CN110293961B - Automatic parking system and method and vehicle - Google Patents
Automatic parking system and method and vehicle Download PDFInfo
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- CN110293961B CN110293961B CN201810246525.1A CN201810246525A CN110293961B CN 110293961 B CN110293961 B CN 110293961B CN 201810246525 A CN201810246525 A CN 201810246525A CN 110293961 B CN110293961 B CN 110293961B
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000012545 processing Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 14
- 239000000126 substance Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
Abstract
The technical scheme of the invention provides an automatic parking system. The automatic parking system comprises a display unit and an automatic parking control unit; the display unit is used for displaying image information around the vehicle body, and a driver defines an intended parking area according to the image information displayed by the display unit; the automatic parking control unit is used for identifying the intentional parking area defined by the driver, and facilitates subsequent automatic parking operation. The automatic parking system provided by the embodiment of the invention can meet the parking requirement of a driver by the driver defining the intended parking area under the condition that no parking space sign line exists or the parking space sign line is fuzzy. The invention also provides an automatic parking method and a vehicle.
Description
Technical Field
The invention relates to the field of automatic parking, in particular to an automatic parking system, an automatic parking method and a vehicle.
Background
In the automatic parking scheme of the vehicle in the prior art, the parking space line is detected and identified based on the real-time image acquired by the camera, and automatic parking is completed through a parking system. In actual environment, the parking space line is influenced by illumination intensity, or the parking space line cannot be normally identified under the condition that the parking space line is stained, so that actual parking experience is influenced.
Disclosure of Invention
It is an object of the present invention to provide an automatic parking system that can improve the above-mentioned disadvantages of the actual parking experience to some extent.
In order to achieve the above object, an embodiment of the present invention provides an automatic parking system, including a display unit and an automatic parking control unit; wherein the content of the first and second substances,
the display unit is used for displaying image information around a vehicle body so that a driver can define an intended parking area according to the image information displayed by the display unit;
the automatic parking control unit is used for identifying the intentional parking area defined by the driver and controlling the vehicle to realize automatic parking according to the intentional parking area.
According to the automatic parking system disclosed by the embodiment of the invention, the driver autonomously defines an intentional parking area in the image information displayed by the display unit and identifies the intentional parking area through the automatic parking control unit, so that the automatic parking requirement of the driver under the condition of no parking line is met, and the defects in the actual parking experience can be improved to a certain extent.
The automatic parking control unit is also used for feeding back the identified intentional parking area to the driver and controlling the automatic parking of the vehicle according to the intentional parking area confirmed or adjusted by the driver.
The automatic parking control unit is further used for optimizing the intentional parking area, and the optimized intentional parking area meets the space size required by parking.
The automatic parking control unit is also used for carrying out obstacle identification on the intended parking area and reminding a driver of re-defining the intended parking area when an obstacle influencing parking is identified.
The automatic parking system further comprises a detection module used for detecting obstacles in the intentional parking area, wherein the detection module comprises a radar and/or ultrasonic detection unit.
The automatic parking system further comprises an input module, so that a driver can conveniently define the intended parking area, wherein the input module comprises at least one of a touch pad, a touch screen, a mouse, a gesture recognition module and a voice recognition module.
The automatic parking system further comprises at least one camera, and the at least one camera is used for collecting image information around the vehicle body.
The automatic parking system further comprises a video acquisition card, wherein the video acquisition card is used for processing the image information around the vehicle body and sending the processed image information to the display unit for displaying.
The automatic parking system further comprises a video acquisition card, wherein the video acquisition card is used for merging and processing the image information around the vehicle body into panoramic image information and sending the panoramic image information to the display unit for displaying.
The automatic parking control unit is further used for selecting at least one preferred parking area according to the image information and marking the at least one preferred parking area on the image information displayed by the display unit.
The invention also provides a vehicle comprising the automatic parking system.
The vehicle of the present invention should also have corresponding advantages because it includes the automatic parking system according to any one of the above-described embodiments.
The embodiment of the invention also provides an automatic parking method, which comprises the following steps:
displaying image information around a vehicle body so that a driver can define an intended parking area according to the displayed image information;
and identifying the intentional parking area defined by the driver, and controlling the vehicle to realize automatic parking according to the intentional parking area.
According to the automatic parking method provided by the embodiment of the invention, the driver defines the intentional parking area according to the displayed image information around the vehicle body, so that the vehicle is controlled to realize automatic parking according to the intentional parking area, and the automatic parking is convenient when no parking space marker line exists.
The automatic parking method further comprises the step of feeding back the identified intentional parking area to the driver, and controlling the vehicle to park automatically according to the intentional parking area confirmed or adjusted by the driver.
The automatic parking method further comprises the step of optimizing the intentional parking area, wherein the optimized intentional parking area meets the space size required by parking.
The automatic parking method further comprises the steps of carrying out obstacle identification on the parking-intention area, and reminding a driver of re-defining the parking-intention area when an obstacle influencing parking is identified.
The automatic parking method further comprises the step of collecting image information around the vehicle body.
The automatic parking method further comprises the steps of processing the image information, and sending and displaying the processed image information.
The automatic parking method further comprises the steps of merging and processing the image information into panoramic image information, and sending and displaying the panoramic image information.
The automatic parking method further comprises the steps of selecting at least one preferred parking area according to the image information and calibrating the at least one preferred parking area on the displayed image information.
Drawings
FIG. 1 is a schematic diagram of a practical application scenario of automatic parking;
FIG. 2 is a block diagram of an automatic parking system in accordance with an embodiment of the present invention;
FIG. 3 is a block diagram of a vehicle in accordance with an embodiment of the present invention.
Detailed Description
Embodiments of the invention are described in detail below with reference to the drawings, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Fig. 1 is a view of a practical application scenario of automatic parking. In practical application scenes, the automatic parking system identifies a lane line of a parking space through a camera, and operates a vehicle to park in the parking space after the driver confirms the lane line. However, in an environment with poor illumination, when the automatic parking system identifies the lane line of the parking space, an error may occur, which may affect the automatic parking experience of the driver. In addition, in life, in many cases, a parking space line of a parking space is peeled off or stained, or a parking space line is not defined, and at this time, the automatic parking system in the prior art cannot complete automatic parking. In response to these circumstances, the present invention proposes an automatic parking solution.
As shown in fig. 2, an automatic parking system according to an embodiment of the present invention includes a display unit and an automatic parking control unit,
the display unit is used for displaying image information around the vehicle body so that a driver can define an intended parking area according to the image information displayed by the display unit;
the automatic parking control unit is used for identifying an intended parking area defined by a driver and controlling the vehicle to realize automatic parking according to the intended parking area.
The display unit is used for displaying image information around the vehicle body. The display unit comprises a common display screen, a multimedia display unit, a display screen with touch control, image projection or holographic projection and the like.
The driver can select or plan the expected parking area according to the image information of the periphery of the vehicle body displayed by the display unit. The intended parking area in the embodiment of the present invention refers to an area selected by the driver or intended to be parked by the driver.
The automatic parking control unit identifies an intended parking area defined by a driver. Specifically, the automatic parking control unit positions an intended parking area defined by a driver and demarcates parking spaces in the intended parking area. And then controlling the vehicle through a running path planning algorithm, and finally parking the vehicle into the parking space.
Therefore, the driver can automatically define the intended parking area under the condition that no parking space mark line or mark line is dirty, so that automatic parking is realized, and the actual parking experience of the driver is improved.
The automatic parking control unit is also used for feeding back the identified intentional parking area to the driver and controlling the automatic parking of the vehicle according to the intentional parking area confirmed or adjusted by the driver.
Specifically, the automatic parking control unit is also used for feeding back the driver the planned parking area defined by the driver so as to ensure that the planned parking area is not misoperation of the driver. The driver can confirm or reject the parking-intention area fed back by the automatic parking control unit, the parking-intention area confirmed by the driver is determined as the parking area of the vehicle at this time by the automatic parking control unit, and the automatic parking control unit detects and plans the path.
Therefore, possible misoperation of the driver is avoided, and the vehicle is prevented from being parked in a parking area defined by the driver.
The automatic parking control unit is also used for optimizing the parking area planned by the driver.
The automatic parking control unit is also used for optimizing an intentional parking area, and the optimized intentional parking area meets the space size required by parking.
The parking space requirement cannot be met due to the fact that the parking area defined by the driver may be too large or too small or irregular in shape. Therefore, the automatic parking control unit is required to optimize the intended parking area defined by the driver, and form a rectangular parking space with flat terrain and size and position meeting the parking requirement, so that the parking experience is further improved.
Wherein, the automatic parking control unit also needs to detect the obstacle in the parking area defined by the driver,
the automatic parking control unit is also used for identifying obstacles in an intended parking area, reminding a driver of re-defining the intended parking area when the obstacles influencing parking are identified, and otherwise controlling the vehicle to realize automatic parking according to the intended parking area.
If an obstacle which can affect parking exists, the parking-intention area is rejected by the system, and the driver needs to re-demarcate the parking-intention area, so that the obstacle which can affect parking does not exist in the parking-intention area. The automatic parking control unit can identify and judge the obstacle in the intended parking area defined by the driver in the image information around the vehicle body, so that the obstacle detection before parking is completed.
In order to detect the obstacle before parking more efficiently, the detection module is further included in the embodiment of the invention, and the detection module comprises a radar and/or ultrasonic detection unit and is used for detecting the obstacle in the intended parking area defined by the driver, so that the obstacle detection in the intended parking area is completed, and the detection result is more efficient and accurate.
The invention further comprises an input module so that a driver can conveniently define an intended parking area, wherein the input module comprises at least one of a touch pad, a touch screen, a mouse, a gesture recognition module and a voice recognition module.
The driver can define the parking area by the displayed image information around the vehicle body, and the defining mode includes but is not limited to a touch pad, a mouse, a touch pen, a gesture recognition module, a display unit touch screen, a voice recognition module and the like.
The driver can perform gesture operation through the gesture recognition module to finish the definition of the intended parking area. The driver can also operate and demarcate the intended parking area through the touch screen of the display unit. The driver can also define or select the parking area through voice operation through the voice recognition module.
The system comprises at least one camera. At least one camera in the embodiment of the invention is used for collecting image information around the vehicle body and sending the collected image information to the automatic parking control unit.
Specifically, at least one camera may be a rotary camera, which rotates automatically and periodically, or may rotate under the control of a driver, or a rail is mounted on the top of the vehicle body, so as to move or rotate on the rail. Optionally, a plurality of cameras may also be installed in front and rear, left and right sides, and the like of the vehicle body, and the cameras are used for collecting image information around the vehicle body. Thus, the detection of the image information around the vehicle body is facilitated.
The embodiment of the invention also comprises a video acquisition card, wherein the video acquisition card is used for processing the image information around the vehicle body and sending the processed image information to the display unit for displaying.
Thereby, the display effect of the image around the vehicle body is optimized. Specifically, the image information collected by at least one camera is sent to a video capture card and a video capture card to process the collected image information, and the processed image information is sent to a display unit to be displayed. The video acquisition card can also combine the acquired image information into panoramic image information, so that the panoramic image information around the vehicle body is displayed on the display unit. The image processing includes decoding, image information distortion removal, image information restoration, image information correction, and inverse perspective transformation.
Optionally, the image information collected by the camera may also be sent to the automatic parking control unit, and the automatic parking control unit performs further processing on the image information, including decoding, image information distortion removal, image information restoration, image information rectification, inverse perspective transformation, and the like, and may also merge the image information to obtain panoramic image information. The processed image information is also sent to the display unit for display.
Preferably, in the automatic parking system according to the embodiment of the present invention, the automatic parking control unit may further perform analysis processing according to image information around the vehicle body, so as to select at least one preferred parking area, mark the selected preferred parking area on the image information, and transmit the marked image information to the display unit, so that the driver can select or himself/herself define an intended parking area. Therefore, the actual parking experience of the driver is further optimized, and the driver is more convenient to operate.
The embodiment of the invention further provides a vehicle, and as shown in fig. 3, the vehicle according to the embodiment of the invention comprises the automatic parking system in any one of the technical schemes.
Therefore, the driver can control the vehicle to realize the autonomous parking under the condition that no parking space mark line or mark line is dirty. Specifically, the automatic parking of the vehicle is realized by automatically defining the intentional parking area, and the actual parking experience of the driver is greatly improved.
The embodiment of the invention also provides an automatic parking method, which comprises the following steps:
displaying image information around the vehicle body so that a driver can define an intended parking area according to the displayed image information;
and identifying an intentional parking area defined by the driver, and controlling the vehicle to realize automatic parking according to the intentional parking area.
Specifically, image information around the vehicle body is displayed, a driver judges according to the displayed image information and defines an intended parking area, and subsequent automatic parking is performed through the intended parking area defined by the driver. Therefore, the automatic parking requirement of the driver under the condition that no parking space marking line exists or the parking space marking line is unclear is met. The defects of automatic parking in the prior art are effectively overcome, and the operation experience of a driver is improved.
The automatic parking method further comprises the step of feeding back the identified parking intention area to the driver, asking the driver to confirm, and further processing the parking intention area confirmed by the driver so as to finish automatic parking. Thus, possible misoperation or repentance of the driver is avoided, and the driver is given the opportunity to reselect the intended parking area.
The automatic parking method further comprises the step of optimizing an intended parking area defined by the driver, so that the space size required by parking is ensured to be met in the intended parking area.
Specifically, the shape of the intended parking area defined by the driver may be very irregular, may be a polygon, an ellipse, or the like, and may also be too large or too small in the range of the intended parking area, which is not suitable for actual parking. The automatic parking method can optimize the intended parking area defined by the driver, so that the actual parking requirement is met, the actual requirement for defining the intended parking area by the driver is greatly reduced, and the actual parking experience of the driver is further optimized.
The automatic parking method further comprises the steps of identifying obstacles in an intended parking area defined by the driver, reminding the driver to define the intended parking area again when the obstacles influencing parking are identified, and controlling the vehicle to realize automatic parking according to the intended parking area if the obstacles influencing parking are not identified.
Specifically, if an obstacle influencing parking is found, the parking area is rejected, and the driver needs to re-define the intended parking area, so that the parking area is ensured to have no obstacle influencing parking, and the parking requirement is met. Therefore, obstacles exist in the intended parking area defined by the driver, and the parking is threatened.
The automatic parking method further comprises the step of collecting image information around the vehicle body.
The method also comprises the steps of processing the image information around the vehicle body, and sending and displaying the processed image information.
Specifically, the collected image information needs to be further processed, the processing specifically includes decoding, image information distortion removal, image information restoration, image information rectification, inverse perspective transformation, and the like, and the image information can be merged into panoramic image information. The processed image information will be sent and used for display.
Preferably, the automatic parking method according to the embodiment of the present invention further includes selecting at least one preferred parking area according to the image information, and marking the at least one preferred parking area on the displayed image information.
Specifically, the judgment is carried out according to the image information around the vehicle body, and at least one recommended optimal parking area is automatically selected and recommended, and the recommended optimal parking area is calibrated in the displayed image information. The driver can select an intentional parking area from the recommended optimal parking area and can also define the intentional parking area by himself, so that the parking space before parking is selected, subsequent automatic parking operation is facilitated, and the automatic parking requirement of the driver when no parking space mark line exists or the parking space mark line is unclear is facilitated.
In the present invention, unless otherwise expressly stated or limited, the terms "connected" and "connected" are to be construed broadly, e.g., as meaning fixedly attached, detachably attached, or integrally formed; is a mechanical connection and is also an electrical connection; directly connected or indirectly connected through intervening media, and are the communication between two elements or the interaction of two elements. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention are understood according to specific situations.
Any process or method descriptions in flow charts should be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and those skilled in the art will make variations, modifications, substitutions and alterations herein without departing from the scope of the present invention.
Claims (15)
1. An automatic parking system is characterized by comprising a display unit and an automatic parking control unit; wherein the content of the first and second substances,
the display unit is used for displaying image information around a vehicle body so that a driver can define an intended parking area according to the image information displayed by the display unit;
the automatic parking control unit is used for identifying the intentional parking area defined by the driver, optimizing the intentional parking area, enabling the optimized intentional parking area to meet the space size required by parking, and controlling the vehicle to realize automatic parking according to the optimized intentional parking area;
the automatic parking control unit is further used for selecting at least one preferred parking area according to the image information and marking the at least one preferred parking area on the image information displayed by the display unit.
2. The automatic parking system according to claim 1, wherein the automatic parking control unit is further configured to feed back the identified intended parking area to the driver, and control the automatic parking of the vehicle according to the intended parking area confirmed or adjusted by the driver.
3. The automated parking system of claim 1 wherein the automated parking control unit is further configured to perform obstacle recognition for the intended parking area and to prompt the driver to re-plan the intended parking area when an obstacle affecting parking is recognized.
4. The automated parking system of claim 1 further comprising a detection module for obstacle detection of the intended parking area, the detection module comprising a radar and/or ultrasonic detection unit.
5. The automated parking system of claim 1 further comprising an input module to facilitate the driver in demarcating the intended parking area, the input module comprising at least one of a touch pad, a touch screen, a mouse, a gesture recognition module, and a voice recognition module.
6. The automatic parking system of claim 1 further comprising at least one camera for capturing image information about the vehicle body.
7. The automatic parking system according to claim 6, wherein the automatic parking system further comprises a video capture card for processing image information around the vehicle body and transmitting the processed image information to the display unit for display.
8. The automatic parking system according to claim 6, wherein said automatic parking system further comprises a video capture card for merging and processing image information around said vehicle body into panoramic image information and sending said panoramic image information to said display unit for display.
9. A vehicle characterized by comprising the automatic parking system according to any one of claims 1 to 8.
10. An automatic parking method, characterized by comprising the steps of:
displaying image information around a vehicle body so that a driver can define an intended parking area according to the displayed image information;
identifying the intentional parking area defined by the driver, optimizing the intentional parking area, wherein the optimized intentional parking area meets the space size required by parking, and controlling the vehicle to realize automatic parking according to the intentional parking area;
the method further comprises selecting at least one preferred parking area according to the image information and calibrating the at least one preferred parking area on the displayed image information.
11. The method for automatic parking according to claim 10, further comprising feeding back the recognized intended parking area to the driver and controlling the automatic parking of the vehicle according to the driver's confirmed or adjusted intended parking area.
12. The method for automated parking according to claim 10, further comprising performing obstacle recognition on the intended parking area and prompting a driver to re-define the intended parking area when an obstacle affecting parking is recognized.
13. The automatic parking method according to claim 10, further comprising acquiring image information of the surroundings of the vehicle body.
14. The automatic parking method according to claim 13, further comprising processing image information of the surroundings of the vehicle body, and transmitting and displaying the processed image information.
15. The automatic parking method according to claim 13, further comprising merging and processing image information around the vehicle body into panoramic image information, and transmitting and displaying the panoramic image information.
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| CN201810246525.1A CN110293961B (en) | 2018-03-23 | 2018-03-23 | Automatic parking system and method and vehicle |
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| CN201810246525.1A CN110293961B (en) | 2018-03-23 | 2018-03-23 | Automatic parking system and method and vehicle |
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| CN112158191A (en) * | 2020-06-24 | 2021-01-01 | 上汽通用五菱汽车股份有限公司 | Automatic parking method, system and readable storage medium |
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