CN110544391A - Vehicle-mounted system, parking lot management system, auxiliary parking system and method - Google Patents
Vehicle-mounted system, parking lot management system, auxiliary parking system and method Download PDFInfo
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- CN110544391A CN110544391A CN201910863057.7A CN201910863057A CN110544391A CN 110544391 A CN110544391 A CN 110544391A CN 201910863057 A CN201910863057 A CN 201910863057A CN 110544391 A CN110544391 A CN 110544391A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
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Abstract
The invention discloses a vehicle-mounted system, a parking lot management system, an auxiliary parking system and a method, relates to the technical field of intelligent control, and achieves the purposes of assisting a vehicle in parking, reasonably utilizing a parking space and relieving the condition of insufficient parking spaces. The main technical scheme of the invention is as follows: the first image acquisition device is used for acquiring an image of at least one target vehicle; the parking area generating module is used for identifying the information of the target vehicle according to the image of the target vehicle and generating a parking area in a parking available area according to the information of the target vehicle, wherein the parking area is used for parking the vehicle to be parked, and the parking area is away from the target vehicle by a first preset distance; the display device is used for displaying a navigation route, the parking area and the running track of the vehicle to be parked; wherein the target vehicle is a vehicle adjacent to the parkable region.
Description
Technical Field
the invention relates to the technical field of intelligent control, in particular to a vehicle-mounted system, a parking lot management system, an auxiliary parking system and an auxiliary parking method.
background
With the development of national economy and the improvement of living standard of people, automobiles are more common transportation tools for people, and with the increasing of private cars, the contradiction between the number of parking spaces in a parking lot and the number of vehicles is more and more severe, which directly causes the phenomenon of 'difficult parking'.
In order to avoid the phenomenon of 'difficult parking', a large number of parking lots are built, but parking spaces of the existing parking lots are well-marked fixed areas, people park according to the marked parking spaces, and vehicles are small sometimes and can cause the waste of the parking spaces inevitably. Therefore, how to reasonably utilize the parking space and relieve the situation of insufficient parking space is called as the problem to be solved urgently.
Disclosure of Invention
In view of this, embodiments of the present invention provide a vehicle-mounted system, a parking lot management system, an auxiliary parking system and a method thereof, which mainly aim to assist a vehicle in parking, reasonably utilize a parking space, and alleviate a situation of insufficient parking space.
In order to achieve the purpose, the invention mainly provides the following technical scheme:
in one aspect, an embodiment of the present invention provides a vehicle-mounted system, where the vehicle-mounted system includes:
The first image acquisition device is used for acquiring an image of at least one target vehicle;
The parking area generating module is used for identifying the information of the target vehicle according to the image of the target vehicle, generating a parking area in a parking available area according to the information of the target vehicle and the information of the vehicle to be parked, and parking the vehicle to be parked, wherein the parking area and the target vehicle are away from each other by a first preset distance;
the display device is used for displaying a navigation route, the parking area and the running track of the vehicle to be parked;
Wherein the target vehicle is a vehicle adjacent to the parkable region.
optionally, the target vehicle and the parking area are arranged side by side in a first direction, the parking area includes a first edge adjacent to the parking area, and the first preset distance x between the first edge and the target vehicle is: x e (x1, x 2);
x1 ═ max (x pending, x target);
x＝x+Δx；
the method comprises the following steps that x to be stopped is the displacement of an opened door of a vehicle to be parked in a first direction, x target is the displacement of the opened door of the target vehicle in the first direction, delta x is a preset safety distance, x1 is the first safety distance, and x2 is the second safety distance.
Optionally, the method further includes: the alarm module is used for sending out alarm information when the distance between the vehicle to be parked and the target vehicle is smaller than a preset safety distance;
the preset safety distance is the first safety distance, or the preset safety distance is the first preset distance.
Optionally, the method further includes: and the judging unit is used for judging whether the accommodating space of the parking area is not less than a second preset distance according to the vehicle to be parked and the target vehicle.
Optionally, the target vehicle and the parking available area are arranged side by side in a first direction, the target vehicle includes a first target vehicle and a second target vehicle respectively arranged on two sides of the parking available area, and the second preset distance X is: x ═ max (X pending, X target 1) + max (X pending, X target 2) + w pending;
wherein x to be stopped is the displacement of the opened door of the vehicle to be parked in the first direction, x target 1 is the displacement of the opened door of the first target vehicle in the first direction, x target 2 is the displacement of the opened door of the second target vehicle in the first direction, and w to be stopped is the width of the vehicle body of the vehicle to be parked in the first direction.
on the other hand, an embodiment of the present invention further provides a parking lot management system, where the parking lot management system includes:
The using state detection module is used for acquiring the residual space information of the parking lot;
the second image acquisition device is used for acquiring an image of the vehicle to be parked;
The area selection module is used for identifying the information of the vehicle to be parked according to the image of the vehicle to be parked and selecting a parking available area according to the residual space information and the information of the vehicle to be parked;
The navigation route generating module is used for generating a navigation route according to the position information of the parking area and the vehicle to be parked;
The sending module is used for sending the navigation route to a network terminal corresponding to the vehicle to be parked;
wherein the remaining space information includes information on the remaining parking regions, accommodating distances thereof, and positions thereof.
optionally, the accommodating interval of the parking regions is not less than a second preset distance.
optionally, the region selection module selects the parking region as a region adjacent to at least one side of which a target vehicle is not disposed.
On the other hand, the embodiment of the invention also provides an auxiliary parking system, which comprises:
the parking lot management system is used for assisting a vehicle to be parked to run to a corresponding parking area;
and the vehicle-mounted system is used for assisting the vehicle to be parked to drive into the parking area corresponding to the parking area.
On the other hand, the embodiment of the invention also provides an auxiliary parking method, which comprises the following steps:
Acquiring the residual space information of the parking lot;
Selecting a parking available area according to the information of the vehicle to be parked;
generating a navigation route according to the position information of the parking area and the vehicle to be parked and sending the navigation route to the network terminal of the vehicle to be parked;
The vehicle to be parked drives to a parking available area according to the navigation route, and an image of a target vehicle is acquired;
Identifying information of the target vehicle according to the image of the target vehicle, generating a parking area with a first preset distance away from the target vehicle, and displaying the parking area on a display device;
and the vehicle to be parked runs into the parking area corresponding to the parking area.
according to the vehicle-mounted system, the parking lot management system, the auxiliary parking system and the method, the vehicle to be parked is assisted to run to the corresponding parking area through the parking lot management system, so that the time for a driver to search and select the parking area can be saved, and the parking efficiency is improved; and the vehicle-mounted system of the vehicle to be parked can assist the vehicle to be parked to drive into the parking area of the parking area, so that the interference between the vehicle to be parked and an adjacent vehicle can be avoided, and the space waste of the parking place can be avoided. The auxiliary parking system and the method which are jointly formed by the parking lot management system and the vehicle-mounted system can be suitable for a parking lot without defining a parking line between adjacent vehicles, can also cancel the operation of defining the parking line between the adjacent vehicles in advance in the current parking lot, can assist a driver to efficiently and reliably drive a vehicle to be parked into a parking area without interfering with the adjacent vehicles, and can achieve the effects of reasonably utilizing the space of the parking area and relieving the insufficient parking space.
Drawings
FIG. 1 is a schematic illustration of a parking area of an onboard system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an onboard system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another in-vehicle system provided by an embodiment of the invention;
FIG. 4 is a schematic diagram of another in-vehicle system provided by an embodiment of the invention;
fig. 5 is a schematic diagram of a parking lot management system according to an embodiment of the present invention;
fig. 6 is a flowchart illustrating a parking assistance method according to an embodiment of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects of the vehicle-mounted system, the parking lot management system, the parking assistant system and the method according to the present invention will be provided with reference to the accompanying drawings and the preferred embodiments.
Example one
As shown in fig. 1 to 4, a vehicle-mounted system according to a first embodiment of the present invention includes:
A first image acquisition device for acquiring an image of at least one target vehicle 1; the parking area generating module is used for identifying information of the target vehicle 1 according to the image of the target vehicle 1 and generating a parking area 4 in the parking area 2 according to the information of the target vehicle 1 and the vehicle 3 to be parked, wherein the parking area 4 is a first preset distance away from the target vehicle 1; a display device for displaying the navigation route, the parking area 4 and the running track of the vehicle 3 to be parked; wherein the target vehicle 1 is a vehicle adjacent to the parkable area 2.
Specifically, the vehicle-mounted system provided in this embodiment may be used for parking assistance, and may be applicable to a parking lot or a parking lot where vehicles without defining parking lines between adjacent vehicles may park, that is, the vehicle-mounted system provided in this embodiment may assist a driver to park vehicles in order and without interfering with each other in a parking lot when a parking line between adjacent vehicles is not defined, so that when the parking lot is set, the parking line between adjacent vehicles may be cancelled, and only the total parking line 5 defining the whole area is defined, for example: as shown in fig. 2, the parking lot is suitable for a parking mode in which vehicles are parked in sequence side by side (along a first direction), and the parking lot can only define the total parking lines at the front side and the rear side of each row of vehicles and can limit the parking ranges at the front side and the rear side of the whole row of vehicles; as shown in fig. 3, or a parking lot suitable for a parking mode in which vehicles are sequentially parked back and forth (in a vertical direction along the first direction), the parking lot may define only the general parking lines on the left and right sides of each row of vehicles, and may limit the parking ranges on the left and right sides of the entire row of vehicles. The in-vehicle system may be adapted to a parking mode in which the vehicles are parked in series side by side (in the first direction), and in which the vehicles are parked in series front and rear (in the vertical direction to the first direction).
when the vehicle parking is carried out by assisting the driver with the vehicle-mounted system, firstly, the driver drives the vehicle 3 to be parked to the vicinity of the parking area 2, as shown in fig. 1, the parking area 2 can be a free parking area in a designated parking area in the parking area and can be suitable for a parking area of a vehicle, if the parking area is suitable for a parking area without a parking line between adjacent parking spaces, in order to reasonably utilize the parking area, the vehicle 3 to be parked should park the vehicle in sequence, and the space of the parking area can be avoided from being wasted, the parking area 2 can be an area with vehicles parked on two adjacent sides, or can also be an area with vehicles parked on one side, or when the parking area has no vehicle to park, the vehicle to be parked can not exist on two sides, and the driver can directly drive the vehicle to be parked into the area. In the case where a vehicle is parked at a parking place, preferably, as shown in fig. 1, 2, and 3, a driver may preferentially select a region where a vehicle is parked on one side as the parkable region 2.
the first image acquisition device is used for acquiring images of a target vehicle 1, and can be configured into a camera, the target vehicle 1 is parked at one side or two sides adjacent to the parking area 2, and the first image acquisition device can be simultaneously arranged at the head and tail of the vehicle 3 to be parked in order to be suitable for different parking modes, can acquire images of the target vehicle 1 positioned at the front side of the vehicle 3 to be parked, can acquire images of the target vehicle 1 positioned at the rear side of the vehicle 3 to be parked, and can improve the practicability of the device.
the parking area generation module is configured to generate a parking area 4 within the parkable area 2, the parking area 4 being a virtual area as a reference when the vehicle to be parked 3 is parked, and the parking area 4 may be configured as an area defined between a virtual first parking line 401 and a virtual second parking line 402, as shown in fig. 2, when the parking lot is parked with the vehicles parked in a side-by-side sequential manner, the parking area 4 may be an area between a first stop line 401 and a second stop line 402 generated at left and right sides within the parkable area 2, and a distance between the first stop line 401 and the second stop line 402 may be determined according to a width of a body of the vehicle 3 to be parked, i.e. the distance between the first stop line 401 and the second stop line 402 may be equal to the body width of the vehicle 3 to be parked, or may also be slightly larger than the width of the body of the vehicle 3 to be parked, and the first stop line 401 and the second stop line 402 may be perpendicular to the overall stop line 5 of the parking lot described above; as shown in fig. 3, or when the parking manner of the vehicle in the parking lot is sequential parking, the parking area may be an area between a first parking line 401 and a second parking line 402 generated at front and rear sides in the parking available area 2, and a distance between the first parking line 401 and the second parking line 402 may be determined according to a length of the body of the vehicle to be parked, that is, the distance between the first parking line 401 and the second parking line 402 may be equal to the length of the body of the vehicle 3 to be parked, or may be slightly greater than the length of the body of the vehicle 3 to be parked; or the parking area 4 may be configured in other forms as well, intended as a reference when the vehicle 3 to be parked is parked, and is not particularly limited herein. The basis of the parking area 4 generated by the parking area generation module is the vehicle type of the vehicle 3 to be parked and the target vehicle 1, the parking area generation module can identify the vehicle type of the target vehicle 1 so as to judge the space required by the target vehicle 1 for opening the door (applicable to the condition of parking in parallel and in sequence), or judge the space required by the target vehicle 1 for exiting the parking area 4 (applicable to the condition of parking in sequence from front to back), and when the vehicle 3 to be parked is parked in the parking area 4 corresponding to the parking area 2, the distance between the vehicle 3 to be parked and the target vehicle 1 does not influence the opening of the door or the exit of the vehicle from the parking area, and in order to meet the above conditions, the parking area generation module should ensure that the distance between the parking area 4 and the target vehicle 1 is a first preset distance when the parking area 4 is generated.
The parking area 4 generated by the parking area generation module is a virtual area, the generated parking area 4 is displayed on a display device of the vehicle 3 to be parked, the display device is further used for displaying navigation information of the vehicle 3 to be parked and a driving track of the vehicle 3 to be parked in the parking process, the parking area 4 generated by the parking area generation module displayed on the display device is a fixed area in the process that the vehicle 3 to be parked drives into the parking area 4 corresponding to the parking area 2, when the parking areas are configured into the areas defined by the virtual first parking line 401 and the virtual second parking line 402, the first parking line 401 and the second parking line 402 are displayed on the display device, and the first parking line 401 and the second parking line 402 are fixed lines, and correspondingly, the driving track of the vehicle 3 to be parked during parking displayed on the display device is dynamic, the parking area generation module generates parking areas 4 according to the parking area information of the vehicle 3 to be parked; the display device can be a display screen and is arranged on the front side of a driver, and a display picture of the display screen faces the driver, so that the driver can watch the display screen conveniently.
in order to improve the accuracy of the on-vehicle system, distortion correction may be performed on the image displayed by the display device, and the distortion correction method is an image distortion correction method based on a distortion equivalent curved surface, but is not limited thereto.
the parking area 4 generated by the parking area generation module is an area corresponding to an actual parking place, and is displayed on the display device, and there is a process of image synthesis. Specifically, the vehicle-mounted system acquires the real object through the first image acquisition device, and assuming that an image coordinate system (x, y) is converted into pixel coordinates (u, v) displayed on the display device, and generally, the two coordinate systems cannot be parallel, the relationship between the two coordinate systems can be obtained as follows:
where the actual physical size of each pixel along the x-axis is dx and along the y-axis is dy. Assuming that the coordinate system of the first image acquisition device is (XC, YC, ZC), then:
Where f is the adjusted scaling factor. Further converting the coordinate system of the first image capturing device into a world coordinate system, it is possible to obtain:
Wherein, M3X3 and N3X1 are matrix parameters in the first image acquisition device. Finally, the following results are obtained:
the embodiment of the invention provides a vehicle-mounted system, wherein a driver of a vehicle to be parked selects a parking area of a parking lot, a first image acquisition device is used for acquiring images of target vehicles adjacent to the parking area, a parking area generation module is used for identifying information of the target vehicles according to the information of the target vehicles, the information can be the vehicle type, the vehicle body length, the width and the like of the target vehicles, a parking area which is away from the target vehicles by a first preset distance is generated in the parking area according to the information, and the parking area is displayed through a display device so as to assist the driver to drive the vehicle to be parked into the parking area of the parking area. The vehicle-mounted system can assist a driver to park vehicles, especially can cancel parking lines between adjacent vehicles in parking places such as a current parking lot, and only demarcate the parking lines of the total parking place, the vehicles to be parked park are parked by taking the virtual parking area generated by the parking area generation module as a reference when parked, the parking area is generated according to the vehicles to be parked and target vehicles, the distance between the vehicles can be ensured not to influence the getting-on and getting-off actions of passengers or the driving-off actions of the vehicles, the matching of parking spaces (parking areas) and the vehicles to be parked can also be improved, the waste of the smaller vehicles of some vehicles to the pre-demarcated parking space can be avoided, the parking space can be reasonably utilized, and the effect of insufficient parking spaces can be relieved.
The on-vehicle system according to the above embodiment may be applicable to parking manners with different parking lots, when the parking manner of the parking lot is that adjacent vehicles are parked side by side in the first direction, the target vehicle 1 is parked in only one side of the parkable area, specifically, the target vehicle 1 and the parkable area 3 are arranged side by side in the first direction, the parking area 4 includes a first edge adjacent to the parkable area 3, the first edge may be a first parking line 401 as shown in fig. 2, and then the first preset distance between the parking area 4 and the target vehicle 1 is a distance between the first edge and the target vehicle 1, and the first preset distance x is: x e (x1, x 2);
x1 ═ max (x pending, x target);
x＝x+Δx；
Wherein, x is the displacement of the vehicle 3 to be parked in the first direction when the door is opened, x is the displacement of the target vehicle 1 in the first direction when the door is opened, and deltax is a preset safety distance. When the parking mode is parking side by side in the first direction, the distance between adjacent vehicles considers whether the problem of opening the vehicle door of the vehicle is influenced, so when a first preset distance is set, x1 (the first safety distance) is a larger displacement value in displacements respectively required by the vehicle 3 to be parked and the target vehicle 1 for opening the vehicle door, Δ x is set as the preset safety distance, the setting can be carried out according to actual conditions, x2 (the second safety distance) is the sum of x1 and Δ x, and the value of the first preset distance x is between x1 and x2, so that the first preset distance can meet the requirement that the vehicle 3 to be parked and the target vehicle 1 open the vehicle door, the problem that the parking space is wasted due to too large distance is avoided, and the effect of reasonably utilizing the vehicle lifting space can be achieved. Certainly, the first preset distance is the distance between the virtual parking area 4 generated by the parking area generation module and the target vehicle 1, when the driver actually parks the vehicle 3 to be parked, the parking area 4 displayed by the display device is used as a reference for parking, and the position where the actual vehicle to be parked is parked in the parking area 2 is difficult to ensure to be completely matched with the parking area 4, so that the distance between the actual parked vehicle and the target vehicle 1 can be slightly greater than or slightly smaller than the first preset distance, and therefore the preset safety distance Δ x is set in the embodiment, and the reliability of the vehicle-mounted system for assisting the parking of the vehicle 3 to be parked can be improved.
Specifically, the vehicle-mounted system provided in this embodiment may further include: and the alarm module is used for sending out alarm information when the distance between the vehicle 3 to be parked and the target vehicle 1 is less than the preset safe distance. The preset safe distance may be set as a first safe distance, where the first safe distance x1 is max (x to be parked, x target), if the distance between the vehicle 3 to be parked and the target vehicle 1 is less than the first safe distance, one of the vehicle 3 to be parked and the target vehicle 1 cannot open the door, and the parking position of the vehicle 3 to be parked interferes with the vehicle and the target vehicle 1, so that the normal parking requirement of the vehicle is not met; or the preset safety distance can also be set as a first preset distance, the first preset distance is a generation standard of the parking area 4, the reliable parking of the vehicle 3 to be parked can be fully ensured, the distance between the preset safety distance and the target vehicle 1 is not affected mutually, and the reliability of parking of the vehicle 3 to be parked can be improved.
Specifically, the vehicle-mounted system provided in this embodiment may further include: and the judging unit is used for judging whether the accommodating space of the parking area 2 is not less than a second preset distance or not according to the vehicle 3 to be parked and the target vehicle 1. When the target vehicle 1 is parked on only one side of the parking available area 2, the vehicle 3 to be parked only takes into consideration the distance to the target vehicle 1 when parking; when the target vehicles 1 are parked on both sides of the parking area 2, whether the accommodating space of the parking area 2 can meet the parking standard of the vehicle 3 to be parked or not is considered, the parking standard can be set to be that whether the accommodating space of the parking area 2 is not smaller than a second preset distance or not is judged through the judging unit, when the accommodating space of the parking area 2 is smaller than the second preset distance, the vehicle to be parked which indicates that the parking area can not meet the condition is accommodated, the vehicle 3 to be parked should be driven away from the parking area, and other parking areas are selected; if the accommodating space of the parking-enabled region 2 is not smaller than the second preset distance, it indicates that the parking-enabled region 2 can accommodate the vehicle 3 to be parked with the condition satisfied, and the driver can park the vehicle. The factors considered by the determining unit in determining include the model of the vehicle 3 to be parked and the models of the target vehicles 1 located on both sides of the parking space 2, and the accommodating distance of the parking space 2 refers to the accommodating width of the parking space 2 (suitable for the case of parking in parallel in sequence) or the accommodating length of the parking space 2 (suitable for the case of parking in sequence from front to back), and is also equivalent to the distance between two target vehicles 1 located on both adjacent sides of the parking space 2.
specifically, when the target vehicle 1 and the parking space 2 are arranged side by side in the first direction, and the target vehicle 1 includes the first target vehicle 101 and the second target vehicle 102 respectively arranged at two sides of the parking space 2, the second preset distance X is: x ═ max (X pending, X target 1) + max (X pending, X target 2) + w pending; wherein x to be stopped is the displacement of the vehicle 3 to be parked in the first direction for opening the door, x target 1 is the displacement of the first target vehicle 101 in the first direction for opening the door, x target 2 is the displacement of the second target vehicle 102 in the first direction for opening the door, and w to be stopped is the body width of the vehicle 3 to be parked in the first direction. At this time, the second preset distance is compared with the accommodating width of the parking available area 2 and also compared with the distance between the first target vehicle 101 and the second target vehicle 102, and the determining unit needs to consider that the vehicle 3 to be parked can open the doors of the first target vehicle 101 and the second target vehicle 102 when the vehicles 3 to be parked are parked in the parking available areas 2 with the first target vehicle 101 and the second target vehicle 102 respectively parked on both sides to affect when determining, so that when setting the second preset distance, the maximum value of the x-to-be-parked vehicle and the x-to-be-parked vehicle 1 and the maximum value of the x-to-be-parked vehicle and the x-to-be-parked vehicle 2 are selected, and if the accommodating distance of the parking available area 2 is not less than the second preset distance, it can be ensured that the vehicle 3 to be parked can be accommodated in the parking available area 2 and the vehicle 3 to be parked can not affect each other between the first target vehicle 101 and the second target vehicle 102, the vehicle door opening action can be completed, and the vehicle parking standard is met.
Under the condition that the target vehicles 1 are parked on both sides of the parking available area 102, if the accommodating space of the parking available area 2 is not smaller than the second preset distance after being judged by the judging unit, the vehicle 3 to be parked can be parked in the parking available area, and then the vehicle 3 to be parked can select one of the target vehicles 1 on two adjacent sides as a standard, and the virtual parking area 4 is generated by the parking area generating module as a parking reference, so that the vehicle 3 to be parked is assisted to be parked in the parking area 4.
example two
an embodiment of the present invention provides a parking lot management system, including:
The using state detection module is used for acquiring the residual space information of the parking lot; the second image acquisition device is used for acquiring an image of the vehicle 3 to be parked; the region selection module is used for selecting the parking region 2 according to the residual space information and the information of the vehicle 3 to be parked; the navigation route generating module is used for generating a navigation route according to the position information of the parking area 2 and the vehicle 3 to be parked; the sending module is used for sending the navigation route to a network terminal corresponding to the vehicle 3 to be parked; wherein, the remaining space information includes the remaining parking regions 2, the accommodating space thereof, and the position information.
specifically, the parking lot management system provided by the embodiment is applied to a parking lot, for example, the parking lot can be an indoor or outdoor parking place, and is used for assisting a vehicle to park, specifically assisting the vehicle to travel to an area where the vehicle can be parked, and saving the time for a driver to find a parking space in the parking place. The using state detection module is used for acquiring the residual space information of the parking lot, wherein the residual space information comprises the residual parking areas 2 and the accommodating space and position information of the residual parking areas 2, and the distribution of the parking areas 2 and the guidance of the vehicle 3 to be parked can be facilitated by monitoring the residual space information of the parking lot, so that the auxiliary parking of the vehicle 3 to be parked is facilitated. The second image acquisition device is used for gathering the image of waiting to park vehicle 3, can set up the second image acquisition device into the camera, and the position can set up the entrance at parking place, is convenient for shoot waiting to park vehicle 3 to parking place. After the second image acquisition device gathered the image of waiting to park vehicle 3, regional selection module can be through the information of waiting to park vehicle 3 of this image identification, the information of waiting to park vehicle 3 here can be including the motorcycle type (including automobile body length, width information) of waiting to park vehicle 3, and license plate information etc., can be convenient for the supervision and the charge etc. of parking area, in addition, through the motorcycle type of discerning waiting to park vehicle 3 and according to remaining space information, regional selection module can select adaptation in the regional 2 of can parking of waiting to park vehicle 3, the requirement of holding the vehicle 3 of holding is satisfied to this regional 2 of can parking that regional selection module was selected and is held, and do not produce the interference with adjacent vehicle. After the region selection module selects the region 2 which can be parked, the navigation route generation module can generate a navigation route according to the position information of the region 2 which can be parked and the vehicle 3 to be parked, the navigation route can be sent to the network terminal corresponding to the vehicle 3 to be parked through the sending module, and the navigation route can be displayed on the display device, so that a driver can obtain the navigation route and can rapidly drive to the position near the region 2 which can be parked according to the navigation route.
the embodiment provides a parking lot management system, which is applied to parking lots in the indoor and outdoor environment, and the like, and can acquire the remaining space information of the parking lot in real time by using a state detection module, after a second image acquisition device acquires an image of a vehicle to be parked, an area selection module can identify the information of the vehicle to be parked by the image, the area selection module can select a parking area adapted to the vehicle to be parked by identifying the type of the vehicle to be parked and according to the remaining space information, a navigation route can be generated by a navigation route generation module according to the parking area and the position information of the vehicle to be parked, and the navigation route can be sent to a network terminal corresponding to the vehicle to be parked by a sending module, so that a driver can quickly drive to the vicinity of the parking area according to the navigation route, and the time for the driver to find the parking area in the parking lot can be saved, and the situation that the parking available area is not matched with the vehicle to be parked is avoided.
as shown in fig. 4, specifically, the region selection module can select a parking region adapted to the vehicle 3 to be parked, so that the parking region can accommodate the vehicle 3 to be parked without interference between the vehicle 3 to be parked and the adjacent target vehicle 1, and the accommodation distance of the parking region 2 can be set to be not less than the second preset distance.
specifically, when the region selection module selects the parking region 2, the selection standard of the region selection module is firstly the suitability of the parking region 2 and the vehicle 3 to be parked, secondly, the region selection module can set a priority condition under the conditions that the matching is met and the number of the remaining parking regions 2 in the parking lot is large, namely, the region of the target vehicle 1 which is not parked on at least one side of the two adjacent sides is preferentially selected to be the parking region 2 distributed to the vehicle 3 to be parked, so that the parking of the vehicle 3 to be parked can be facilitated, and the parking difficulty of a driver is reduced. In addition, when vehicles continuously drive into the parking lot, under the condition that the number of the remaining parkable areas 3 in the parking lot is large, the area selection module preferentially allocates the parkable areas 2 which are far away or not adjacent to the vehicles 3 to be parked and continuously drive into, so that mutual interference caused by simultaneous parking of a plurality of vehicles can be avoided.
As shown in fig. 5, when the remaining parking area 2 of the parking lot is insufficient, the first vehicle to be parked 301 and the second vehicle to be parked 302 that are sequentially driven in need to be parked in the first parking area 201 and the second parking area 202 that are consecutive and adjacent, and the first target vehicle 101 and the second target vehicle 102 are respectively parked on both sides of the integrated parking area 2 formed by the first parking area 201 and the second parking area 202, first, the area selection module of the parking lot management system determines that the integrated parking area 2 formed by the first parking area 201 and the second parking area 202 can accommodate the first vehicle to be parked 301 and the second vehicle to be parked 302, and ensures that the first vehicle to be parked 301, the second vehicle to be parked 302, the first target vehicle 101 and the second target vehicle 102 do not interfere with each other, and the determination criteria are: (here, a parking manner in which vehicles are parked in sequence side by side (in the first direction) is taken as an example), the receivable width L of the integral parkable region 2 formed by the first and second parkable regions 202 and 202 should satisfy: l ≧ max (xTargeted 1, xStandby 1) + max (x Standby 1, xStandby 2) + max (x Standby 2, xTargeted 2) + w Standby 1+ w Standby 2, wherein xTargeted 1 is a displacement of the first target vehicle 101 with its door opened in the first direction, xTargeted 2 is a displacement of the second target vehicle 102 with its door opened in the first direction, xStandby 1 is a displacement of the first to-be-parked vehicle 201 with its door opened in the first direction, xStandby 2 is a displacement of the second to-be-parked vehicle 202 with its door opened in the first direction, wStandby 1 is a body width of the first to-be-parked vehicle 301 in the first direction, and wStandby 2 is a body width of the second to-be-parked vehicle 302 in the first direction, and when L satisfies the above formula, the receivable width of the parkable region 2 representing the whole of the first and second parkable region 202 is able to satisfy the parking requirements of the first to-be-parked vehicle 301 and the second to-be-parked vehicle 302, after the complete judgment process, the first vehicle to be parked 301 firstly parks the vehicle, the parking process can be assisted according to the vehicle-mounted system, and after the parking of the first vehicle to be parked 301 is finished, the second vehicle to be parked 302 parks the vehicle; when the area selection module of the parking lot management system determines that L does not satisfy the above formula, the first vehicle to be parked 301 performs vehicle parking, and the second vehicle to be parked 302 moves away from the parking available area 2.
EXAMPLE III
The third embodiment of the invention provides an auxiliary parking system, which comprises the parking lot management system and a vehicle-mounted system, wherein the parking lot management system is arranged on the current parking place, the vehicle-mounted system is arranged on a vehicle to be parked, and the auxiliary parking system formed by the parking lot management system and the vehicle-mounted system can be suitable for the current indoor parking places, the outdoor parking places and other parking places, and further can be suitable for the parking places with no parking lines pre-defined between adjacent vehicles.
specifically, when the parking lot management system is applied, the vehicle 3 to be parked can be assisted to travel to the corresponding parking area 2 through the parking lot management system, wherein the corresponding parking area 2 is the parking area 2 which is selected by the area selection module of the parking lot management system for the vehicle 3 to be parked and is adaptive to the vehicle, and under the assistance of the parking lot management system, a driver can quickly find the remaining parking area 2 which is adaptive to the vehicle, so that the parking time of the vehicle can be saved, and the situations of inconvenience or vehicle scratch and the like caused by searching for an idle parking space and selecting a parking space which is not adaptive to the vehicle 3 to be parked are avoided; the vehicle to be parked is assisted to drive into the parking area 4 of the parking area 2 through the vehicle-mounted system of the vehicle 3 to be parked, and when the vehicle to be parked is applied to a parking lot with no parking line defined in advance between adjacent vehicles, the vehicle can reasonably and efficiently utilize the parking lot with the assistance of the vehicle-mounted system, and the condition that the current parking lot is insufficient can be relieved.
the embodiment provides an auxiliary parking system, which assists a vehicle to be parked to run to a corresponding parking area through a parking lot management system, so that the time for a driver to search and select the parking area can be saved, and the parking efficiency is improved; and the vehicle-mounted system of the vehicle to be parked can assist the vehicle to be parked to drive into the parking area of the parking area, so that the interference between the vehicle to be parked and an adjacent vehicle can be avoided, and the space waste of the parking place can be avoided. The auxiliary parking system formed by the parking lot management system and the vehicle-mounted system is applicable to parking places without defining parking lines between adjacent vehicles, can also cancel the operation of defining the parking lines between the adjacent vehicles in advance in the current parking places, can assist a driver to efficiently and reliably drive the vehicle to be parked into a parking area without interfering with the adjacent vehicles, and can achieve the effects of reasonably utilizing the space of the parking area and relieving the insufficient parking space.
Example four
as shown in fig. 6, a parking assist method according to a fourth embodiment of the present invention includes:
S1: acquiring the residual space information of the parking lot;
s2: selecting a parking available area 2 according to the information of the vehicle 3 to be parked;
S3: generating a navigation route according to the position information of the parking available area 2 and the vehicle 3 to be parked and sending the navigation route to the network terminal of the vehicle 3 to be parked;
s4: the vehicle 3 to be parked drives to the parking area 2 according to the navigation route and collects the image of the target vehicle 1
s5: recognizing information of the target vehicle 1 according to the image of the target vehicle 1, generating a parking area 4 which is a first preset distance away from the target vehicle 1, and displaying the parking area on a display device;
s6: the vehicle 3 to be parked travels into the parking area 4 corresponding to the parkable area 2.
specifically, the parking assisting method provided by the embodiment is applied to the parking assisting system, and can be applied to parking places such as indoor parking places and outdoor parking places, and further can be applied to parking places where no parking line is defined in advance between adjacent vehicles.
The embodiment provides an auxiliary parking method, which can be applied to a parking place without defining a parking line between adjacent vehicles, and can also cancel the operation of the current parking place for defining the parking line between the adjacent vehicles in advance.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. an in-vehicle system, comprising:
The first image acquisition device is used for acquiring an image of at least one target vehicle;
the parking area generating module is used for identifying the information of the target vehicle according to the image of the target vehicle, generating a parking area in a parking available area according to the information of the target vehicle and the information of the vehicle to be parked, and parking the vehicle to be parked, wherein the parking area and the target vehicle are away from each other by a first preset distance;
The display device is used for displaying a navigation route, the parking area and the running track of the vehicle to be parked;
wherein the target vehicle is a vehicle adjacent to the parkable region.
2. the in-vehicle system according to claim 1,
the target vehicle and the parking area are arranged side by side in a first direction, the parking area includes a first edge adjacent to the parking area, and the first preset distance x between the first edge and the target vehicle is: x e (x1, x 2);
x1 ═ max (x pending, x target);
x＝x+Δx；
the method comprises the following steps that x to be stopped is the displacement of an opened door of a vehicle to be parked in a first direction, x target is the displacement of the opened door of the target vehicle in the first direction, delta x is a preset safety distance, x1 is the first safety distance, and x2 is the second safety distance.
3. the in-vehicle system according to claim 2,
the alarm module is used for sending out alarm information when the distance between the vehicle to be parked and the target vehicle is smaller than a preset safety distance;
The preset safety distance is the first safety distance, or the preset safety distance is the first preset distance.
4. the in-vehicle system according to claim 1, characterized by further comprising:
and the judging unit is used for judging whether the accommodating space of the parking area is not less than a second preset distance according to the vehicle to be parked and the target vehicle.
5. the in-vehicle system according to claim 4,
The target vehicle and the parking-possible area are arranged side by side in a first direction, the target vehicle comprises a first target vehicle and a second target vehicle which are respectively arranged on two sides of the parking-possible area, and the second preset distance X is as follows: x ═ max (X pending, X target 1) + max (X pending, X target 2) + w pending;
Wherein x to be stopped is the displacement of the opened door of the vehicle to be parked in the first direction, x target 1 is the displacement of the opened door of the first target vehicle in the first direction, x target 2 is the displacement of the opened door of the second target vehicle in the first direction, and w to be stopped is the width of the vehicle body of the vehicle to be parked in the first direction.
6. a parking lot management system, comprising:
The using state detection module is used for acquiring the residual space information of the parking lot;
The second image acquisition device is used for acquiring an image of the vehicle to be parked;
the area selection module is used for identifying the information of the vehicle to be parked according to the image of the vehicle to be parked and selecting a parking available area according to the residual space information and the information of the vehicle to be parked;
The navigation route generating module is used for generating a navigation route according to the position information of the parking area and the vehicle to be parked;
the sending module is used for sending the navigation route to a network terminal corresponding to the vehicle to be parked;
wherein the remaining space information includes information on the remaining parking regions, accommodating distances thereof, and positions thereof.
7. The in-vehicle system according to claim 6,
The accommodating space of the parking areas is not less than a second preset distance.
8. The in-vehicle system according to claim 7,
the region selection module selects the parking regions as regions adjacent to at least one side of which no target vehicle is arranged.
9. a secondary parking system, comprising:
A parking lot management system as claimed in any one of claims 6 to 8, for assisting a vehicle to be parked in driving to a corresponding parkable area;
The vehicle-mounted system according to any one of claims 1 to 5, for assisting a vehicle to be parked to drive into a parking area corresponding to said parkable area.
10. a parking assist method applied to the parking assist system according to claim 8, comprising:
acquiring the residual space information of the parking lot;
Selecting a parking available area according to the information of the vehicle to be parked;
Generating a navigation route according to the position information of the parking area and the vehicle to be parked and sending the navigation route to the network terminal of the vehicle to be parked;
driving the vehicle to be parked to a parking available area according to the navigation route, and acquiring an image of a target vehicle;
the image of the target vehicle identifies the information of the target vehicle, generates a parking area with a first preset distance away from the target vehicle and displays the parking area on a display device;
And the vehicle to be parked runs into the parking area corresponding to the parking area.
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| CN201910863057.7A CN110544391A (en) | 2019-09-12 | 2019-09-12 | Vehicle-mounted system, parking lot management system, auxiliary parking system and method |
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| CN201910863057.7A CN110544391A (en) | 2019-09-12 | 2019-09-12 | Vehicle-mounted system, parking lot management system, auxiliary parking system and method |
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| CN113012462B (en) * | 2019-12-19 | 2024-05-03 | 杭州海康机器人股份有限公司 | Dynamic parking space planning and vehicle parking method and device and automatic parking system |
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