CN110544386A - parking space identification method and device and storage medium - Google Patents

parking space identification method and device and storage medium Download PDF

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Publication number
CN110544386A
CN110544386A CN201910883491.1A CN201910883491A CN110544386A CN 110544386 A CN110544386 A CN 110544386A CN 201910883491 A CN201910883491 A CN 201910883491A CN 110544386 A CN110544386 A CN 110544386A
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CN
China
Prior art keywords
parking space
parking
automobile
environment
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910883491.1A
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Chinese (zh)
Inventor
张殿坤
杜金枝
王秀田
丁坤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhu Sambalion auto technology Co.,Ltd.
Chery Automobile Co Ltd
Original Assignee
Chery Automobile Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chery Automobile Co Ltd filed Critical Chery Automobile Co Ltd
Priority to CN201910883491.1A priority Critical patent/CN110544386A/en
Publication of CN110544386A publication Critical patent/CN110544386A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
    • G06K9/00812Recognition of available parking space
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/36Image preprocessing, i.e. processing the image information without deciding about the identity of the image
    • G06K9/46Extraction of features or characteristics of the image
    • G06K9/4604Detecting partial patterns, e.g. edges or contours, or configurations, e.g. loops, corners, strokes, intersections
    • G06K9/4633Detecting partial patterns, e.g. edges or contours, or configurations, e.g. loops, corners, strokes, intersections by mapping characteristic values of the pattern into a parameter space, e.g. Hough transformation
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/01Detecting movement of traffic to be counted or controlled
    • G08G1/04Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/14Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/168Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

the application discloses a parking space identification method, a parking space identification device and a storage medium, and belongs to the technical field of vehicle engineering. The method comprises the following steps: acquiring images of an environment in a preset range around an automobile by a plurality of cameras arranged on the automobile to obtain a plurality of image data; splicing the plurality of image data to obtain an environment image of the environment where the automobile is located; and carrying out Hough transform detection on the environment image so as to identify the parking space in the environment where the automobile is located. This application acquires through a plurality of cameras of car installation and obtains a plurality of image data to splice a plurality of image data, obtain environment image, because environment image can audio-visually reflect the car and locate position and the peripheral condition of car, expanded motorist's perception ability around the car, when discerning the parking stall based on environment image, improved parking stall discernment reliability and parking security, reduced the driving degree of difficulty.

Description

parking space identification method and device and storage medium
Technical Field
the application relates to the technical field of vehicle engineering, in particular to a parking space identification method and device and a storage medium.
background
with the continuous development of economy, the automobile holding capacity is continuously increased, and with the increase of the automobile holding capacity, the number of parking spaces cannot meet the increasing number of automobiles. At present, in order to find a parking space, a driver of an automobile can generally identify the parking space through an ultrasonic radar when parking the automobile.
however, when the parking space is identified by the ultrasonic radar, the obstacle with a short height or placed in a dead angle area of the working range of the ultrasonic radar may not be effectively identified, so that great potential safety hazards exist, the car is very easy to rub and touch in the parking and enclosing process, and the parking safety is reduced.
Disclosure of Invention
the application provides a parking space identification method, a parking space identification device and a storage medium, which can solve the problems of low reliability and low parking safety of parking space identification in the related technology. The technical scheme is as follows:
On the one hand, a parking space identification method is provided, and the method comprises the following steps:
Acquiring images of an environment in a preset range around an automobile by a plurality of cameras arranged on the automobile to obtain a plurality of image data;
splicing the plurality of image data to obtain an environment image of the environment where the automobile is located;
And carrying out Hough transform detection on the environment image so as to identify the parking space in the environment where the automobile is located.
In some embodiments, the performing Hough transform detection on the environment image to identify the parking space in the environment where the automobile is located includes:
Detecting right angles and straight lines in the environment image through Hough transform to obtain feature information of the right angles and the straight lines in the environment image;
and when the similarity between the characteristic information of the right angle and the straight line in the environment image and the preset parking space characteristic information is greater than or equal to a preset similarity threshold value, determining the position of the parking space at which the right angle and the straight line in the environment image are located.
in some embodiments, after the Hough transform detection is performed on the environment image, the method further includes:
when a parking space exists in the environment where the automobile is located, determining whether the parking space meets a parking condition;
and when the parking space accords with the parking condition, prompting the parking space information of the parking space which accords with the parking condition.
In some embodiments, the determining whether the parking space meets the parking condition includes:
detecting whether an obstacle exists in the parking space; when no obstacle exists in the parking space, determining that the parking space meets the parking condition; and/or the presence of a gas in the gas,
detecting whether the size of the parking space is larger than or equal to a preset size; and when the size of the parking space is larger than or equal to the preset size, determining that the parking space meets the parking condition.
in some embodiments, after the Hough transform detection is performed on the environment image, the method further includes:
when detecting that parking spaces meeting parking conditions exist in the environment where the automobile is located, determining a parking route of the automobile based on the current location of the automobile and the location of a target parking space, wherein the target parking space is any one of the parking spaces meeting the parking conditions;
and prompting the parking route to a driver of the automobile.
In another aspect, a parking space recognition device is provided, the device includes:
the acquisition module is used for acquiring images of the environment in a preset range around the automobile through a plurality of cameras arranged on the automobile to obtain a plurality of image data;
The splicing module is used for splicing the plurality of image data to obtain an environment image of the environment where the automobile is located;
And the detection module is used for carrying out Hough transform detection on the environment image so as to identify the parking space in the environment where the automobile is located.
In some embodiments, the detection module comprises:
The detection submodule is used for detecting the right angle and the straight line in the environment image through Hough transform so as to obtain the characteristic information of the right angle and the straight line in the environment image;
And the first determining submodule is used for determining the positions of the parking spaces at the positions where the right angle and the straight line are positioned in the environment image when the similarity between the characteristic information of the right angle and the straight line in the environment image and the preset parking space characteristic information is greater than or equal to a preset similarity threshold value.
In some embodiments, the apparatus further comprises:
the parking system comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining whether a parking space accords with a parking condition when the parking space exists in the environment where the automobile is located;
And the first prompting module is used for prompting the parking space information of the parking space meeting the parking condition when the parking space meets the parking condition.
in some embodiments, the first determining module comprises:
the second determining submodule is used for detecting whether an obstacle exists in the parking space; when no obstacle exists in the parking space, determining that the parking space meets the parking condition; and/or the presence of a gas in the gas,
The third determining submodule is used for detecting whether the size of the parking space is larger than or equal to a preset size; and when the size of the parking space is larger than or equal to the preset size, determining that the parking space meets the parking condition.
In some embodiments, the apparatus further comprises:
the second determining module is used for determining a parking route of the automobile based on the current position of the automobile and the position of a target parking space when detecting that the parking spaces meeting the parking conditions exist in the environment where the automobile is located, wherein the target parking space is any one of the parking spaces meeting the parking conditions;
And the second prompting module is used for prompting the parking route to a driver of the automobile.
in another aspect, an automobile is provided, where the automobile includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so as to implement the steps of the parking space identification method.
In another aspect, a computer-readable storage medium is provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the parking space identification method described above.
In another aspect, a computer program product containing instructions is provided, which when run on a computer causes the computer to perform the steps of the parking space identification method described above.
the technical scheme provided by the application can at least bring the following beneficial effects:
In this application, can acquire a plurality of image data through a plurality of cameras of car installation to splice a plurality of image data, obtain environment image. Because the environment image can intuitively reflect the position of the automobile and the surrounding situation of the automobile, the sensing capability of an automobile driver on the surrounding of the automobile is expanded, the parking space identification reliability and parking safety are improved and the driving difficulty is reduced when the parking space in the environment of the automobile is identified based on the environment image.
Drawings
in order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic illustration of an implementation environment provided by an embodiment of the present application;
fig. 2 is a flowchart of a parking space identification method provided in the embodiment of the present application;
Fig. 3 is a flowchart of another parking space identification method provided in the embodiment of the present application;
Fig. 4 is a schematic structural diagram of a parking space recognition device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a detection module according to an embodiment of the present disclosure;
Fig. 6 is a schematic structural diagram of another parking space recognition device provided in the embodiment of the present application;
Fig. 7 is a schematic structural diagram of a first determining module provided in an embodiment of the present application;
Fig. 8 is a schematic structural diagram of another parking space recognition device provided in the embodiment of the present application;
Fig. 9 is a schematic structural diagram of an automobile according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
before explaining the parking space identification method provided by the embodiment of the present application in detail, an application scenario and an implementation environment provided by the embodiment of the present application are introduced first.
First, an application scenario related to the embodiment of the present application is described.
as the amount of car reserves has risen, the number of parking spaces has become increasingly inadequate to meet the growing number of cars. Drivers are increasingly difficult to park, and at present, in order to find a parking space, the drivers of automobiles can generally identify the parking space through ultrasonic radar when parking. However, when the parking space is identified by the ultrasonic radar, the obstacle with a short height or placed in a dead angle area of the working range of the ultrasonic radar may not be effectively identified, so that great potential safety hazards exist, the car is very easy to rub and touch in the parking and enclosing process, and the parking safety is reduced.
Based on such a scene, the embodiment of the application provides a parking space identification method capable of achieving parking space identification accuracy and parking safety.
Next, an implementation environment related to the embodiments of the present application will be described.
Referring to FIG. 1, FIG. 1 is a schematic diagram illustrating an implementation environment in accordance with an example embodiment. The implementation environment comprises an automobile 101 and a plurality of cameras 102, wherein the automobile 101 can be in communication connection with the cameras 102. The communication connection may be a wired or wireless connection, which is not limited in this application.
Wherein the plurality of cameras 102 may be long wide angle high definition cameras. For convenience of explanation, in the drawings of the present application, 4 cameras 102 are taken as an example for explanation, and referring to fig. 1, the 4 cameras 102 can be installed at 4 positions on the front, rear, left and right of the body of an automobile 101.
It should be understood by those skilled in the art that the above-described vehicle 101 and camera 102 are merely exemplary, and other existing or future vehicles or cameras may be suitable for use in the present application and are intended to be included within the scope of the present application and are hereby incorporated by reference.
the following describes the parking space identification method provided in the embodiments of the present application in detail with reference to the accompanying drawings.
Fig. 2 is a flowchart of a parking space identification method provided in an embodiment of the present application, where the method is applied to an automobile. Referring to fig. 2, the method includes the following steps.
Step 201: a plurality of cameras installed on the automobile are used for collecting images of the environment in a preset range around the automobile, and a plurality of image data are obtained.
Step 202: and splicing the plurality of image data to obtain an environment image of the environment where the automobile is located.
step 203: and carrying out Hough transform detection on the environment image to identify the parking space in the environment where the automobile is located.
in this application, can acquire a plurality of image data through a plurality of cameras of car installation to splice a plurality of image data, obtain environment image. Because the environment image can intuitively reflect the position of the automobile and the surrounding situation of the automobile, the sensing capability of an automobile driver on the surrounding of the automobile is expanded, the parking space identification reliability and parking safety are improved and the driving difficulty is reduced when the parking space in the environment of the automobile is identified based on the environment image.
in some embodiments, performing Hough transform detection on the environment image to identify a parking space in an environment where the automobile is located includes:
detecting right angles and straight lines in the environment image through Hough transform to obtain feature information of the right angles and the straight lines in the environment image;
And when the similarity between the characteristic information of the right angle and the straight line in the environment image and the preset parking space characteristic information is greater than or equal to a preset similarity threshold value, determining the position of the parking space at which the right angle and the straight line in the environment image are located.
in some embodiments, after performing Hough transform detection on the environment image, the method further includes:
When detecting that a parking space exists in the environment where the automobile is located, determining whether the parking space meets a parking condition;
and when the parking space accords with the parking condition, prompting the parking space information of the parking space which accords with the parking condition.
In some embodiments, determining whether the parking space meets the parking condition includes:
Detecting whether an obstacle exists in the parking space; when no obstacle exists in the parking space, determining that the parking space meets the parking condition; and/or the presence of a gas in the gas,
Detecting whether the size of the parking space is larger than or equal to a preset size or not; and when the size of the parking space is larger than or equal to the preset size, determining that the parking space meets the parking condition.
In some embodiments, after performing Hough transform detection on the environment image, the method further includes:
When detecting that the parking spaces meeting the parking condition exist in the environment where the automobile is located, determining a parking route of the automobile based on the current location of the automobile and the location of a target parking space, wherein the target parking space is any one of the parking spaces meeting the parking condition;
And prompting the parking route for the driver of the automobile.
All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.
Fig. 3 is a flowchart of a parking space recognition method according to an embodiment of the present application, and referring to fig. 3, the method includes the following steps.
Step 301: the automobile acquires images of the environment in a preset range around the automobile through a plurality of installed cameras to obtain a plurality of image data.
As can be seen from fig. 1, a plurality of cameras may be installed on the vehicle, so that the vehicle may acquire images of an environment within a preset range around the vehicle through the installed plurality of cameras to obtain a plurality of image data. Since the plurality of cameras can be installed at positions where the automobile does not pass, image data captured by each of the plurality of cameras is different from each other. The video data may be video data or image data.
It should be noted that the camera usually has a shooting range, and therefore, the preset range around the automobile is usually smaller than or equal to the shooting range of the camera, for example, the preset range may be a range 10 meters away from the automobile, a range 5 meters away from the automobile, or the like.
As an example, the vehicle may perform image acquisition ON an environment within a preset range around the vehicle through a plurality of installed cameras when a parking space recognition triggering event is detected, where the triggering event may be when the vehicle receives an image acquisition instruction, and/or when the vehicle is detected to be in a parking state, and/or when the vehicle is detected to be in an ON gear. Of course, the automobile can also acquire images through a plurality of cameras in real time, or acquire images through the installed cameras at specified time intervals.
It should be noted that the specified time interval may be set in advance, for example, the specified time interval may be 10 minutes, 30 minutes, and so on.
since the driver of the automobile needs to recognize the parking space when the driver needs to park, at this time, the driver of the automobile can trigger the image acquisition instruction through the designated operation acting on the automobile button, and/or the automobile display screen, and/or the terminal communicating with the automobile, wherein the designated operation can be click operation, sliding operation, long-time pressing operation, voice operation, and the like.
Step 302: and the automobile splices the image data to obtain an environment image of the environment where the automobile is located.
by the above, different image data can be shot respectively to a plurality of cameras, and for the convenience of carrying out parking stall discernment, the car can splice a plurality of image data, obtains environment image.
It is worth explaining that the environment image is obtained by splicing a plurality of image data, and a plurality of influence data can reflect the surrounding situation of the automobile, so that the environment image can visually reflect the position of the automobile and the surrounding situation of the automobile, the perception capability of an automobile driver to the surrounding of the automobile is greatly expanded, the parking space identification reliability and parking safety are further improved, and the driving difficulty is reduced.
As an example, the automobile may stitch the plurality of image data by a seamless stitching technique to obtain a panoramic aerial view (environment image) within a preset range around the automobile.
As an example, before the automobile splices the plurality of image data, the automobile may perform preprocessing on the plurality of influence data, for example, the automobile may perform filtering, denoising, binarization and other processing on the plurality of image data.
It should be noted that the automobile may include a camera module, and the camera module may be configured to splice a plurality of image data, and send the environment image to a processor in the automobile through a USB interface after obtaining the environment image.
step 303: the automobile is subjected to Hough transform detection on the environment image so as to identify the parking space in the environment where the automobile is located.
as an example, the operation of detecting the Hough transform of the image of the environment image by the automobile to identify the parking space in the environment where the automobile is located may be: detecting right angles and straight lines in the environment image through Hough transform to obtain characteristic information of the right angles and the straight lines in the environment image; and when the similarity between the characteristic information of the right angle and the straight line in the environment image and the preset parking space characteristic information is greater than or equal to a preset similarity threshold value, determining the position of the parking space where the right angle and the straight line in the environment image are located.
because the parking stall of car usually has straight line and right angle to constitute, consequently, the car can pass through Hough transform detection to right angle and straight line in the environment image, obtains the characteristic information of right angle and straight line in the environment image. And because the straight lines and the right angles of different objects have different characteristic information, the automobile can compare the characteristic information of the right angles and the straight lines obtained from the environment image with the preset parking space characteristic information, and when the similarity between the characteristic information of the right angles and the straight lines in the environment image and the preset parking space characteristic information is larger than or equal to a preset similarity threshold value, the positions of the parking spaces where the right angles and the straight lines in the environment image are located are determined. And when the similarity between the characteristic information of the right angle and the straight line in the environment image and the preset parking space characteristic information is smaller than a preset similarity threshold value, determining that the parking space does not exist in the environment image.
it should be noted that the preset parking space feature information may be parking space feature information of automobiles with various sizes, and may also be parking space feature information of a parking space satisfying the current parking of the automobile. The preset similarity threshold may be set in advance according to requirements, for example, the preset similarity threshold may be 95%, 90%, 80%, and so on.
it should be further noted that, for the operation of detecting the right angle and the straight line in the environmental image through hough transform, reference may be made to related technologies, which are not described in detail in this embodiment of the present application.
In some embodiments, since the automobile may not recognize the existence of the parking space from the environment image, at this time, the automobile may prompt the driver of the automobile that there is no parking space in the environment where the automobile is currently located.
It should be noted that the automobile may prompt that no parking space exists in the current environment of the automobile in a manner of playing the first prompt information and/or displaying the first prompt information, and the first prompt information may include information such as the current parking space identification range.
in some embodiments, since the automobile may recognize the existence of the parking space from the environment image, but the parking space recognized by the automobile may not be suitable for parking the automobile, in order to ensure that the automobile can smoothly park, after the automobile performs Hough transform detection on the environment image, it may be determined whether the parking space is suitable for parking the automobile.
As an example, when a parking space is detected in the environment where the automobile is located, the automobile may determine whether the parking space meets the parking condition; and when the parking space accords with the parking condition, prompting the parking space information of the parking space which accords with the parking condition. And when the parking space does not accord with the parking condition, prompting that the parking space in the current environment of the automobile cannot be used for parking.
It should be noted that the parking condition is used to measure whether the parking space is suitable for the automobile to park, and the parking condition may be set in advance, for example, the parking condition may be that the size of the parking space is greater than or equal to the size of the automobile, and/or that no obstacle exists in the parking space.
As an example, when the car prompts the parking space information of the parking space meeting the parking condition, the car can prompt in a way of playing the parking space information by voice and/or in a way of displaying the parking space information. The parking space information may include information such as the position of the parking space, the size of the parking space, and the like.
similarly, when the automobile prompts that the parking space in the current environment cannot be parked, the automobile can also prompt that the parking space in the current environment cannot be parked in a mode of playing the second prompt information and/or a mode of displaying the second prompt information.
Since a parking space inappropriate for parking may be a parking space that is too small or an obstacle in the parking space, the operation of the automobile to determine whether the parking space meets the parking condition may be, as an example: detecting whether an obstacle exists in the parking space; when no barrier exists in the parking space, determining that the parking space meets the parking condition; and/or detecting whether the size of the parking space is larger than or equal to a preset size; and when the size of the parking space is larger than or equal to the preset size, determining that the parking space meets the parking condition. And when the obstacle exists in the parking space or the size of the parking space is smaller than the preset size, determining that the parking space does not accord with the parking condition.
It should be noted that the preset size may be set in advance, for example, the preset size may be 4 meters on the long side, 1.7 meters on the wide side, and so on.
as an example, the automobile may perform obstacle recognition by performing image detection on an environment image, or may perform obstacle recognition by using an ultrasonic radar, but may perform obstacle recognition in other manners.
Step 304: the automobile plans a parking route based on the identified parking spaces.
As can be seen from the above, through the operations of the steps 301 and 303, the automobile may perform parking space identification, and may identify a parking space suitable for parking the automobile, at this time, in order that the driver of the automobile can smoothly park the automobile, the automobile may plan a parking route based on the identified parking space, and prompt the driver of the automobile with the parking route. That is, when the automobile detects that there are parking spaces meeting the parking condition in the environment where the automobile is located, the parking route of the automobile can be determined based on the current location of the automobile and the location of the target parking space, where the target parking space is any one of the parking spaces meeting the parking condition; and prompting the parking route for the driver of the automobile.
it should be noted that, because there may be a plurality of parking spaces suitable for the vehicle to park in the current location of the vehicle, the vehicle may determine any one of the parking spaces as the target parking space, or determine a parking space closest to the vehicle among the parking spaces as the target parking space.
as an example, after the automobile determines the parking route, the parking route may be prompted to the driver of the automobile in a voice prompting manner or a manner of displaying the parking route, so that the driver of the automobile can manually park according to the parking route after knowing the parking route.
As an example, when the automobile determines the parking route, the automobile may also automatically perform the parking operation according to the parking route. When the automobile is parked automatically, the driver can be prompted to automatically park in a voice playing mode or a display mode.
in the embodiment of the application, the automobile can acquire a plurality of image data through a plurality of installed cameras, and the plurality of image data are spliced to obtain the environment image. Because the environment image can intuitively reflect the position of the automobile and the surrounding situation of the automobile, the sensing capability of an automobile driver on the surrounding of the automobile is expanded, and the parking space identification reliability and parking safety are improved when the parking space in the environment of the automobile is identified based on the environment image. Meanwhile, the automobile can determine whether the parking space is suitable for parking of the automobile or not after the parking space is identified, and a parking route is planned for the automobile when the parking space is suitable for parking, so that the driving difficulty of the automobile is reduced, and the occurrence of accidents such as scratching, even collision, rolling and the like is reduced.
After explaining the parking space identification method provided by the embodiment of the present application, next, a parking space identification device provided by the embodiment of the present application is introduced.
Fig. 4 is a schematic structural diagram of a parking space recognition device provided in an embodiment of the present application, where the parking space recognition device may be implemented by software, hardware, or a combination of the software and the hardware to be a part or all of an automobile, and the automobile may be the automobile shown in fig. 1. Referring to fig. 4, the apparatus includes: an acquisition module 401, a stitching module 402 and a detection module 403.
the system comprises an acquisition module 401, a processing module and a display module, wherein the acquisition module 401 is used for acquiring images of an environment in a preset range around an automobile through a plurality of cameras installed on the automobile to obtain a plurality of image data;
A stitching module 402, configured to stitch the plurality of image data to obtain an environment image of an environment where the automobile is located;
the detection module 403 is configured to perform Hough transform detection on the environment image to identify a parking space in the environment where the automobile is located.
in some embodiments, referring to fig. 5, the detection module 403 comprises:
the detection submodule 4031 is configured to detect a right angle and a straight line in the environment image through hough transform, so as to obtain feature information of the right angle and the straight line in the environment image;
the first determining submodule 4032 is configured to determine the positions of the parking spaces where the right angles and the straight lines in the environment image are located when the similarity between the feature information of the right angles and the straight lines in the environment image and the preset parking space feature information is greater than or equal to a preset similarity threshold.
In some embodiments, referring to fig. 6, the apparatus further comprises:
A first determining module 404, configured to determine whether a parking space meets a parking condition when the parking space is detected in an environment where the automobile is located;
and a first prompting module 405, configured to prompt parking space information of a parking space meeting the parking condition when the parking space meets the parking condition.
in some embodiments, referring to fig. 7, the first determining module 404 includes:
A second determining submodule 4041, configured to detect whether an obstacle exists in the parking space; when no obstacle exists in the parking space, determining that the parking space meets the parking condition; and/or the presence of a gas in the gas,
A third determining submodule 4042, configured to detect whether the size of the parking space is greater than or equal to a preset size; and when the size of the parking space is larger than or equal to the preset size, determining that the parking space meets the parking condition.
in some embodiments, referring to fig. 8, the apparatus further comprises:
A second determining module 406, configured to determine, when it is detected that there are parking spaces that meet the parking condition in an environment where the automobile is located, a parking route of the automobile based on a current location of the automobile and a location of a target parking space, where the target parking space is any one of the parking spaces that meet the parking condition;
And a second prompting module 407, configured to prompt the driver of the automobile about the parking route.
In summary, in the embodiment of the present application, the automobile can acquire a plurality of image data through a plurality of installed cameras, and splice the plurality of image data to obtain the environment image. Because the environment image can intuitively reflect the position of the automobile and the surrounding situation of the automobile, the sensing capability of an automobile driver on the surrounding of the automobile is expanded, and the parking space identification reliability and parking safety are improved when the parking space in the environment of the automobile is identified based on the environment image. Meanwhile, the automobile can determine whether the parking space is suitable for parking of the automobile or not after the parking space is identified, and a parking route is planned for the automobile when the parking space is suitable for parking, so that the driving difficulty of the automobile is reduced, and the occurrence of accidents such as scratching, even collision, rolling and the like is reduced.
It should be noted that: the parking space recognition device provided by the above embodiment is exemplified only by the division of the above functional modules when recognizing a parking space, and in practical application, the above function allocation can be completed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the above described functions. In addition, the parking space recognition device and the parking space recognition method provided by the embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment and is not repeated herein.
fig. 9 is a block diagram of an automobile 900 according to an embodiment of the present application. Generally, the automobile 900 includes: a processor 901 and a memory 902.
Processor 901 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so forth. The processor 901 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 901 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 901 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 901 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.
memory 902 may include one or more computer-readable storage media, which may be non-transitory. The memory 902 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer readable storage medium in the memory 902 is used for storing at least one instruction, which is used for being executed by the processor 901 to implement the parking space identification method provided by the method embodiment in the present application.
In some embodiments, the automobile 900 may further optionally include: a peripheral interface 903 and at least one peripheral. The processor 901, memory 902, and peripheral interface 903 may be connected by buses or signal lines. Various peripheral devices may be connected to the peripheral interface 903 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 904, a touch display screen 905, a camera 906, an audio circuit 907, a positioning component 908, and a power supply 909.
The peripheral interface 903 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 901 and the memory 902. In some embodiments, the processor 901, memory 902, and peripheral interface 903 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 901, the memory 902 and the peripheral interface 903 may be implemented on a separate chip or circuit board, which is not limited by this embodiment.
The Radio Frequency circuit 904 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 904 communicates with communication networks and other communication devices via electromagnetic signals. The radio frequency circuit 904 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 904 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuit 904 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 904 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 905 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 905 is a touch display screen, the display screen 905 also has the ability to capture touch signals on or over the surface of the display screen 905. The touch signal may be input to the processor 901 as a control signal for processing. At this point, the display 905 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 905 may be one, providing the front panel of the automobile 900; in other embodiments, the number of the display panels 905 may be at least two, and each of the display panels may be disposed on a different surface of the automobile 900 or may be of a foldable design; in still other embodiments, the display 905 may be a flexible display, disposed on a curved surface or on a folded surface of the automobile 900. Even more, the display screen 905 may be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display panel 905 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and other materials.
the camera assembly 906 is used to capture images or video. Optionally, the camera assembly 906 may be any one of a main camera, a depth-of-field camera, a wide-angle camera, and a telephoto camera, so as to implement a background blurring function by fusing the main camera and the depth-of-field camera, implement a panoramic shooting function by fusing the main camera and the wide-angle camera, implement a VR (Virtual Reality) shooting function, or implement other fusion shooting functions. In some embodiments, camera assembly 906 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.
Audio circuit 907 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 901 for processing, or inputting the electric signals to the radio frequency circuit 904 for realizing voice communication. For stereo capture or noise reduction purposes, the microphones may be multiple and located in different locations of the automobile 900. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 901 or the radio frequency circuit 904 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuit 907 may also include a headphone jack.
The Location component 908 is used to locate the current geographic Location of the automobile 900 to implement navigation or LBS (Location Based Service). The Positioning component 908 may be a Positioning component based on the Global Positioning System (GPS) in the united states, the beidou System in china, or the galileo System in russia.
The power supply 909 is used to supply power to various components in the automobile 900. The power source 909 may be alternating current, direct current, disposable or rechargeable. When the power source 909 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.
in some embodiments, the automobile 900 also includes one or more sensors 910.
Those skilled in the art will appreciate that the configuration shown in fig. 9 is not intended to be limiting of the vehicle 900 and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components may be used.
In some embodiments, a computer-readable storage medium is further provided, in which a computer program is stored, and when executed by a processor, the computer program implements the steps of the parking space identification method in the above embodiments. For example, the computer readable storage medium may be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
It is noted that the computer-readable storage medium referred to herein may be a non-volatile storage medium, in other words, a non-transitory storage medium.
It should be understood that all or part of the steps for implementing the above embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.
that is, in some embodiments, a computer program product containing instructions is also provided, which when run on a computer causes the computer to perform the steps of the parking space identification method described above.
The above-mentioned embodiments are provided not to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A parking space identification method is characterized by comprising the following steps:
Acquiring images of an environment in a preset range around an automobile by a plurality of cameras arranged on the automobile to obtain a plurality of image data;
Splicing the plurality of image data to obtain an environment image of the environment where the automobile is located;
And carrying out Hough transform detection on the environment image so as to identify the parking space in the environment where the automobile is located.
2. The method of claim 1, wherein the performing Hough transform detection on the environment image to identify the parking space in the environment of the automobile comprises:
Detecting right angles and straight lines in the environment image through Hough transform to obtain feature information of the right angles and the straight lines in the environment image;
And when the similarity between the characteristic information of the right angle and the straight line in the environment image and the preset parking space characteristic information is greater than or equal to a preset similarity threshold value, determining the position of the parking space at which the right angle and the straight line in the environment image are located.
3. The method of claim 1, wherein after the detecting the Hough transform on the environmental image, further comprising:
when a parking space exists in the environment where the automobile is located, determining whether the parking space meets a parking condition;
And when the parking space accords with the parking condition, prompting the parking space information of the parking space which accords with the parking condition.
4. The method of claim 3, wherein said determining whether said parking space meets parking conditions comprises:
Detecting whether an obstacle exists in the parking space; when no obstacle exists in the parking space, determining that the parking space meets the parking condition; and/or the presence of a gas in the gas,
Detecting whether the size of the parking space is larger than or equal to a preset size; and when the size of the parking space is larger than or equal to the preset size, determining that the parking space meets the parking condition.
5. the method of any one of claims 1 to 4, wherein after the Hough transform detection on the environment image, the method further comprises:
When detecting that parking spaces meeting parking conditions exist in the environment where the automobile is located, determining a parking route of the automobile based on the current location of the automobile and the location of a target parking space, wherein the target parking space is any one of the parking spaces meeting the parking conditions;
And prompting the parking route to a driver of the automobile.
6. The utility model provides a parking stall recognition device which characterized in that, the device includes:
The acquisition module is used for acquiring images of the environment in a preset range around the automobile through a plurality of cameras arranged on the automobile to obtain a plurality of image data;
The splicing module is used for splicing the plurality of image data to obtain an environment image of the environment where the automobile is located;
And the detection module is used for carrying out Hough transform detection on the environment image so as to identify the parking space in the environment where the automobile is located.
7. The apparatus of claim 6, wherein the detection module comprises:
the detection submodule is used for detecting the right angle and the straight line in the environment image through Hough transform so as to obtain the characteristic information of the right angle and the straight line in the environment image;
and the first determining submodule is used for determining the positions of the parking spaces at the positions where the right angle and the straight line are positioned in the environment image when the similarity between the characteristic information of the right angle and the straight line in the environment image and the preset parking space characteristic information is greater than or equal to a preset similarity threshold value.
8. The apparatus of claim 6, wherein the apparatus further comprises:
The parking system comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining whether a parking space accords with a parking condition when the parking space exists in the environment where the automobile is located;
And the first prompting module is used for prompting the parking space information of the parking space meeting the parking condition when the parking space meets the parking condition.
9. The apparatus of claim 8, wherein the first determining module comprises:
the second determining submodule is used for detecting whether an obstacle exists in the parking space; when no obstacle exists in the parking space, determining that the parking space meets the parking condition; and/or the presence of a gas in the gas,
the third determining submodule is used for detecting whether the size of the parking space is larger than or equal to a preset size; and when the size of the parking space is larger than or equal to the preset size, determining that the parking space meets the parking condition.
10. a computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
CN201910883491.1A 2019-09-18 2019-09-18 parking space identification method and device and storage medium Pending CN110544386A (en)

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