CN109934140A - Automatic backing method for assisting in parking and system based on detection ground horizontal marking - Google Patents
Automatic backing method for assisting in parking and system based on detection ground horizontal marking Download PDFInfo
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Abstract
A kind of automatic backing method for assisting in parking and system based on detection ground horizontal marking of the present invention, it is not necessarily to the positioning by GPS signal or GPS information, it only needs to draw a wide white horizontal line on ground in the position to be stopped, utilize phase machine testing white horizontal line from the ground, one is fitted to apart from multinomial using image pixel and by the way of traversal, calculate the vertical range of marked horizontal line intermediate distance current vehicle reference point, and the vertical range with certain frame per second by the line from vehicle is sent to control system, one more accurately parking position point is provided for the system in the last parking of reversing, to achieve the purpose that precisely to move backward；It is calculated simply, but calculated result is accurate, has both reached the stopping accuracy with control system joint debugging realization ± 10cm, in turn avoids calculating camera posture by complicated step to obtain distance.
Description
Technical field
The present invention relates to automatic backing method for assisting in parking and system based on detection ground horizontal marking, are related to image knowledge
Other and machine vision interleaving techniques field.
Background technique
In intelligent driving field, to traveling it is common consideration scene before vehicle, travels study in recent years more and more backward
It is popular.For ordinary passenger car, the research of the automatic backing of commercial vehicle is like a raging fire, as Audi, masses, benz, tesla, it is luxuriant come
The traditional vehicles such as automobile enterprise or Internet enterprises are proposed the automatic backing product of oneself one after another.
Automatic backing need to obtain the track and corresponding parking position of reversing, angle, oil to steering wheel for vehicle in advance
Door aperture and gear carry out real-time control, so that vehicle is travelled along backing track by desired speed, and stop in designated position
Only, automatic backing is when finally the standard of stopping is commonly vehicle and is finally stopped, the subpoint and specified point at Chinese herbaceous peony wheel center to ground
The distance between deviation.
To in the higher system of intelligent driving control accuracy requirement, high-precision GNSS/INS integrated navigation system is generallyd use
It unites to obtain the real time position of vehicle, there is the real time position of degree of precision to compare again with a subslot, so that it may which realization follows
Mark traveling.The problem of " where vehicle stops " can be realized by specifying the GPS point absolute coordinate of parking position.This method exists
Scene is open, and the good scene of GPS signal can obtain preferable reversing effect, and General System can reach the stopping accuracy of ± 30cm
(longitudinal difference of specified parking position and practical parking position), good backing system can even reach the parking essence of ± 10cm
Degree.In no GPS signal or the application scenarios of GPS signal bad luck, automatic backing system shutdown error can reach three, four meters, very
To can not stop at all.Some schemes carry out special change to parking position in response to this, increase some additional complexities and set
Standby to be reequiped, this undoubtedly increases cost；Although scheme also also joined image module and carry out aid parking, need
It is compared judgement with parking stall wire repeatedly, does not account for real operation, also increases algorithm complexity.
Summary of the invention
In view of this, the present invention, which provides one kind, also can in no GPS signal or the application scenarios of GPS signal bad luck
The automatic backing method for assisting in parking and be that the step for carrying out precisely reversing parking, and can be avoided camera posture complexity calculates
System.
A kind of automatic backing method for assisting in parking based on detection ground horizontal marking, it is described laterally to be marked based on detection ground
The automatic backing method for assisting in parking of line the following steps are included:
S1, reversing final position one ground horizontal marking vertical relative to astern direction of picture on parking stall, and
Camera is installed, the camera and ground form certain inclination angle, so that the last stop area of vehicle is in camera vertical irradiation on car body
In region；
S2, multiple reference substances that the practical fore-and-aft distance in known ground is shot with camera, hand labeled go out reference substance in image
Location of pixels, reference substance location of pixels is defined as independent variable, each practical fore-and-aft distance in reference substance ground be defined as because become
Amount, the corresponding relationship by calculating independent variable and dependent variable are found apart from polynomial fitting；
S3, in vehicle automatic backing, camera acquires color image in real time, passes through straightway angle threshold and ordinate side
Interference region screening is carried out to color image of the pixel distance threshold value to acquisition, by straight line localization to ground horizontal marking area
Domain；
S4, according to pixel relationship to distinguish testing result is ground between current pixel point and surrounding neighbors on the horizontal marking of ground
The upper edge of face horizontal marking or lower edge determine that camera is arrived in ground horizontal marking middle position according to the position on upper edge or lower edge
Vertical range；
S5, the vertical range of ground horizontal marking middle position to camera is sent to body control system, Body Control
System realizes precisely reversing according to the vertical range.
A kind of automatic backing auxiliary parking system based on detection ground horizontal marking, it is described laterally to be marked based on detection ground
The automatic backing auxiliary parking system of line includes following functions module:
Hardware presetting module draws a ground vertical relative to astern direction for the reversing final position on parking stall
Horizontal marking, and camera is installed on the car body, the camera and ground form certain inclination angle, so that the last stop area of vehicle exists
In camera vertical irradiation region；
Range formula generation module, for shooting multiple reference substances of the practical fore-and-aft distance in known ground with camera, manually
Reference substance location of pixels is defined as independent variable, each reference substance ground reality by the location of pixels for marking reference substance in image
Fore-and-aft distance is defined as dependent variable, and the corresponding relationship by calculating independent variable and dependent variable is found apart from polynomial fitting；
Horizontal line extracts screening module, in vehicle automatic backing, camera to acquire color image in real time, passes through straightway
Angle threshold and ordinate direction pixel distance threshold value carry out interference region screening to the color image of acquisition, by straight line localization
To ground horizontal marking region；
Along judgment module under on horizontal line, for according to pixel is closed between current pixel point and surrounding neighbors on the horizontal marking of ground
System determines ground transverse direction to distinguish the upper edge or lower edge that testing result is ground horizontal marking, according to the position on upper edge or lower edge
Vertical range of the graticule middle position to camera；
Reversing module, for the vertical range of ground horizontal marking middle position to camera to be sent to Body Control system
System, body control system realize precisely reversing according to the vertical range.
Automatic backing method for assisting in parking and system of the present invention based on detection ground horizontal marking, without relying on
The positioning of GPS signal or GPS information, it is only necessary to draw a wide white horizontal line on ground in the position to be stopped, utilize phase
Machine testing white horizontal line from the ground, is fitted to one apart from multinomial using image pixel and by the way of traversal, calculates
The vertical range of marked horizontal line intermediate distance current vehicle reference point, and the vertical range with certain frame per second by the line from vehicle
It is sent to control system, a more accurately parking position point is provided in the last parking of reversing for the system, to reach
The purpose precisely moved backward；It calculates simple, but calculated result is accurate, has both reached and has stopped with control system joint debugging realization ± 10cm
Vehicle precision in turn avoids calculating camera posture by complicated step to obtain distance.
Detailed description of the invention
Fig. 1 is the flow chart of the automatic backing method for assisting in parking of the present invention based on detection ground horizontal marking；
Fig. 2 is the step summary of the automatic backing method for assisting in parking of the present invention based on detection ground horizontal marking
Figure；
Fig. 3 is the step block diagram of step S2 in Fig. 1；
Fig. 4 is the step block diagram of step S3 in Fig. 1；
Fig. 5 is the step block diagram of step S4 in Fig. 1；
The step of Fig. 6 is the automatic backing method for assisting in parking of the present invention based on detection ground horizontal marking essence is wanted
Figure；
Fig. 7 is that the functional module of the automatic backing auxiliary parking system of the present invention based on detection ground horizontal marking is set
Count block diagram；
Fig. 8 is the unit block diagram of range formula generation module of the present invention；
Fig. 9 is the unit block diagram that horizontal line of the present invention extracts screening module；
Figure 10 be on horizontal line of the present invention under along judgment module unit block diagram；
Figure 11 is the functional module of the automatic backing auxiliary parking system of the present invention based on detection ground horizontal marking
Application block diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated, it should be understood that and the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As depicted in figs. 1 and 2, the embodiment of the present invention provides a kind of automatic backing auxiliary based on detection ground horizontal marking
Parking method, it is described based on detection ground horizontal marking automatic backing method for assisting in parking the following steps are included:
S1, reversing final position one ground horizontal marking vertical relative to astern direction of picture on parking stall, and
Camera is installed, the camera and ground form certain inclination angle, so that the last stop area of vehicle is in camera vertical irradiation on car body
In region.
Specifically, drawing one on the ground in the reversing final position on parking stall relative to vertical wide white of astern direction
Color horizontal line, wire length are preferably not less than 20cm long, and line width is not less than 5cm, if parking stall is equipped with parking stall line, white horizontal line is not required to
Additionally to increase, then camera, the Image Acquisition direction facing tailstock setting of camera are installed on the car body, and form one with ground
Constant inclination angle, so that the position that vehicle finally stops is within the scope of the vertical visual field that camera can finally detect.
S2, multiple reference substances that the practical fore-and-aft distance in known ground is shot with camera, hand labeled go out reference substance in image
Location of pixels, reference substance location of pixels is defined as independent variable, each practical fore-and-aft distance in reference substance ground be defined as because become
Amount, the corresponding relationship by calculating independent variable and dependent variable are found apart from polynomial fitting.
As shown in figure 3, the step S2 include it is following step by step:
S21, the multiple reference substances of longitudinal vertical display in the vertical visual field of camera covering, and measure and obtain the ground of reference substance
The practical fore-and-aft distance in face；
S22, reference substance is shot with the camera of installation on the car body, manually by the bottom of reference substance in the image that shooting obtains
It is extracted along pixel corner, and marks the physical coordinates value of bottom in the picture along pixel corner；
It is S23, practical vertical using the physical coordinates value of the pixel corner on multiple reference substance bottoms edge as independent variable, corresponding ground
To distance as dependent variable be fitted to obtain a dihydric phenol apart from polynomial fitting；
S24, measure positioned at camera most under along the visual field the physical vertical distance for being referenced to camera, will the obtained object of measurement
Reason vertical range is added as on image between the position and camera of any pixel as the constant apart from polynomial fitting
True Ground Range.
Specifically, straight line puts multiple reference substances along longitudinal direction in the ground areas that camera vertically covers the visual field, such as scheme
Middle can, lid, book, this etc., wherein a reference substance nearest apart from camera fore-and-aft distance is placed in the most lower edge view of camera
A longitudinal graduated scale is drawn on the right side of reference substance in open country, and the practical fore-and-aft distance in ground for measuring each reference substance is being put
When putting reference substance, the bottom edge of reference substance is corresponding with graduated scale integer as far as possible, facilitates calculating；Then using in-vehicle camera according to system
Setting angle shoots the picture containing multiple reference substances, the bottom of reference substance is come out along pixel corner manual extraction, and mark bottom edge
The physical coordinates value (x, y) of pixel corner in the picture, and it is real along the ground of the corresponding longitudinal graduated scale of point to record the reference substance bottom
Border fore-and-aft distance d, wherein x is the horizontal pixel distance of the selected point in the picture, and y is the vertical pixel of selected point in the picture
Distance, d are the practical fore-and-aft distance in ground of the point, and unit is millimeter；Using the CurveFitting Tool tool of matlab,
By the physical coordinates value of the pixel corner on multiple reference substance bottoms edge be fitted to independent variable be location of pixels, dependent variable be distance away from
From polynomial fitting；Finally measure positioned at camera most under along the visual field the physical vertical distance d for being referenced to camera0, will measure
Obtained physical vertical distance d0It is added as on image as the constant apart from polynomial fitting in the position of any pixel
True Ground Range between camera.
S3, in vehicle automatic backing, camera acquires color image in real time, passes through horizontal line to the color image of acquisition and sieves
Choosing carries out interference region screening using straightway angle threshold and the direction y pixel distance threshold value, by straight line localization to ground cross
To graticule region.
As shown in figure 4, the step S3 include it is following step by step:
S31, in vehicle automatic backing, camera acquires color image in real time, color image is converted into gray level image, and
All edges of detection image are come using Canny operator to image；
S32, after detecting fringe region, straightway candidate region is obtained with accumulation Hough transformation；
S33, retain lateral straightway in image by the slope of straightway, and retain nearest from camera on ordinate
A straightway.
By operating above, the only edge of remaining ground horizontal line substantially on image, since edge may be segmentation, because
This, supplement carries out step S34:
S34, obtained straightway is converted to point set, and the point set in same a line is put together and is intended with least square method
Straight line section is synthesized, two edge straight lines of ground horizontal marking are obtained.
After S34 is operated, the straightway of the original smaller spacing of level can all be connected, substantially interval compared with
Small straightway connects, while straightway position is also more accurately bonded ground horizontal line edge.
S4, according to pixel relationship to distinguish testing result is ground between current pixel point and surrounding neighbors on the horizontal marking of ground
The upper edge of face horizontal marking or lower edge determine that camera is arrived in ground horizontal marking middle position according to the position on upper edge or lower edge
Vertical range.
As shown in figure 5, the step S4 include it is following step by step:
S41, cut-off line segment midpoint be reference point, compare the gray value of pixel between current pixel point and surrounding neighbors, root
Judge the straight line for the upper edge of ground horizontal marking or lower edge according to comparison result；
The midpoint for taking straightway obtained in step S3, using the midpoint as reference point, using certain pixel as radius r (example
Select 10 pixels) calculate the gray value of+r on the direction reference point y pixels with corresponding pixel position in a pixels of-r；Such as
Gray value in+r pixels of fruit is greater than the gray value in-r pixels, then straight line where the point is upper edge, is if opposite
Lower edge.
S42, if detect the straight line be upper edge if, arbitrarily select on this line a pixel substitute into distance be fitted it is multinomial
Formula seeks camera to the distance of the linear edge, then it is phase that the distance, which is subtracted 0.5 times of ground horizontal marking physical width,
Vertical range of the machine to ground horizontal marking middle position；
S43, if the straight line be lower edge if, arbitrarily select on this line a pixel substitution asked apart from polynomial fitting
It takes camera to the distance of the linear edge, then by the distance plus 0.5 times of ground horizontal marking physical width is that camera arrives
The vertical range in ground horizontal marking middle position.
S5, the vertical range of ground horizontal marking middle position to camera is sent to body control system, Body Control
System realizes precisely reversing according to the vertical range.
Body control system receive ground horizontal marking middle position to the vertical range data of camera after, according to vertically away from
During carrying out practical control to car body from data, due to matching between error and each hardware existing for control hardware itself
Closing error can make final implementing result there is execution error, therefore, as shown in fig. 6, described laterally marked based on detection ground
The automatic backing method for assisting in parking of line further includes step S6:
S6, designed distance offset carry out global error amendment to body control system, up to last parking position and specify
The deviation of position reaches in target setting deviation.
Specifically, the vertical range of ground horizontal line middle position to camera is sent to body control system, pass through real vehicle
Continuous corrected range constant offset is tested, until the deviation of last parking position and designated position reaches target.
The automatic backing realized with the automatic backing method for assisting in parking of the present invention based on detection ground horizontal marking
Precision Experiment see the table below (unit is cm) shown in 1:
Table 1
As can be seen from Table 1, do not differentiate between it is lower along when, measurement result is shaken within the scope of ± 18cm, in differentiation after lower edge,
As a result it floats in ± 6cm and variance has certain improvement than before, precision is higher, and it is expected to meet scheme.
Automatic backing method for assisting in parking of the present invention based on detection ground horizontal marking, without believing by GPS
Number or GPS information positioning, it is only necessary to the position to be stopped ground draw a wide white horizontal line, utilize phase machine testing
White horizontal line from the ground, is fitted to one apart from multinomial using image pixel and by the way of traversal, calculates and marked
The vertical range of horizontal line intermediate distance current vehicle reference point, and the vertical range with certain frame per second by the line from vehicle is sent to
Control system provides a more accurately parking position point in the last parking of reversing for the system, precisely falls to reach
The purpose of vehicle；It is calculated simply, but calculated result is accurate, has both reached and the parking of control system joint debugging realization ± 10cm is smart
Degree in turn avoids calculating camera posture by complicated step to obtain distance.
Based on the above-mentioned automatic backing method for assisting in parking based on detection ground horizontal marking, the present invention also provides a kind of bases
In the automatic backing auxiliary parking system of detection ground horizontal marking, as shown in fig. 7, described based on detection ground horizontal marking
Automatic backing auxiliary parking system includes following functions module:
Hardware presetting module 10 draws a ground vertical relative to astern direction for the reversing final position on parking stall
Face horizontal marking, and camera is installed on the car body, the camera and ground form certain inclination angle, so that the last stop area of vehicle
In camera vertical irradiation region；
Range formula generation module 20, for shooting multiple reference substances of the practical fore-and-aft distance in known ground, hand with camera
Reference substance location of pixels is defined as independent variable, each reference substance ground reality by the dynamic location of pixels for marking reference substance in image
Border fore-and-aft distance is defined as dependent variable, and the corresponding relationship by calculating independent variable and dependent variable is found apart from polynomial fitting；
Horizontal line extracts screening module 30, in vehicle automatic backing, camera to acquire color image in real time, to acquisition
Color image is screened by horizontal line, carries out interference region screening using straightway angle threshold and the direction y pixel distance threshold value, will
Straight line localization is to ground horizontal marking region；
Along judgment module 40 under on horizontal line, for according to pixel between current pixel point and surrounding neighbors on the horizontal marking of ground
Relationship distinguishes the upper edge or lower edge that testing result is ground horizontal marking, determines ground cross according to the position on upper edge or lower edge
To graticule middle position to the vertical range of camera；
Reversing module 50, for the vertical range of ground horizontal marking middle position to camera to be sent to Body Control system
System, body control system realize precisely reversing according to the vertical range.
Wherein, as shown in figure 8, the range formula generation module 20 includes following functional unit:
Reference substance setting unit 21, for the multiple reference substances of longitudinal vertical display in the vertical visual field that camera covers, and
Measurement obtains the practical fore-and-aft distance in ground of reference substance；
Angle point grid unit 22, for shooting reference substance with the camera of installation on the car body, in the image that shooting obtains
The bottom of reference substance is extracted along pixel corner manually, and marks the physical coordinates value of bottom in the picture along pixel corner；
Formula fitting unit 23, for using the physical coordinates value of the pixel corner on multiple reference substance bottoms edge as independent variable,
The corresponding practical fore-and-aft distance in ground as dependent variable be fitted to obtain a dihydric phenol apart from polynomial fitting；
Constant addition unit 24, for measure be located at camera most under along the visual field the physical vertical for being referenced to camera away from
From physical vertical distance that measurement obtains is added as on image in any pixel as the constant apart from polynomial fitting
Position and camera between True Ground Range.
As shown in figure 9, it includes following functional unit that the horizontal line, which extracts screening module 30:
Edge detection unit 31 is used in vehicle automatic backing, and camera acquires color image in real time, and color image is turned
It is changed to gray level image, and all edges of detection image are come using Canny operator to image；
Straight line acquiring unit 32, for after detecting fringe region, obtaining straightway candidate with accumulation Hough transformation
Region；
Straight line screening unit 33 retains the lateral straightway in image for the slope by straightway, and retains vertical
A straightway nearest from camera on coordinate；
Line fitting unit 34 for obtained straightway to be converted to point set, and the point set in same a line is concentrated
It is fitted in alignment section with least square method, obtains two edge straight lines of ground horizontal marking.
As shown in Figure 10, on the horizontal line under along judgment module 40 include following functional unit:
Gray scale compares interpretation unit 41, and the midpoint for cut-off line segment is reference point, compares current pixel point and surrounding is adjacent
The gray value of pixel between domain judges the straight line for the upper edge of ground horizontal marking or lower edge according to comparison result；
On along computing unit 42, for arbitrarily selecting a pixel on this line if detecting the straight line and being upper edge
Substitute into apart from polynomial fitting seek camera arrive the linear edge distance, then by the distance subtract 0.5 times ground laterally mark
Line physical width is vertical range of the camera to ground horizontal marking middle position；
It is lower to be used for if the straight line is lower edge along computing unit 43, pixel substitution is arbitrarily selected on this line
Camera is sought to the distance of the linear edge apart from polynomial fitting, then the distance is added into 0.5 times of ground horizontal marking object
Managing width is vertical range of the camera to ground horizontal marking middle position.
As shown in figure 11, the automatic backing auxiliary parking system based on detection ground horizontal marking further includes parking stall
Set offset correction module 60:
The parking position offset correction module 60 deviates for designed distance and carries out global error to body control system
Amendment, until the deviation of last parking position and designated position reaches in target setting deviation.
Apparatus above embodiment and embodiment of the method are one-to-one, the simple places of Installation practice, referring to method reality
Apply example.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to functionality in the above description.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It should be more than the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory, memory, read-only memory,
Electrically programmable ROM, electricity can sassafras except in programming ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field institute it is public
In the storage medium for any other forms known.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of automatic backing method for assisting in parking based on detection ground horizontal marking, which is characterized in that described based on detection
The automatic backing method for assisting in parking of ground horizontal marking the following steps are included:
S1, a ground horizontal marking vertical relative to astern direction is drawn in the reversing final position on parking stall, and in car body
Upper installation camera, the camera and ground form certain inclination angle, so that the last stop area of vehicle is in camera vertical irradiation region
It is interior；
S2, multiple reference substances that the practical fore-and-aft distance in known ground is shot with camera, hand labeled go out the picture of reference substance in image
Plain position, is defined as independent variable for reference substance location of pixels, each practical fore-and-aft distance in reference substance ground is defined as dependent variable, leads to
The corresponding relationship for crossing calculating independent variable and dependent variable is found apart from polynomial fitting；
S3, in vehicle automatic backing, camera acquires color image in real time, passes through straightway angle threshold and ordinate direction picture
Plain distance threshold carries out interference region screening to the color image of acquisition, by straight line localization to ground horizontal marking region；
S4, according on the horizontal marking of ground between current pixel point and surrounding neighbors pixel relationship come distinguish testing result be ground cross
To the upper edge of graticule or lower edge, determine ground horizontal marking middle position to the vertical of camera according to the position on upper edge or lower edge
Distance；
S5, the vertical range of ground horizontal marking middle position to camera is sent to body control system, body control system
Precisely reversing is realized according to the vertical range.
2. the automatic backing method for assisting in parking according to claim 1 based on detection ground horizontal marking, which is characterized in that
The step S2 include it is following step by step:
S21, the multiple reference substances of longitudinal vertical display in the vertical visual field of camera covering, and measure and obtain the ground reality of reference substance
Border fore-and-aft distance；
S22, reference substance is shot with the camera of installation on the car body, manually by the bottom of reference substance along picture in the image that shooting obtains
Plain angle point grid comes out, and marks the physical coordinates value of bottom in the picture along pixel corner；
S23, using the physical coordinates value of the pixel corner on multiple reference substance bottoms edge as independent variable, corresponding ground it is practical longitudinal away from
From being fitted to obtain polynomial fitting with a distance from a dihydric phenol as dependent variable；
S24, measure positioned at camera most under along the visual field the physical vertical distance for being referenced to camera, the obtained physics of measurement is hung down
Straight distance is added as the reality on image between the position and camera of any pixel as the constant apart from polynomial fitting
Border ground distance.
3. the automatic backing method for assisting in parking according to claim 1 based on detection ground horizontal marking, which is characterized in that
The step S3 include it is following step by step:
S31, in vehicle automatic backing, camera acquires color image in real time, color image is converted to gray level image, and to figure
As coming all edges of detection image using Canny operator；
S32, after detecting fringe region, straightway candidate region is obtained with accumulation Hough transformation；
S33, retain lateral straightway in image by the slope of straightway, and retain nearest from camera one on ordinate
A straightway；
S34, obtained straightway is converted to point set, and the point set in same a line is put together and is fitted to least square method
Straight line section obtains two edge straight lines of ground horizontal marking.
4. the automatic backing method for assisting in parking according to claim 1 based on detection ground horizontal marking, which is characterized in that
The step S4 include it is following step by step:
S41, cut-off line segment midpoint be reference point, compare the gray value of pixel between current pixel point and surrounding neighbors, according to than
Relatively result judges the straight line for the upper edge of ground horizontal marking or lower edge；
S42, if detect the straight line be upper edge if, arbitrarily select on this line a pixel substitution asked apart from polynomial fitting
Take camera to the distance of the linear edge, then it is that camera arrives that the distance, which is subtracted 0.5 times of ground horizontal marking physical width,
The vertical range in ground horizontal marking middle position；
S43, if the straight line is lower edge, arbitrarily select a pixel to substitute on this line and apart from polynomial fitting seek phase
The distance then plus 0.5 times of ground horizontal marking physical width is camera to ground to the distance of the linear edge by machine
The vertical range in horizontal marking middle position.
5. the automatic backing method for assisting in parking according to claim 1 based on detection ground horizontal marking, which is characterized in that
The automatic backing method for assisting in parking based on detection ground horizontal marking further includes step S6:
S6, designed distance offset carry out global error amendment to body control system, until last parking position and designated position
Deviation reach target setting deviation in.
6. a kind of automatic backing auxiliary parking system based on detection ground horizontal marking, which is characterized in that described based on detection
The automatic backing auxiliary parking system of ground horizontal marking includes following functions module:
It is lateral to draw a ground vertical relative to astern direction for the reversing final position on parking stall for hardware presetting module
Graticule, and camera is installed on the car body, the camera and ground form certain inclination angle, so that the last stop area of vehicle is in camera
In vertical irradiation region；
Range formula generation module, for shooting multiple reference substances of the practical fore-and-aft distance in known ground, hand labeled with camera
Out in image reference substance location of pixels, it is practical longitudinal that reference substance location of pixels is defined as independent variable, each reference substance ground
Distance definition is dependent variable, and the corresponding relationship by calculating independent variable and dependent variable is found apart from polynomial fitting；
Horizontal line extracts screening module, in vehicle automatic backing, camera to acquire color image in real time, passes through straightway angle
Threshold value and ordinate direction pixel distance threshold value carry out interference region screening to the color image of acquisition, by straight line localization to ground
Face horizontal marking region；
Along judgment module under on horizontal line, for according on the horizontal marking of ground between current pixel point and surrounding neighbors pixel relationship come
Upper edge or the lower edge that testing result is ground horizontal marking are distinguished, ground horizontal marking is determined according to the position on upper edge or lower edge
Vertical range of the middle position to camera；
Reversing module, for the vertical range of ground horizontal marking middle position to camera to be sent to body control system, vehicle
Body control system realizes precisely reversing according to the vertical range.
7. the automatic backing auxiliary parking system according to claim 6 based on detection ground horizontal marking, which is characterized in that
The range formula generation module includes following functional unit:
Reference substance setting unit for the multiple reference substances of longitudinal vertical display in the vertical visual field that camera covers, and measures
To the practical fore-and-aft distance in the ground of reference substance；
Angle point grid unit manually will in the image that shooting obtains for shooting reference substance with the camera of installation on the car body
The bottom of reference substance is extracted along pixel corner, and marks the physical coordinates value of bottom in the picture along pixel corner；
Formula fitting unit, for using the physical coordinates value of the pixel corner on multiple reference substance bottoms edge as independent variable, corresponding
The practical fore-and-aft distance in ground as dependent variable be fitted to obtain a dihydric phenol apart from polynomial fitting；
Constant addition unit, for measure be located at camera most under along the visual field the physical vertical distance for being referenced to camera, will survey
The physical vertical distance measured is added as on image as the constant apart from polynomial fitting in the position of any pixel
True Ground Range between camera.
8. the automatic backing auxiliary parking system according to claim 6 based on detection ground horizontal marking, which is characterized in that
It includes following functional unit that the horizontal line, which extracts screening module:
Edge detection unit, in vehicle automatic backing, camera to acquire color image in real time, and color image is converted to ash
Image is spent, and all edges of detection image are come using Canny operator to image；
Straight line acquiring unit, for obtaining straightway candidate region with accumulation Hough transformation after detecting fringe region；
Straight line screening unit retains the lateral straightway in image for the slope by straightway, and retains on ordinate
A straightway nearest from camera；
Line fitting unit for obtained straightway to be converted to point set, and the point set in same a line is put together with most
Small square law is fitted in alignment section, obtains two edge straight lines of ground horizontal marking.
9. the automatic backing auxiliary parking system according to claim 6 based on detection ground horizontal marking, which is characterized in that
Along judgment module include following functional unit under on the horizontal line:
Gray scale compares interpretation unit, and the midpoint for cut-off line segment is reference point, compares picture between current pixel point and surrounding neighbors
The gray value of element, judges the straight line for the upper edge of ground horizontal marking or lower edge according to comparison result；
On along computing unit, for if detecting the straight line and being upper edge, arbitrarily select on this line a pixel substitute into away from
It is sought with a distance from camera to the linear edge from polynomial fitting, then the distance is subtracted to 0.5 times of ground horizontal marking physics
Width is vertical range of the camera to ground horizontal marking middle position；
It is lower to be used for if the straight line is lower edge along computing unit, arbitrarily select a pixel to substitute into distance on this line quasi-
Conjunction multinomial seeks camera to the distance of the linear edge, then the distance is added to 0.5 times of ground horizontal marking physical width
As vertical range of the camera to ground horizontal marking middle position.
10. the automatic backing auxiliary parking system according to claim 6 based on detection ground horizontal marking, feature exist
In the automatic backing auxiliary parking system based on detection ground horizontal marking further includes parking position offset correction module:
The parking position offset correction module deviates for designed distance and carries out global error amendment to body control system, directly
Deviation to last parking position and designated position reaches in target setting deviation.
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| CN113012441A (en) * | 2021-03-25 | 2021-06-22 | 北京百度网讯科技有限公司 | Vehicle parking detection method, system, electronic device, and storage medium |
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