and the second displacement information:
specifically, since the first displacement information and the second displacement information are in the same coordinate system and the starting points are the same, the relative distance and the user-to-vehicle direction information can be obtained from the first displacement information and the second displacement information.
Further, step S105 further includes:
the relative distance is calculated according to equation (3):
wherein s is3Are relative distances.
Step S106, when the relative distance is smaller than or equal to a preset distance threshold, obtaining included angle information of the user and the vehicle according to the direction information of the user to the vehicle and the user orientation information;
specifically, a preset distance threshold is set according to the environment and the actual situation of parking. In the APA process, in order to ensure the parking safety, the relative distance between a user and a vehicle cannot exceed a preset distance threshold value in order to ensure that the vehicle is always under the monitoring of the user. As shown in fig. 3, if the relative distance is greater than the preset distance threshold, the APA process is immediately halted or aborted. Thus, as shown in fig. 4, the relative distance is guaranteed to be always less than or equal to the preset distance threshold throughout the APA process. At this time, according to the initial orientation information of the user recorded by the IMU sensor of the smart watch during initialization, the geomagnetic sensor in the IMU sensor obtains the orientation information of the user in real time. In addition, a gyroscope in the IMU sensor can also judge the relative rotation angle of the user relative to the initial orientation information in the parking process in real time, and further obtain the orientation information of the user. In the whole APA process, considering that the orientation of the arm of the user may be different from the orientation of the user, the arm worn by the user on the smart watch needs to keep a posture, such as a posture of swinging in front of the chest, but not limited to the posture of swinging in front of the chest, so as to ensure that the orientation information of the user obtained by the smart watch worn by the user is consistent with the direction of the eye orientation information of the user. Therefore, the information of the included angle between the user and the vehicle can be obtained according to the information of the direction from the user to the vehicle and the information of the direction of the user. As shown in fig. 5, according to the direction information from the user to the vehicle and the user direction information, an included angle between the direction information from the user to the vehicle and the user direction information can be obtained, and the included angle is included angle information between the user and the vehicle.
And step S107, when the included angle information is smaller than or equal to the preset angle threshold, obtaining correct user orientation information.
Specifically, the preset angle threshold is set according to the parking environment and the actual situation, wherein the preset angle threshold ranges from 0 to 90 degrees, and may be set to 30 degrees, 45 degrees, 60 degrees or 90 degrees according to different actual parking environments. In the APA process, in order to ensure the parking safety, the vehicle is always monitored by people, and the included angle information between a user and the vehicle cannot exceed a preset angle threshold value, namely, the included angle information is ensured to be smaller than or equal to the preset angle threshold value. For example, the preset angle threshold is set to 90 degrees, as shown in fig. 6, the included angle information between the user and the vehicle exceeds 90 degrees, and in order to ensure that the vehicle is in the field of view of the user during the APA process, the APA process should be suspended or stopped immediately. And when the included angle information between the user and the vehicle is less than or equal to 90 degrees, continuing the APA process. Therefore, when the included angle information is smaller than or equal to the preset angle threshold, the correct user orientation information can be obtained, and the APA process is continued.
Further, when the APA process is performed all the time, it is also necessary to determine whether the position of the vehicle has entered a preset range. Referring to fig. 7, the method further includes the steps of:
step S201, if the position of the vehicle is in a preset range, judging whether an APA process is finished;
in step S202, if the APA process has been completed, the APA process is ended.
Specifically, as shown in fig. 8, when the APA process is always performed, it is also determined whether the position of the vehicle is within a preset range. Wherein the preset range is the parking space where the vehicle is finally parked. And if the position of the vehicle is not in the preset range, re-judging whether the relative distance is smaller than or equal to a preset distance threshold, if so, re-judging whether the included angle information is smaller than or equal to a preset angle threshold, and if so, continuing the APA process until the APA process is completed. If the vehicle has finished auto parking, i.e., the location of the vehicle is within the preset range, the APA process is ended.
Example two:
fig. 9 is a schematic view of an automatic parking monitoring and confirming system according to a second embodiment of the present invention.
Referring to fig. 9, the system includes a first acquisition unit 10, a second acquisition unit 20, a third acquisition unit 30, a fourth acquisition unit 40, a fifth acquisition unit 50, a sixth acquisition unit 60, and a seventh acquisition unit 70.
A first acquisition unit 10 for acquiring acceleration, angular velocity, and orientation information of a user;
the second obtaining unit 20 is configured to obtain first displacement information from a starting point to a first end point of the user according to the acceleration and the angular velocity;
a third acquiring unit 30 for acquiring rotational speed information and yaw angle of the vehicle;
a fourth obtaining unit 40, configured to obtain second displacement information of the vehicle from the starting point to a second end point according to the rotation speed information and the yaw angle;
a fifth acquiring unit 50 for obtaining the relative distance and the direction information from the user to the vehicle from the first displacement information and the second displacement information;
a sixth obtaining unit 60, configured to, when the relative distance is smaller than or equal to a preset distance threshold, obtain information of an included angle between the user and the vehicle according to the direction information of the user from the vehicle and the user orientation information;
a seventh obtaining unit 70, configured to obtain the correct user orientation information when the included angle information is smaller than or equal to the preset angle threshold.
Further, the acceleration, angular velocity, and user orientation information are obtained by:
the method comprises the steps of obtaining acceleration according to an acceleration sensor in an IMU sensor in electronic equipment carried by a user, obtaining angular velocity according to a gyroscope in the IMU sensor, and obtaining user orientation information according to a geomagnetic sensor in the IMU sensor.
Further, the rotation speed information and the yaw angle are obtained by the following steps:
and obtaining rotation speed information according to a wheel speed sensor of the vehicle, and obtaining a yaw angle according to an IMU sensor of the vehicle.
Further, the system further comprises:
if the position of the vehicle is within the preset range, judging whether the APA process is finished or not;
if the APA process has been completed, the APA process is ended.
The embodiment of the invention provides a method and a system for monitoring and confirming automatic parking, which comprises the following steps: at an APA, acquiring acceleration, angular velocity and orientation information of a user; obtaining first displacement information of a user from a starting point to a first end point according to the acceleration and the angular velocity; acquiring the rotating speed information and the yaw angle of the vehicle; obtaining second displacement information of the vehicle from the starting point to a second terminal point according to the rotating speed information and the yaw angle; obtaining relative distance and direction information from the user to the vehicle according to the first displacement information and the second displacement information; when the relative distance is smaller than or equal to a preset distance threshold, obtaining included angle information of the user and the vehicle according to the direction information of the user to the vehicle and the orientation information of the user; when the included angle information is smaller than or equal to the preset angle threshold, correct user orientation information is obtained, the operation is simple, the automatic parking condition can be monitored and confirmed more conveniently and naturally, and the user experience is improved.
The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program that is stored in the memory and can be run on the processor, and when the processor executes the computer program, the steps of the automatic parking monitoring and confirming method provided by the above embodiment are implemented.
The embodiment of the invention further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the automatic parking monitoring and confirming method of the embodiment are executed.
The computer program product provided in the embodiment of the present invention includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, which is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An automatic parking monitoring and confirming method is applied to an automatic parking assistance system (APA), and comprises the following steps:
acquiring acceleration, angular velocity and orientation information of a user;
obtaining first displacement information of the user from a starting point to a first end point according to the acceleration and the angular velocity;
acquiring the rotating speed information and the yaw angle of the vehicle;
obtaining second displacement information of the vehicle from the starting point to a second terminal point according to the rotating speed information and the yaw angle;
obtaining the relative distance between the first terminal and the second terminal and the direction information from the user to the vehicle according to the first displacement information and the second displacement information;
when the relative distance is smaller than or equal to a preset distance threshold value, obtaining included angle information of the user and the vehicle according to the direction information of the user to the vehicle and the orientation information of the user;
and when the included angle information is smaller than or equal to a preset angle threshold value, obtaining correct user orientation information.
2. The automatic parking monitoring confirmation method according to claim 1, characterized in that the acceleration, the angular velocity, and the orientation information of the user are acquired by:
obtaining the acceleration according to an acceleration sensor in an Inertial Measurement Unit (IMU) sensor in the electronic equipment carried by the user, obtaining the angular velocity according to a gyroscope in the IMU sensor, and obtaining the orientation information of the user according to a geomagnetic sensor in the IMU sensor.
3. The automatic parking monitoring confirmation method according to claim 1, wherein the rotation speed information and the yaw angle are obtained by:
and obtaining the rotating speed information according to the wheel speed sensor of the vehicle, and obtaining the yaw angle according to the IMU sensor of the vehicle.
4. The automatic parking monitoring and confirming method according to claim 1, wherein the obtaining of the information of the included angle between the user and the vehicle according to the information of the direction from the user to the vehicle and the information of the orientation of the user comprises:
according to the direction information from the user to the vehicle and the orientation information of the user, obtaining an included angle between the direction information from the user to the vehicle and the orientation information of the user;
and the included angle is included angle information of the user and the vehicle.
5. The automatic parking monitoring confirmation method according to claim 1, further comprising:
if the position of the vehicle is within a preset range, judging whether an APA process is finished;
and if the APA process is finished, ending the APA process.
6. An automatic parking monitoring and confirming system, which is applied to APA, and comprises:
a first acquisition unit for acquiring acceleration, angular velocity, and orientation information of a user;
the second acquisition unit is used for acquiring first displacement information of the user from a starting point to a first end point according to the acceleration and the angular velocity;
a third acquisition unit for acquiring the rotation speed information and the yaw angle of the vehicle;
the fourth obtaining unit is used for obtaining second displacement information of the vehicle from the starting point to a second terminal point according to the rotating speed information and the yaw angle;
a fifth obtaining unit, configured to obtain, according to the first displacement information and the second displacement information, a relative distance between the first endpoint and the second endpoint and direction information from a user to the vehicle;
a sixth obtaining unit, configured to, when the relative distance is smaller than or equal to a preset distance threshold, obtain information of an included angle between the user and the vehicle according to the direction information from the user to the vehicle and the orientation information of the user;
and the seventh obtaining unit is used for obtaining the correct information of the user orientation when the included angle information is smaller than or equal to a preset angle threshold value.
7. The automatic parking monitoring confirmation system according to claim 6, wherein the acceleration, the angular velocity, and the orientation information of the user are obtained by:
obtaining the acceleration according to an acceleration sensor in an Inertial Measurement Unit (IMU) sensor in the electronic equipment carried by the user, obtaining the angular velocity according to a gyroscope in the IMU sensor, and obtaining the orientation information of the user according to a geomagnetic sensor in the IMU sensor.
8. The automatic parking monitoring and confirming system according to claim 6, wherein the rotation speed information and the yaw angle are obtained by:
and obtaining the rotating speed information according to the wheel speed sensor of the vehicle, and obtaining the yaw angle according to the IMU sensor of the vehicle.
9. The automated parking monitoring and confirmation system according to claim 6, further comprising:
if the position of the vehicle is within a preset range, judging whether an APA process is finished;
and if the APA process is finished, ending the APA process.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of the preceding claims 1 to 5 are implemented when the computer program is executed by the processor.
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