CN110239524A - Automatic parking method, apparatus, system and terminal - Google Patents
Automatic parking method, apparatus, system and terminal Download PDFInfo
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- CN110239524A CN110239524A CN201910437157.3A CN201910437157A CN110239524A CN 110239524 A CN110239524 A CN 110239524A CN 201910437157 A CN201910437157 A CN 201910437157A CN 110239524 A CN110239524 A CN 110239524A
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of automatic parking method, apparatus, system and terminal, the automatic parking methods, comprising: obtains the image information of parking of vehicle periphery；By the image information display of parking at default interface；User is received in the parking stall selection instruction of the default interface triggering；Target parking stall is determined according to the parking stall selection instruction；The vehicle is controlled to moor into the target parking stall.The present invention is in particular circumstances by manually selecting parking stall on default interface to carry out automatic parking, so that it is more flexible and reliable to park.
Description
Technical field
The present invention relates to the intelligent vehicles technology field more particularly to a kind of automatic parking method, apparatus, system and terminal.
Background technique
Currently, intelligent driving technology mainly includes the technologies such as adaptive cruise, lane holding, automatic parking.However due to
Vehicle complex environment factor and uncertain factor in the process of moving, cause current intelligent driving to be faced with many difficulties.
Automatic parking is task most important and complicated in intelligent driving, caused collision and friction during parking
And one of the main reason for leading to vehicle damage.The automatic parking technology of mainstream is realized by ultrasonic radar on the market
, ultrasonic radar judges whether to meet automatic parking demand, searches parking stall by the space size between cognitive disorders object
Afterwards, to plan that automatic parking path is parked.However, realizing automatic parking based on ultrasonic radar, it is special to be not suitable for
Parking scene and the less situation of barrier, there are certain application limitations.For example, existing stereo garage majority by
Iron chains mentions bracket composition, can not effectively identify parking stall by using ultrasonic radar, can not park, and three-dimensional at present
Parking stall occupied area itself is small, and parking stall is relatively narrow, acquires a certain degree of difficulty for most of new persons.In addition, special stopping at some
Under the scape of parking lot, may not be able to search for automatically with automatic identification to suitable parking stall, generally require the dynamic of manual intervention vehicle
Force system so substantially reduces the experience sense of automatic parking.
Summary of the invention
Based on this, it is an object of that present invention to provide a kind of automatic parking method, apparatus, system and terminals, more than solving
At least one technical problem.The technical solution is as follows:
In a first aspect, the present invention provides a kind of automatic parking methods, comprising:
Obtain the image information of parking of vehicle periphery；
By the image information display of parking at default interface；
User is received in the parking stall selection instruction of the default interface triggering；
Target parking stall is determined according to the parking stall selection instruction；
The vehicle is controlled to moor into the target parking stall.
Second aspect, the present invention provides a kind of automatic parking devices, comprising:
First image collection module, for obtaining the image information of parking of vehicle periphery；
First image display, for by the image information display of parking at default interface；
Parking stall selection instruction receiving module, for receiving user in the parking stall selection instruction of the default interface triggering；
Parking stall determining module, for determining target parking stall according to the parking stall selection instruction；
It parks control module, moors for controlling the vehicle into the target parking stall.
The third aspect, the present invention provides a kind of automated parking system, including environment acquisition system and it is described above from
Dynamic parking apparatus, the environment acquisition system includes for obtaining vehicle position information radar and for acquiring ambient condition information
Panoramic looking-around system.
Fourth aspect, the present invention provides a kind of automatic parking terminal, including processor and memory,
It is stored at least one instruction, at least a Duan Chengxu, code set or instruction set in the memory, described at least one
Item instruction, an at least Duan Chengxu, the code set or instruction set are loaded by the processor and are executed to realize above-mentioned
Automatic parking method described in one.
Implement the embodiment of the present invention, at least has the following beneficial effects:
1, the image information of parking that the present invention passes through acquisition vehicle periphery；By the image information display of parking on default boundary
Face；User is received in the parking stall selection instruction of the default interface triggering；Target parking stall is determined according to the parking stall selection instruction；
The vehicle is controlled to moor into the target parking stall.In this way, in particular circumstances by manually selected on default interface parking stall with
Automatic parking is carried out, so that it is more flexible and reliable to park, avoids parking stall automatic identification from failing and influences smoothly to park.
2, after the present invention determines in direction of parking, the new image letter including complete parking space collected can be shown
Breath, or by image position offsets are carried out to the first display image in target parking area and acquire new stitching image with
The display image of complete parking space information is obtained, the accuracy of parking stall is so improved, improves precision of parking.
3, the present invention merges radar and panoramic looking-around system, and recordable and machine learning last time park it is selected
Target parking stall feature, next time moment automatic identification parking space information of parking automatically parked.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology and advantage, below will be to implementation
Example or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is only some embodiments of the present invention, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of structural block diagram of automated parking system shown according to an example embodiment.
Fig. 2 is a kind of flow diagram of automatic parking method shown according to an example embodiment.
Fig. 3 is a kind of flow diagram of automatic parking method shown according to an example embodiment.
Fig. 4 a-4c is a kind of application scenario diagram of parking of the automatic parking method exemplified according to a specific implementation.
Fig. 5 is a kind of structural block diagram of automatic parking device shown according to an example embodiment.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description.Obviously, described embodiment is only some examples of the present invention or embodiment, skill common for this field
For art personnel, without creative labor, can also according to these embodiments with attached drawing institute obtained
There are other embodiments, and the application is applied to other similar scene according to these attached drawings.Unless being shown from language environment
It is clear to or separately explains, identical label represents identical structure or operation in figure.
It should be appreciated that description and claims of this specification and used " system " in attached drawing, " device ",
" unit " and/or " mould group " system are used to distinguish different components, component, assembly unit, part or a kind of method of assembly of different stage.
Term " first " shown in the present invention, " second " etc. are to be used to distinguish similar objects, without for describing specific sequence
Or precedence.However, if other words can realize identical purpose the word can be replaced by other expression.
Unless context clearly prompts exceptional situation, " one " shown in the present invention, "one", "an" and/or "the" etc.
Word not refers in particular to individually, may also comprise multiple.In general, term " includes " and " having " and their deformation, only prompt
Include the steps that clearly mark and element, and these steps and element do not constitute one it is exclusive enumerate, method or set
It is standby may also comprising be not clearly listed or these methods or equipment intrinsic other steps or element.
Currently, the process of automatic parking is more complex, on the market the automatic parking technology of mainstream be by ultrasonic radar come
It realizes, using the space size between ultrasonic radar cognitive disorders object, judges whether to meet automatic parking demand, search
Behind parking stall, to plan that automatic parking path is parked.However, realizing automatic parking based on ultrasonic radar, be not suitable for
Special parking scene (such as garage is stereo garage or complicated garage) and barrier is less (does not deposit idle parking stall two sides
In other vehicles or barrier) situation, lead to not effectively to recognize parking stall and smoothly park, so there is certain application
Limitation.In addition, under some special parking scenes (such as there is no parking stall line or marks), it may not be able to be automatic
Search and automatic identification generally require the dynamical system of manual intervention vehicle, so substantially reduce automatic pool to suitable parking stall
The experience sense of vehicle.In addition, the overall calculation amount of existing automatic parking technology is larger, and it is highly dependent on the precision of awareness apparatus
And sensitivity.For this purpose, the embodiment of the present application provides a kind of automatic parking method, apparatus, system and terminal.
Fig. 1 is a kind of structural block diagram of automated parking system shown according to an example embodiment.It, should shown in referring to Fig.1
System may include automatic parking device 10 and the environment acquisition system 20 that connect with the automatic parking device signal.
The environment acquisition system includes trailer-mounted radar 21 for obtaining vehicle position information and for acquiring surrounding ring
The panoramic looking-around device 22 of border information.Wherein, which can be ultrasonic radar or millimetre-wave radar etc..Environment acquisition
The ambient condition information of acquisition and information of vehicles are sent to automatic parking device 10 by system 29, and automatic parking device 10 receives should
Information controls vehicle automatic parking.
With continued reference to Fig. 1, the system may also include display device 30 and vehicle power control system 40.Display device 30
For display environment acquisition system information collected image information generated, and obtain the input in the display device 30
Operation, the input operation information that will acquire feed back to the automatic parking controller in automatic parking device 10, automatic parking control
Feedback of the device based on display device 30 and environment acquisition system 20 controls vehicle automatic parking.The vehicle power control system 40
It may include car body controller, speed changer and electric boosting steering system EPS.The display device 30 can be set to it is only on vehicle
Vertical or integrated display, vehicle mounted multimedia are display entrained by environment acquisition system itself etc., can also be setting
Display device, such as cell phone, computer and iPad etc. in other terminals other than vehicle.
The embodiment of the present invention is including but not limited to garage scene for realizing the scene of automatic parking.In automatic parking
In the process, driver drives into behind garage or near garage, sends request of parking, and vehicle receives the request and constantly looks for closing
Suitable parking stall, it is to be identified to arrive suitable parking stall, the dynamical system of vehicle is controlled so that vehicle parking.The garage can be stereoscopic vehicle
Library, underground garage and open garage etc. can also be the garage or special-shaped garage of conventional shape.Settable such as parking stall on parking stall
Line or mark can also be not provided with any mark or parking stall line.
Fig. 2 is a kind of flow diagram of automatic parking method shown according to an example embodiment.Referring to shown in Fig. 2,
The automatic parking method may include following steps S202~S210.Wherein:
In step S202, the image information of parking of vehicle periphery is obtained.
In the present embodiment, if vehicle needs are parked, the image information of parking of vehicle periphery is obtained.The image information of parking
For ambient parameter information locating for current vehicle, such as garage environmental parameter locating for vehicle.Can by image collecting device or
Sensor, to acquire the vehicle-periphery information.The image collecting device include but is not limited to be the overall situation look around device, camera shooting
Machine and camera etc..The sensor include but is not limited to be ultrasonic radar sensor, millimetre-wave radar sensor etc..
In step S204, by the image information display of parking at default interface.
It collects after parking image information, corresponding acquisition signal can be sent to corresponding controller, controller can incite somebody to action
The image information of parking of acquisition generates the first image, which can show on default interface, which can be more matchmakers
Body, combination instrument, display screen or navigator interface etc. can show the display interface in the equipment of electronic image, for driver
It presets and carries out corresponding parking manoeuvres on interface at this.Certainly, which can also be off-board display interface, can also
For interface of mobile terminal, such as mobile phone, iPad, Intelligent bracelet etc..
In step S206, user is received in the parking stall selection instruction of the default interface triggering.
In the present embodiment, which is image of parking corresponding to vehicle-periphery information, may include pool
Vehicle region and non-parking areas.Parking areas is the region that can be parked, such as the region comprising parking stall；Rather than parking areas
It can be the region not comprising parking stall, such as the region that lane or channel etc. can not park.
If driver needs to park, corresponding parking stall selection operation can be executed on default interface, be selected based on the parking stall
It selects operation and generates parking stall selection instruction.The parking stall selection instruction is used to indicate identifying and selecting for parking stall.It is used at this point, vehicle receives
Parking stall selection instruction of the family in default interface triggering.Specifically, can parking areas on the first image execute parking stall selection behaviour
Make.The parking stall selection operation can be clicking operation or selection operation or the gesture operation such as sliding, it can also pass through touching certainly
Control or key or knob etc. select to execute parking stall.
In step S208, target parking stall is determined according to the parking stall selection instruction.
In the present embodiment, which is used to indicate identifying and selecting for parking stall.Parking stall selection is responded to refer to
It enables, obtains parking stall selection operation in the selection location point of the parking areas, determine comprising vehicle corresponding to the selection location point
Position is target parking stall.
In an alternative embodiment, above-mentioned steps S208 can include:
S301 obtains first choice location information corresponding to the parking stall selection instruction.
Specifically, the image position coordinates of the first operation can be identified on the first image, it is true according to the image position coordinates
Determine first choice location information, such as selection location point.This, which selects location point, to be corresponding to the selection operation of parking stall at least one
A operating point or touch point.
S302 determines the first parking stall comprising the first choice location information.
Specifically, if the parking stall selection operation is clicking operation, it is corresponding to select location point for an operating point or touching
Control point.If there are parking stall lines or parking stall to indicate in garage, it can determine select the parking stall of location point for the first parking stall comprising this at this time.If
There is no parking stall lines or parking stall to indicate, it may be determined that point centered on the selection location point；At this point, can be according to the size of vehicle and with this
Central point constructs a virtual parking stall, determines that the virtual parking stall is the first parking stall.
If the parking stall selection operation is the operation comprising multiple operating points, corresponding at this time to select location point can be several
Operating point or touch point.It is may be selected at this time comprising the more parking area of operating point to be the first parking stall, or according to several
Operating point takes center point to determine the first parking stall.
S303 judges whether first parking stall is effective parking stall.
Specifically, this can be calculated with such as ambient parameters of the first parking stall, the first parking stall type and this vehicle parameter
Whether vehicle can smoothly be moored into the first parking stall.If detecting, this vehicle cannot be moored smoothly into first parking stall, it is determined that the first parking stall
For effective parking stall；Otherwise, it determines the first parking stall is invalid parking stall.
S304, if so, using first parking stall as the target parking stall.
Specifically, if detecting, this vehicle cannot be moored smoothly into first parking stall, it is determined that the first parking stall is effective parking stall, into
And determining first parking stall is target parking stall.If it is not, returning to previous step, the first parking stall is redefined.
In step S210, controls the vehicle and moor into the target parking stall.
In the present embodiment, however, it is determined that target parking stall, it can according to the relative position of vehicle-to-target parking stall, according to existing
Algorithmic rule parking path of parking, control vehicle moor into the target parking stall.
Above-mentioned steps S210 is specific can include: obtains the current location of vehicle and the position of target parking stall；Calculate the vehicle
Relative position information with the target parking stall；Based on the relative position information, parking path is calculated；It is parked based on described
Path controls the vehicle and moors into the target parking stall.Specifically, after target parking stall has been determined, the target parking stall that detects
Coordinate information is sent to automatic parking controller by multimedia, controls steering wheel, brake and speed changer after calculating parking path
It parks.
The image information of parking that the present invention passes through acquisition vehicle periphery；By the image information display of parking on default boundary
Face；User is received in the parking stall selection instruction of the default interface triggering；Target parking stall is determined according to the parking stall selection instruction；
The vehicle is controlled to moor into the target parking stall.In this way, in particular circumstances by manually selected on default interface parking stall with
Automatic parking is carried out, so that it is more flexible and reliable to park, avoids parking stall automatic identification from failing and influences smoothly to park.
In some embodiments, before step S206, the automatic parking method may also include that
S402 is received and is shown instruction in the parking stall of the default interface triggering.
Specifically, vehicle driving is in garage, around surrounding there may be can parking areas.So can parking areas can
The forward and backward, region of left and right four can be broadly divided into according to the spatial position relative to vehicle.It certainly, can also be according to the area that can park
Domain carries out thinner parking areas and divides.
It receives and shows instruction in the parking stall of default interface triggering, which shows that instruction can be in the touch-control behaviour at default interface
Make or selection operation, which shows that instruction is used to indicate to can carry out selected target parking areas on parking areas
Displaying processing.If receive on default interface can the parking stall of parking areas show instruction, trigger to comprising trigger bit
That sets can parking areas progress parking stall displaying.For example, if parking stall shows that the corresponding parking stall of instruction shows that operating point is moored on right side
Vehicle region, can choose right side parking areas at this time is target parking areas to be presented.
S404 shows instruction based on the parking stall, obtains the figure in the direction of search of parking stall including complete parking space
As information.
Specifically, shooting angle or the position of instruction adjustment image collecting device can be shown based on the parking stall, described in cause
Image collecting device resurveys image information of around parking, it is preferable that Image Acquisition is carried out in the direction of search of parking stall.The vehicle
Position the direction of search be vehicle need moor into parking stall direction and target parking areas to be presented where practical parking stall place side
To.The parking stall direction of search can show that instruction is determined by parking stall, can also be determined certainly by other directions.Newly adopt
The image information of collection includes parking space information more to be parked, in order to obtain effect of preferably parking, it is preferable that freshly harvested
Image information may include the complete parking space in the direction of search of parking stall.
S406, by the image information display including complete parking space at the default interface.
The image information including complete parking space is being got, the image information newly obtained can shown default
On interface, to update the display content at default interface.The image of the new acquisition can be shown in the picture by embeddable, can also be led to
The form for crossing floating window or pop-up is shown.
In some embodiments, before step S206, the automatic parking method may also include that
S402 ' receives and shows instruction in the parking stall of the default interface triggering, shows that instruction determines according to the parking stall
Target parking area in the display area at the default interface.
Specifically, vehicle driving is in garage, around surrounding there may be can parking areas.So default interface is shown
The forward and backward, region of left and right four can be broadly divided into according to the spatial position relative to vehicle by showing in region.It certainly, can also root
According to can parking areas carry out thinner parking areas and divide.
It receives and shows instruction in the parking stall of default interface triggering, which shows that instruction can be in the touch-control behaviour at default interface
Work or selection operation show that instruction determines the target parking stall area in the display area at the default interface according to the parking stall
Domain.For example, can choose right side at this time if parking stall shows that the corresponding parking stall of instruction shows operating point in right side parking areas and park
Region is target parking area.
The first display image in the target parking area is carried out picture position in the default interface by S404 '
Offset obtains position the first display image adjusted.
Specifically, image coordinate system can be established in default interface, the first display image in target parking area is obtained,
The first display image may include the image information of part parking stall to be selected.Later, the ginseng in the first display image is extracted
The characteristic parameter of examination point.The reference point can be central point, endpoint, boundary point or the arbitrary point of the first display image.Obtain the ginseng
Position coordinates of the examination point in image coordinate system.By adjusting the position coordinates of the reference point, to realize to the first display image
Image position offsets in default interface obtain position the first display image adjusted.The image position offsets can be mesh
The opposite direction that parking area is marked relative to orientation where vehicle carries out positional shift.
The position offset can be determined according to current truck spaces, can also be preset offset value, not done herein specific
Limitation.
S406 ', the correlation for obtaining vehicle periphery are parked image information, and the second display image is obtained.
Due to deviating to the first display image, so preceding target parking area, which will be present, at least partly schemes
As missing.Meanwhile in order to improve the integrality of parking stall displaying, correlation can be reacquired in vehicle periphery and parked image information, obtained
To the second display image.The second display image can be with the first display image mosaic at complete parking space's image.
S408 ' shows the second display image in the target parking area, and the second display image can be with
The position adjusted first shows image mosaic at the image information of complete parking space.
It is deviated by the first display image to original reality, and reacquires the second display image, the two is spelled
It is connected into and contains more complete parking space's information, more complete and vehicle of comprehensively parking can be so shown on default interface
Position, convenient for accurately identifying parking stall.
After the present invention determines in direction of parking, the new image letter including complete parking space collected can be shown
Breath, or by image position offsets are carried out to the first display image in target parking area and acquire new stitching image with
The display image of complete parking space information is obtained, the accuracy of parking stall is so improved.
In some embodiments, after step S208, the automatic parking method may also include that
S502 extracts parking stall feature corresponding to the target parking stall；The parking stall feature includes parking stall position, parking stall class
Type and/or truck spaces.
The corresponding parking stall feature in target parking stall is extracted, this feature may include parking stall according to target parking stall in the present embodiment
Position, parking stall type and/or truck spaces.Wherein, parking stall position is for the geographical coordinate position of parking stall or in the first image
Coordinate position, the position can be relative position, can also be absolute position.Such as corresponding position coordinates or longitude and latitude can be passed through
Degree is to characterize parking stall position.Parking stall type can be lateral parking stall, swing to parking stall, forward parking stall and turning parking stall etc..Parking stall ruler
Very little is large-scale parking stall, medium-sized parking stall or small-sized parking stall etc..
S504 is stored using the target parking stall and its corresponding parking stall feature as the effective parking space information of history, with
Target parking stall described in automatic identification is parked when parking for next time.
In the present embodiment, it is special can to establish target parking stall and its corresponding parking stall for the parking stall feature of each target parking stall of extraction
Mapping table is levied, or establishes the parking stall feature vector for covering target parking stall Yu above-mentioned parking stall feature.Later, which is closed
It is that table or parking stall feature vector are stored as the effective parking space information of history.Specifically, being storable in the memory module of this vehicle
In.In this way, when looking for parking stall convenient for parking next time, it can be according to the effective parking space information of history of storage, target carriage described in automatic identification
Position is parked calculation amount with reducing, and fast and easy and is accurately parked.
In a possible embodiment, the effective parking space information of the history can be stored in cloud server.Cloud service
Device collects the effective parking space information of history uploaded from various vehicles, to realize that big data acquisition and information are mutually shared.When
When any vehicle needs to park, the effective parking space information of history that cloud server is stored can be obtained, and therefrom automatically identify
Target parking stall.Various information resources shares are realized in this way, facilitating, and reduction computes repeatedly, more convenient quickly and accurately to park.
In some embodiments, the automatic parking method method may also include that
S602 receives request of parking.
In the present embodiment, can be touched by obtaining automatic parking switching signal if collecting the automatic parking switching signal
Hair illustrates that driver has intention of parking, requests automatic parking.In general, will record the effective vehicle of history after completing to park for the first time
Position information.Later, after receiving new request of parking, the recorded effective parking space information of history can be applied.
S604 detects whether that there are the effective parking space informations of matched history.
In the present embodiment, can size, position and direction according to this vehicle information such as this vehicle, judge the effective parking stall letter of history
Whether breath matches with this vehicle；To guarantee smoothly to park.
S606, if so, being based on the effective parking space information of the history, the effective parking space information of history described in automatic identification is corresponding
Target parking stall.
In the present embodiment, if there are the effective parking space informations of matched history for detection, based on the effective parking stall letter of the history
Breath can be based on parking stall feature described in machine learning, the corresponding target parking stall of the effective parking space information of history described in automatic identification；It
Afterwards, it is based on the target parking stall, controls vehicle parking.If being not detected there are the effective parking space information of matched history, enter true
The step of determining parking stall.
Certainly, after the automatic identification target parking stall, can also the parking stall to automatic identification manually adjust and really
Recognize, obtain new target parking stall, adjust parking path, control vehicle is moored into the new target parking stall.
Fig. 3 is a kind of flow diagram of automatic parking method shown according to an example embodiment.Referring to shown in Fig. 3,
The automatic parking method may include following steps S702~S712.Wherein:
In step S702, the image information of parking of vehicle periphery is obtained, by the image information display of parking default
Interface.
In step S704, user is received in the parking stall selection instruction of the default interface triggering.
In step S706, target parking stall is determined according to the parking stall selection instruction.
In step S708, the parking manoeuvres in the default interface triggering are received, the parking manoeuvres are used to indicate institute
Vehicle is stated in the parking path at the default interface.
In the present embodiment, which can be the operation continued for some time with continuous distance.The parking manoeuvres are preferred
For touch control gesture operation, drag operation, slide etc. may be, for example,.Operating point in the parking manoeuvres should be included with vehicle
The location point of current location point and target parking stall.
In step S710, effective operation trace in the parking manoeuvres is identified；Effective operation trace is for referring to
Show for the vehicle to be dragged to and be overlapped with the target parking stall.
In the present embodiment, the operation trace of parking manoeuvres can be curve, broken line or blend.Settable parking manoeuvres rise
Point is the vehicle icon on the display image at the default interface on vehicle, and terminal is target parking stall position.It parks in execution
In operating process, the vehicle icon can be activated, drags the vehicle icon to mesh according to certain track by clicking vehicle icon
It marks in parking stall, to realize that the vehicle is overlapped with the target parking stall, sets effective operation trace for the track.
In step S712, be based on effective operation trace, control the vehicle according to effective operation trace into
Row is parked.
In the present embodiment, according to the transformation relation of image coordinate system and world coordinate system, by the display image at default interface
In effective operation trace be converted into the track of parking in actual environment, control the vehicle according to the rail of actually parking
Mark is parked.
Certainly, after obtaining track of actually parking, also the practical track of parking can be adjusted or is optimized.Specifically,
The locus model or by machine learning of parking that can be stored by system carries out adjustment appropriate or excellent to track of actually parking
Change.
It should be noted that other particular contents of above-mentioned steps S702~S712 can refer to above-described embodiment, in order to subtract
Few length, details are not described herein.
Above by the parking manoeuvres received in the default interface triggering, the parking manoeuvres are used to indicate the vehicle
Parking path at the default interface identifies effective operation trace in the parking manoeuvres；Effective operation trace is used
The vehicle is dragged in instruction and is overlapped with the target parking stall, effective operation trace is based on later, controls the vehicle
It parks according to effective operation trace.In this way, the parking manoeuvres based on user, can be quickly obtained parking path, mention
Height park efficiency and reduce planning parking path calculation amount.
The application is described in further detail below with reference to concrete application scene.
Fig. 4 a-4c is a kind of application scenario diagram of parking of the automatic parking method exemplified according to a specific implementation.Implement
The system of the automatic parking method may include automatic parking controller, ultrasonic radar and panoramic looking-around system.The automatic parking
The executing subject of method can be automatic parking controller, and part steps can also be in the controller and/or ultrasound of panoramic looking-around system
It is executed in wave radar controller.The automatic parking method can comprise the following steps that
S801 receives the request of parking of driver.
The request of parking can be realized by triggering automatic parking switch.This park request can under current environment for the first time
It parks and requests and request of parking again.If request of parking again, automatic identification parking stall can be performed.
S802, ultrasonic radar and panoramic looking-around system acquisition ambient condition information.
Ultrasonic radar can be placed on the outside of the vehicle body of vehicle, and quantity can be for 1~12 or other are multiple, specific number
Amount can be without limitation.Panoramic looking-around system may include panoramic looking-around image and display, and panoramic looking-around image may be provided at vehicle
Vehicle body on, quantity is at least 1；Display be arranged in vehicle, for show the ambient condition information detected for
Driver's viewing.Display can individually be shown, may alternatively be integrated on vehicle mounted multimedia.
Search lighting parking space information shows parking stall coordinate information in panorama after determining parking stall and the relative position of vehicle
On the display of viewing system, can show as shown in figures 4 a-c, on display the ambient condition information window detected and from
Dynamic parking instructions messagewindow.Parking instructions information, panoramic looking-around information and choosing can be shown on the display interface of display
The parking space information selected.
S803 detects whether that there are the effective parking space informations of matched history；If so, thening follow the steps S804 and S814；If
It is no, execute step S805~S814.
Specifically, detection ambient condition information whether there is the effective parking space information of matched history.
S804 is based on the effective parking space information of the history, the corresponding target of the effective parking space information of history described in automatic identification
Parking stall.
As shown in fig. 4 a, the effective parking space information of matched history is being detected the presence of, is then can trigger automatic search parking stall
Instruction.Parking stall automatic identification is carried out based on study parking stall feature, it is to be identified to behind target parking stall, the knowledge of target parking stall can be completed
Not.Certainly, can also, the target parking stall of automatic identification is adjusted or is confirmed.
S805 obtains the image information of parking of vehicle periphery.
S806, by the image information display of parking at default interface.
S807 is received and is shown instruction in the parking stall of the default interface triggering.
S808 shows instruction based on the parking stall, obtains the figure in the direction of search of parking stall including complete parking space
As information.
S809, by the image information display including complete parking space at the default interface.
Before selection stereo garage parks and selects parking stall, display portion parking space information is (in such as Fig. 4 b in default interface
Shown in P).It is needing to park, if obtaining behind direction of parking on the right side of having selected and showing the image including complete parking space
Information (P as shown in fig. 4c).So, it can be ensured that parking stall selection is accurate, improves precision of parking.
S810 receives user in the parking stall selection instruction of the default interface triggering.
S811 determines target parking stall according to the parking stall selection instruction.
S812 extracts parking stall feature corresponding to the target parking stall；The parking stall feature includes parking stall position, parking stall class
Type and/or truck spaces.
S813 is stored using the target parking stall and its corresponding parking stall feature as the effective parking space information of history, with
Target parking stall described in automatic identification is parked when parking for next time.
S814 controls the vehicle and moors into the target parking stall.
After confirming target parking stall, the parking stall coordinate information of selection is issued into automatic parking controller, is needed a parking stall left side
The coordinate information of upper apex angle coordinate and bottom left vertex issues automatic parking controller, and automatic parking controller passes through two vertex
The relative position of validation of information and parking stall, automatic parking controller by calculate parking path, will send target gear signal to
Speed changer is shifted gears, and sending direction disk target angle carries out respective angles adjustment, pass through hair to EPS, real-time control steering wheel
The number of delivering letters is braked to EPS real-time perfoming and the control of throttle, when the parking stall selected on vehicle automatic running to panoramic looking-around system
When position, automatic parking is completed, and completion of parking is prompted in multimedia, and automobile gear level returns to P grades, pull-up parking brake.
In some embodiments, above-mentioned steps may also include that
S815, receives the parking manoeuvres in the default interface triggering, and the parking manoeuvres are used to indicate the vehicle and exist
The parking path at the default interface.
S816 identifies effective operation trace in the parking manoeuvres；Effective operation trace is used to indicate will be described
Vehicle is dragged to be overlapped with the target parking stall.
As illustrated in fig. 4 c, the P in figure is the parking stall pulled manually, can be dragged in any position in default interface
It drags, is parked with realizing according to the desired guiding trajectory of driver.Certainly, in default interface, in addition to parking for settable acquisition
Region, also settable status information display area of parking, the prompting of settable step of parking in the status information display area
Information and operation determination or destruction operation etc..
S817 is based on effective operation trace, controls the vehicle and park according to effective operation trace.
It should be noted that the particular content in above-mentioned steps S801~S817, reference can be made to the above content, in order to reduce a piece
Width, details are not described herein.
Fig. 5 is a kind of structural block diagram of automatic parking device shown according to an example embodiment.Referring to Figure 5, should
Automatic parking device 10 can include:
First image collection module 100, for obtaining the image information of parking of vehicle periphery；
First image display 200, for by the image information display of parking at default interface；
Parking stall selection instruction receiving module 300, for receiving user in the parking stall selection instruction of the default interface triggering；
Parking stall determining module 400, for determining target parking stall according to the parking stall selection instruction；
Control module of parking 500 is moored for controlling the vehicle into the target parking stall.
In one embodiment, the parking stall determining module 400 can include:
First acquisition unit, for obtaining first choice location information corresponding to the parking stall selection instruction；
First determination unit, for determining the first parking stall comprising the first choice location information；
First judging unit, for judging whether first parking stall is effective parking stall；
Second determination unit, if so, using first parking stall as the target parking stall.
In one embodiment, the automatic parking device 10 may also include that
It shows command reception module, shows instruction in the parking stall of the default interface triggering for receiving.
Second image collection module, for showing that instruction, acquisition have included in the direction of search of parking stall based on the parking stall
The image information of whole parking space.
First image display, for presetting the image information display including complete parking space described
Interface.
In one embodiment, the automatic parking device 10 may also include that
It shows command reception module, instruction is shown in the parking stall of the default interface triggering for receiving, according to the vehicle
Position shows that instruction determines the target parking area in the display area at the default interface；
Image display adjustment module, in the default interface, first in the target parking area to be shown
Image carries out image position offsets, obtains position the first display image adjusted；
Third image collection module, the correlation for obtaining vehicle periphery are parked image information, and the second display image is obtained；
Third image display, for showing the second display image in the target parking area, described the
Two display images can be with the position the first display image mosaic adjusted at the image information of complete parking space.
In one embodiment, the automatic parking device 10 may also include that
Parking stall characteristic extracting module, for extracting parking stall feature corresponding to the target parking stall；The parking stall feature packet
Include parking stall position, parking stall type and/or truck spaces；.
Parking space information memory module, for being stored the parking stall feature as the effective parking space information of history, for
Target parking stall described in automatic identification is parked when next time parks.
In one embodiment, described device may also include that
It parks request receiving module, for receiving request of parking；
Parking stall measure module, for detecting whether that there are the effective parking space informations of matched history；
Automatic identification module is used for if so, being based on the effective parking space information of the history, and history described in automatic identification is effective
The corresponding target parking stall of parking space information.
In one embodiment, described device may also include that
Detection module is operated, for receiving the parking manoeuvres in the default interface triggering, the parking manoeuvres are for referring to
Show the vehicle in the parking path at the default interface；
Operation trace identification module, for identification effective operation trace in the parking manoeuvres；Effective operation rail
Mark is used to indicate for the vehicle to be dragged to and be overlapped with the target parking stall；
Track is parked control module, for being based on effective operation trace, controls the vehicle according to effective behaviour
It parks as track.
A kind of automatic parking apparatus and method embodiment disclosed by the embodiments of the present invention is based on identical inventive concept.
The present invention also provides a kind of automatic parking terminal, which includes: processor and memory, is deposited in the memory
Contain at least one instruction, at least a Duan Chengxu, code set or instruction set, at least one instruction, an at least Duan Cheng
Sequence, the code set or instruction set are loaded by the processor and are executed the automatic parking method to realize any description above.
Above-mentioned terminal may include but be not limited to as electronics such as car-mounted terminals and mobile terminal, such as vehicle mounted multimedia, smart phone, iPad
Equipment.
The memory can be used for storing software program and module, and processor is stored in the software of memory by operation
Program and module, thereby executing various function application and data processing.Memory can mainly include storing program area and deposit
Store up data field, wherein storing program area can application program needed for storage program area, function etc.；Storage data area can store
Created data etc. are used according to the equipment.It, can be in addition, memory may include high-speed random access memory
Including nonvolatile memory, for example, at least a disk memory, flush memory device or other volatile solid-states
Part.Correspondingly, memory can also include Memory Controller, to provide access of the processor to memory.
Above-mentioned automatic parking method, apparatus, system and terminal of the invention is based on vehicle-periphery information by obtaining
First image generated；Receive the first touching generated of the first operation performed by the parking areas in the first image
Send instructions；The first triggering command is responded, determines target parking stall；The vehicle is controlled to moor into the target parking stall.In this way,
By manually selecting parking stall on the first image to carry out automatic parking under particular surroundings, so that it is more flexible and reliable to park, keep away
Exempt from the failure of parking stall automatic identification and influences smoothly to park.It, can be by the target of parking stall to be selected after the present invention determines in direction of parking
Region amplifies processing, so improves the accuracy of parking stall.The present invention merges radar and panoramic looking-around system, and can
Record and machine learning last time park selected target parking stall feature, next time moment automatic identification parking space information of parking carry out
Automatically park.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.Apparatus embodiments described above are merely indicative, for example, the division of the unit or mould group,
Only a kind of logical function partition, there may be another division manner in actual implementation, such as: multiple units or components can be tied
It closes, or is desirably integrated into another system, or some features can be ignored or not executed.In addition, shown or discussed each group
Can be through some interfaces at the mutual coupling in part or direct-coupling or communication connection, equipment or unit it is indirect
Coupling or communication connection, can be electrical, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member, which can be or may not be, to be physically separated, aobvious as unit
The component shown can be or may not be physical unit, it can and it is in one place, it may be distributed over multiple network lists
In member；Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can be fully integrated in one processing unit, it can also
To be each unit individually as a unit, can also be integrated in one unit with two or more units；It is above-mentioned
Integrated unit both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned include: movable storage device, it is read-only
Memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or
The various media that can store program code such as person's CD.
If alternatively, the above-mentioned integrated unit of the present invention is realized in the form of software function module and as independent product
When selling or using, it also can store in a computer readable storage medium.Based on this understanding, the present invention is implemented
Substantially the part that contributes to existing technology can be embodied in the form of software products the technical solution of example in other words,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
It is personal computer, server or network equipment etc.) execute all or part of each embodiment the method for the present invention.
And storage medium above-mentioned includes: that movable storage device, ROM, RAM, magnetic or disk etc. are various can store program code
Medium.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of automatic parking method characterized by comprising
Obtain the image information of parking of vehicle periphery；
By the image information display of parking at default interface；
User is received in the parking stall selection instruction of the default interface triggering；
Target parking stall is determined according to the parking stall selection instruction；
The vehicle is controlled to moor into the target parking stall.
2. the method according to claim 1, wherein described determine target parking stall according to the parking stall selection instruction
Include:
Obtain first choice location information corresponding to the parking stall selection instruction；
Determine the first parking stall comprising the first choice location information；
Judge whether first parking stall is effective parking stall；
If so, using first parking stall as the target parking stall.
3. the method according to claim 1, wherein being selected receiving user in the parking stall of the default interface triggering
Before selecting instruction, the method also includes:
It receives and shows instruction in the parking stall of the default interface triggering；
It is shown and is instructed based on the parking stall, obtain the image information in the direction of search of parking stall including complete parking space；
By the image information display including complete parking space at the default interface.
4. the method according to claim 1, wherein being selected receiving user in the parking stall of the default interface triggering
Before selecting instruction, the method also includes:
It receives and shows instruction in the parking stall of the default interface triggering, show that instruction determines on the default boundary according to the parking stall
Target parking area in the display area in face；
In the default interface, the first display image in the target parking area is subjected to image position offsets, is obtained
Position the first display image adjusted；
The correlation for obtaining vehicle periphery is parked image information, and the second display image is obtained；
The second display image is shown in the target parking area, the second display image can be with the position tune
First after whole shows image mosaic at the image information of complete parking space.
5. method according to claim 1 to 4, which is characterized in that the method also includes:
Extract parking stall feature corresponding to the target parking stall；The parking stall feature includes parking stall position, parking stall type and/or vehicle
Position size；
It is stored the parking stall feature as the effective parking space information of history, target described in automatic identification when parking for next time
It parks parking stall.
6. according to the method described in claim 5, it is characterized in that, the method also includes:
Reception is parked request；
Detect whether that there are the effective parking space informations of matched history；
If so, it is based on the effective parking space information of the history, the corresponding target carriage of the effective parking space information of history described in automatic identification
Position.
7. method according to claim 1 to 4, which is characterized in that the method also includes:
The parking manoeuvres in the default interface triggering are received, the parking manoeuvres are used to indicate the vehicle on the default boundary
The parking path in face；
Identify effective operation trace in the parking manoeuvres；Effective operation trace, which is used to indicate, is dragged to the vehicle
It is overlapped with the target parking stall；
The control vehicle is moored into the target parking stall, further includes:
Based on effective operation trace, controls the vehicle and park according to effective operation trace.
8. a kind of automatic parking device characterized by comprising
First image collection module, for obtaining the image information of parking of vehicle periphery；
First image display, for by the image information display of parking at default interface；
Parking stall selection instruction receiving module, for receiving user in the parking stall selection instruction of the default interface triggering；
Parking stall determining module, for determining target parking stall according to the parking stall selection instruction；
It parks control module, moors for controlling the vehicle into the target parking stall.
9. a kind of automated parking system, which is characterized in that filled including environment acquisition system and automatic parking according to any one of claims 8
It sets, the environment acquisition system includes trailer-mounted radar for obtaining vehicle position information and for acquiring ambient condition information
Panoramic looking-around system.
10. a kind of automatic parking terminal, which is characterized in that including processor and memory,
At least one instruction, at least a Duan Chengxu, code set or instruction set are stored in the memory, described at least one refers to
It enables, an at least Duan Chengxu, the code set or instruction set are loaded by the processor and executed to realize such as claim
Any automatic parking method of 1-7.
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| CN201910437157.3A CN110239524A (en) | 2019-05-23 | 2019-05-23 | Automatic parking method, apparatus, system and terminal |
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| CN201910437157.3A CN110239524A (en) | 2019-05-23 | 2019-05-23 | Automatic parking method, apparatus, system and terminal |
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Application publication date: 20190917 |