CN110648365A - Electric vehicle parking method and device, electric vehicle and storage medium - Google Patents
Electric vehicle parking method and device, electric vehicle and storage medium Download PDFInfo
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- CN110648365A CN110648365A CN201910879806.5A CN201910879806A CN110648365A CN 110648365 A CN110648365 A CN 110648365A CN 201910879806 A CN201910879806 A CN 201910879806A CN 110648365 A CN110648365 A CN 110648365A
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000004458 analytical method Methods 0.000 claims abstract description 62
- 238000004891 communication Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000010191 image analysis Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G06T5/70—
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30264—Parking
Abstract
The invention discloses an electric vehicle parking method, a device, an electric vehicle and a storage medium, wherein when a target electric vehicle is detected to be positioned in a preset parking area and a returning instruction of the target electric vehicle sent by a mobile terminal is received, a camera starting instruction is sent to the target electric vehicle, so that the target electric vehicle starts a camera, a target image is obtained through the camera, and the target image is fed back; analyzing a target image fed back by the target electric vehicle, and judging whether the target electric vehicle stops at a preset correct position according to an analysis result; when the target electric vehicle stops at the preset correct position, the target electric vehicle is returned, the target electric vehicle can be normally stopped when the target electric vehicle stops at the preset correct position, the standard degree and the accuracy of the target electric vehicle are improved, the pressure of electric vehicle management is reduced, the risk of traffic jam is reduced, and the phenomenon that the electric vehicle is randomly stopped and placed is improved.
Description
Technical Field
The invention relates to the field of intelligent transportation, in particular to an electric vehicle parking method and device, an electric vehicle and a storage medium.
Background
Along with the popularization of electric vehicles and the rapid development of shared electric vehicles, the phenomenon of disorderly parking and disorderly placing the electric vehicles causes troubles to electric vehicle operation companies and related departments, can cause road traffic congestion, influences city appearance and has certain potential safety hazards; therefore, a method for parking an electric vehicle is urgently needed to realize rapid, efficient and normative parking.
Disclosure of Invention
The invention mainly aims to provide an electric vehicle parking method, an electric vehicle parking device, an electric vehicle and a storage medium, and aims to solve the technical problems that in the prior art, the parking of the electric vehicle is not standard, so that traffic jam is caused, and the urban image is influenced by the disordered parking and the disordered placement of the electric vehicle.
In order to achieve the above object, the present invention provides an electric vehicle parking method, including the steps of:
when the target electric vehicle is detected to be located in a preset parking area and a returning instruction of the target electric vehicle sent by a mobile terminal is received, sending a camera starting instruction to the target electric vehicle so that the target electric vehicle starts a camera, acquiring a target image through the camera and feeding back the target image;
analyzing a target image fed back by the target electric vehicle, and judging whether the target electric vehicle stops at a preset correct position according to an analysis result;
and when the target electric vehicle stops at a preset correct position, carrying out a vehicle returning process on the target electric vehicle.
Preferably, when the target electric vehicle stops at a preset correct position, the returning process of the target electric vehicle specifically includes:
when the target electric vehicle stops at a preset correct position, generating a motor control signal and a vehicle lock control signal;
and sending the motor control signal and the vehicle lock control signal to a target electric vehicle so that the target electric vehicle cuts off the power of the motor according to the motor control signal and locks the vehicle lock according to the vehicle lock control signal.
Preferably, the analyzing the target image fed back by the target electric vehicle, and determining whether the target electric vehicle stops at a preset correct position according to an analysis result specifically includes:
analyzing the target image to generate an analysis result;
when the analysis result shows that the target electric vehicle is located in a parking wire frame in a preset parking area, judging that the target electric vehicle is parked at a preset correct position;
and when the analysis result shows that the target electric vehicle is not positioned in a parking wire frame in a preset parking area, judging that the target electric vehicle is not parked at a preset correct position.
Preferably, the analyzing the target image to generate an analysis result specifically includes:
denoising the target image, and extracting image characteristics from the denoised target image;
dividing the image characteristics into electric vehicle characteristics and parking wire frame characteristics according to a preset characteristic set;
determining the relative distance between the target electric vehicle and a parking wire frame according to the electric vehicle characteristics and the parking wire frame characteristics;
and comparing the relative distance with a preset distance threshold value, and generating an analysis result according to a comparison result.
Preferably, the determining the relative distance between the target electric vehicle and the parking wire frame according to the electric vehicle feature and the parking wire frame feature specifically includes:
determining an electric vehicle centroid of the electric vehicle characteristic and determining a parking wire frame centroid of the parking wire frame characteristic;
obtaining a straight-line distance from the center of mass of the electric vehicle to the center of mass of the parking wire frame;
and determining the relative distance between the target electric vehicle and a parking wire frame according to a preset image ranging algorithm and the linear distance.
Preferably, the comparing the relative distance with a preset distance threshold value, and generating an analysis result according to the comparison result specifically includes:
comparing the relative distance with a preset distance threshold value and generating a comparison result;
when the comparison result is that the relative distance is smaller than or equal to the preset distance threshold, judging that the analysis result is that the target electric vehicle is located in a parking wire frame in a preset parking area;
and when the comparison result is that the relative distance is greater than the preset distance threshold value, judging that the analysis result is that the target electric vehicle is not located in a parking wire frame in a preset parking area.
Preferably, before the target electric vehicle is detected to be located in a preset parking area and a return instruction of the target electric vehicle sent by a mobile terminal is received, a camera starting instruction is sent to the target electric vehicle, so that the target electric vehicle starts a camera, a target image is obtained through the camera, and the target image is fed back, the electric vehicle parking method further includes:
acquiring the GPS signal intensity of the current running environment of the target electric vehicle;
when the GPS signal intensity is greater than the preset signal intensity, acquiring GPS positioning information of the target electric vehicle;
and judging whether the target electric vehicle is positioned in a preset parking area or not according to the GPS positioning information.
In addition, to achieve the above object, the present invention also provides an electric vehicle including: an electric vehicle body, a memory, a processor and an electric vehicle parking program stored on the memory and executable on the processor, the electric vehicle parking program being configured to implement the steps of the electric vehicle parking method as described above.
In addition, to achieve the above object, the present invention further provides a storage medium having an electric vehicle parking program stored thereon, which when executed by a processor implements the steps of the electric vehicle parking method as described above.
In addition, to achieve the above object, the present invention also provides an electric vehicle parking apparatus including:
the system comprises an image acquisition module, a camera starting module and a control module, wherein the image acquisition module is used for sending a camera starting instruction to a target electric vehicle when the target electric vehicle is detected to be located in a preset parking area and a returning instruction of the target electric vehicle sent by a mobile terminal is received, so that the target electric vehicle starts a camera, acquires a target image through the camera and feeds back the target image;
the analysis module is used for analyzing the target image fed back by the target electric vehicle and judging whether the target electric vehicle stops at a preset correct position according to an analysis result;
and the vehicle returning module is used for carrying out vehicle returning flow on the target electric vehicle when the target electric vehicle stops at a preset correct position.
According to the electric vehicle parking method, when a target electric vehicle is detected to be located in a preset parking area and a returning instruction of the target electric vehicle sent by a mobile terminal is received, a camera opening instruction is sent to the target electric vehicle, so that the target electric vehicle starts a camera, a target image is obtained through the camera, and the target image is fed back; analyzing a target image fed back by the target electric vehicle, and judging whether the target electric vehicle stops at a preset correct position according to an analysis result; when the target electric vehicle stops at the preset correct position, the target electric vehicle is returned, and when the target electric vehicle stops at the preset correct position, the target electric vehicle can be normally stopped, so that the normal degree and the accuracy of the target electric vehicle are improved, the pressure of electric vehicle management is reduced, the risk of traffic jam is reduced, and the phenomenon that the electric vehicle is randomly stopped and placed is improved.
Drawings
FIG. 1 is a schematic structural diagram of an electric vehicle in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a parking method for an electric vehicle according to the present invention;
FIG. 3 is a flowchart illustrating a parking method of an electric vehicle according to a second embodiment of the present invention;
FIG. 4 is a flowchart illustrating a parking method of an electric vehicle according to a third embodiment of the present invention;
fig. 5 is a functional block diagram of the parking apparatus for electric vehicles according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The solution of the embodiment of the invention is mainly as follows: according to the method, when a target electric vehicle is detected to be located in a preset parking area and a returning instruction of the target electric vehicle sent by a mobile terminal is received, a camera opening instruction is sent to the target electric vehicle, so that the target electric vehicle opens a camera, a target image is obtained through the camera, and the target image is fed back; analyzing a target image fed back by the target electric vehicle, and judging whether the target electric vehicle stops at a preset correct position according to an analysis result; when the target electric vehicle stops at the preset correct position, the target electric vehicle is returned, the target electric vehicle can be stopped normally when the target electric vehicle stops at the preset correct position, the standard degree and the accuracy of the target electric vehicle are improved, the pressure of electric vehicle management is reduced, the risk of traffic jam is reduced, the phenomenon that the electric vehicle is parked and placed disorderly is improved, and the technical problems that the urban image is influenced due to the fact that the electric vehicle is parked and placed disorderly due to the fact that the electric vehicle is not parked normally in the prior art, and the traffic jam is caused and the electric vehicle is parked and placed disorderly are solved.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an electric vehicle in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the electric vehicle may include: the electric vehicle body, the processor 1001, such as a Central Processing Unit (CPU), the communication bus 1002, the user interface 1003, the network interface 1004, and the memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory or a Non-volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001; the processor 1001, the communication bus 1002, the user interface 1003, the network interface 1004, and the memory 1005 may be disposed inside the electric vehicle body or disposed outside the electric vehicle body, which is not limited in this embodiment.
Those skilled in the art will appreciate that the electric vehicle configuration shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005 as a storage medium may include an operating system, a network communication module, a user side interface module, and an electric vehicle parking program.
The electric vehicle of the present invention calls the electric vehicle parking program stored in the memory 1005 through the processor 1001, and performs the following operations:
when the target electric vehicle is detected to be located in a preset parking area and a returning instruction of the target electric vehicle sent by a mobile terminal is received, sending a camera starting instruction to the target electric vehicle so that the target electric vehicle starts a camera, acquiring a target image through the camera and feeding back the target image;
analyzing a target image fed back by the target electric vehicle, and judging whether the target electric vehicle stops at a preset correct position according to an analysis result;
and when the target electric vehicle stops at a preset correct position, carrying out a vehicle returning process on the target electric vehicle.
Further, the processor 1001 may call the electric vehicle parking program stored in the memory 1005, and also perform the following operations:
when the target electric vehicle stops at a preset correct position, generating a motor control signal and a vehicle lock control signal;
and sending the motor control signal and the vehicle lock control signal to a target electric vehicle so that the target electric vehicle cuts off the power of the motor according to the motor control signal and locks the vehicle lock according to the vehicle lock control signal.
Further, the processor 1001 may call the electric vehicle parking program stored in the memory 1005, and also perform the following operations:
analyzing the target image to generate an analysis result;
when the analysis result shows that the target electric vehicle is located in a parking wire frame in a preset parking area, judging that the target electric vehicle is parked at a preset correct position;
and when the analysis result shows that the target electric vehicle is not positioned in a parking wire frame in a preset parking area, judging that the target electric vehicle is not parked at a preset correct position.
Further, the processor 1001 may call the electric vehicle parking program stored in the memory 1005, and also perform the following operations:
denoising the target image, and extracting image characteristics from the denoised target image;
dividing the image characteristics into electric vehicle characteristics and parking wire frame characteristics according to a preset characteristic set;
determining the relative distance between the target electric vehicle and a parking wire frame according to the electric vehicle characteristics and the parking wire frame characteristics;
and comparing the relative distance with a preset distance threshold value, and generating an analysis result according to a comparison result.
Further, the processor 1001 may call the electric vehicle parking program stored in the memory 1005, and also perform the following operations:
determining an electric vehicle centroid of the electric vehicle characteristic and determining a parking wire frame centroid of the parking wire frame characteristic;
obtaining a straight-line distance from the center of mass of the electric vehicle to the center of mass of the parking wire frame;
and determining the relative distance between the target electric vehicle and a parking wire frame according to a preset image ranging algorithm and the linear distance.
Further, the processor 1001 may call the electric vehicle parking program stored in the memory 1005, and also perform the following operations:
comparing the relative distance with a preset distance threshold value and generating a comparison result;
when the comparison result is that the relative distance is smaller than or equal to the preset distance threshold, judging that the analysis result is that the target electric vehicle is located in a parking wire frame in a preset parking area;
and when the comparison result is that the relative distance is greater than the preset distance threshold value, judging that the analysis result is that the target electric vehicle is not located in a parking wire frame in a preset parking area.
Further, the processor 1001 may call the electric vehicle parking program stored in the memory 1005, and also perform the following operations:
acquiring the GPS signal intensity of the current running environment of the target electric vehicle;
when the GPS signal intensity is greater than the preset signal intensity, acquiring GPS positioning information of the target electric vehicle;
and judging whether the target electric vehicle is positioned in a preset parking area or not according to the GPS positioning information.
According to the scheme, when the target electric vehicle is detected to be located in the preset parking area and a returning instruction of the target electric vehicle sent by the mobile terminal is received, a camera opening instruction is sent to the target electric vehicle, so that the target electric vehicle opens the camera, a target image is obtained through the camera, and the target image is fed back; analyzing a target image fed back by the target electric vehicle, and judging whether the target electric vehicle stops at a preset correct position according to an analysis result; when the target electric vehicle stops at the preset correct position, the target electric vehicle is returned, and when the target electric vehicle stops at the preset correct position, the target electric vehicle can be normally stopped, so that the normal degree and the accuracy of the target electric vehicle are improved, the pressure of electric vehicle management is reduced, the risk of traffic jam is reduced, and the phenomenon that the electric vehicle is randomly stopped and placed is improved.
Based on the hardware structure, the embodiment of the electric vehicle parking method is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a parking method of an electric vehicle according to a first embodiment of the present invention.
In a first embodiment, the electric vehicle parking method includes the steps of:
and S10, when the target electric vehicle is detected to be located in a preset parking area and a returning instruction of the target electric vehicle sent by the mobile terminal is received, sending a camera opening instruction to the target electric vehicle so that the target electric vehicle can open a camera, obtain a target image through the camera and feed back the target image.
It should be noted that the preset parking area is a preset and planned area for parking the electric vehicle, and the size of the preset parking area may be variable according to different geographic locations of the terrain or may be fixed, which is not limited in this embodiment; after the target electric vehicle is detected to be located in a preset parking area, it is indicated that the target electric vehicle preliminarily meets a vehicle returning condition, at this time, after a vehicle returning instruction sent by a mobile terminal is received, a camera opening instruction can be sent like the target electric vehicle, the camera is generally arranged at the tail of the target electric vehicle, and can also be arranged on the side surface of a vehicle body or other positions, which is not limited in this embodiment; the camera is started through the camera starting instruction to obtain images and target images within a certain range, and the target images are fed back to a processor or a central control device on the target electric vehicle to be subjected to image analysis.
And step S20, analyzing the target image fed back by the target electric vehicle, and judging whether the target electric vehicle stops at a preset correct position according to the analysis result.
It can be understood that, by analyzing the target image, it can be determined whether the target electric vehicle is parked at a preset correct position according to an analysis result, where the preset correct position is a parking position of a single electric vehicle preset in the preset parking area, and the preset correct position generally limits the orientation of the target electric vehicle, that is, limits the vehicle head from being parked at one side of the preset correct position, or limits the vehicle tail from being parked at one side of the preset correct position, and the preset correct position may be a position determined by a concave wire frame, a position determined by a triangular wire frame, or a position determined by an arc wire, or a preset correct position determined by other manners, which is not limited in this embodiment.
And step S30, when the target electric vehicle stops at a preset correct position, carrying out a vehicle returning process on the target electric vehicle.
It should be understood that after the target electric vehicle stops at the preset correct position, it indicates that the target electric vehicle meets the vehicle returning condition, and then the vehicle returning process is performed on the target electric vehicle until the vehicle returning is finished.
Further, the step S30 specifically includes the following steps:
when the target electric vehicle stops at a preset correct position, generating a motor control signal and a vehicle lock control signal;
and sending the motor control signal and the vehicle lock control signal to a target electric vehicle so that the target electric vehicle cuts off the power of the motor according to the motor control signal and locks the vehicle lock according to the vehicle lock control signal.
It can be understood that when the target electric vehicle stops at the preset correct position, the target electric vehicle is shown to be ready for returning, at the moment, through generating a motor control signal and a vehicle lock control signal, the motor control signal can disconnect the power supply of the electric vehicle storage battery to the motor, and the vehicle lock control signal can lock the vehicle lock to further enable the target electric vehicle to be incapable of being dragged away, so that the standardability of electric vehicle parking is improved, and the property safety of users or electric vehicle enterprises is guaranteed.
According to the scheme, when the target electric vehicle is detected to be located in the preset parking area and a returning instruction of the target electric vehicle sent by the mobile terminal is received, a camera opening instruction is sent to the target electric vehicle, so that the target electric vehicle opens the camera, a target image is obtained through the camera, and the target image is fed back; analyzing a target image fed back by the target electric vehicle, and judging whether the target electric vehicle stops at a preset correct position according to an analysis result; when the target electric vehicle stops at the preset correct position, the target electric vehicle is returned, and when the target electric vehicle stops at the preset correct position, the target electric vehicle can be normally stopped, so that the normal degree and the accuracy of the target electric vehicle are improved, the pressure of electric vehicle management is reduced, the risk of traffic jam is reduced, and the phenomenon that the electric vehicle is randomly stopped and placed is improved.
Further, fig. 3 is a schematic flowchart of a second embodiment of the electric vehicle parking method according to the present invention, and as shown in fig. 3, the second embodiment of the electric vehicle parking method according to the present invention is proposed based on the first embodiment, in this embodiment, the step S20 specifically includes the following steps:
and step S21, analyzing the target image to generate an analysis result.
It should be noted that, the analyzing the target image may be to obtain distances between objects in the target image through an image measurement algorithm, determine distances between objects in the target image through an image segmentation algorithm, or analyze the target image through other manners to generate an analysis result, which is not limited in this embodiment.
Further, the step S21 specifically includes the following steps:
denoising the target image, and extracting image characteristics from the denoised target image;
dividing the image characteristics into electric vehicle characteristics and parking wire frame characteristics according to a preset characteristic set;
determining the relative distance between the target electric vehicle and a parking wire frame according to the electric vehicle characteristics and the parking wire frame characteristics;
and comparing the relative distance with a preset distance threshold value, and generating an analysis result according to a comparison result.
It can be understood that the denoising of the target image may be removing noise of the target image through a gaussian blurring algorithm, or denoising of the target image through a convolution filter, or denoising of the target image through other manners, which is not limited in this embodiment.
It should be noted that the preset feature set is a set of preset image features for storing a large number of images of electric vehicles in a preset parking area for parking in a normative manner, where the preset feature set may be a set determined by screening a large number of historical parking images, may also be a set determined by screening an experimental image for specific parking, and may also be a set of image features determined in other manners, which is not limited in this embodiment; after the image features are extracted from the denoised target image, the image features can be divided into electric features and parking line frame features according to a preset feature set so as to determine the relative distance between the target electric vehicle and the parking line frame, the relative distance between the parking line frame of the target electric vehicle can be determined by utilizing algorithms such as an image measurement algorithm, the preset distance threshold is a preset distance threshold, and an analysis result is determined according to a comparison result of the relative distance and the preset distance threshold, namely whether the target electric vehicle is located in the parking line frame in the preset parking area is determined.
Further, the step of determining the relative distance between the target electric vehicle and the parking wire frame according to the electric vehicle characteristic and the parking wire frame characteristic specifically comprises the following steps:
determining an electric vehicle centroid of the electric vehicle characteristic and determining a parking wire frame centroid of the parking wire frame characteristic;
obtaining a straight-line distance from the center of mass of the electric vehicle to the center of mass of the parking wire frame;
and determining the relative distance between the target electric vehicle and a parking wire frame according to a preset image ranging algorithm and the linear distance.
It can be understood that by determining the center of mass of the electric vehicle feature, i.e. the virtual center of the target electric vehicle, the linear distance from the center of mass of the parking wire frame feature to the center of mass of the electric vehicle feature, i.e. the distance between the electric vehicle and the parking wire frame on the picture, can be determined; and then determining the relative distance between the target electric vehicle and the parking wire frame according to a preset image ranging algorithm, or converting the relative distance between the arbitrary pronouns and the parking wire frame according to the ratio of the size of the wire frame to the size of the actual wire frame in the image, or of course determining the relative distance between the target electric vehicle and the parking wire frame through other algorithms or manners, which is not limited in this embodiment.
Further, the step of comparing the relative distance with a preset distance threshold and generating an analysis result according to the comparison result specifically includes:
comparing the relative distance with a preset distance threshold value and generating a comparison result;
when the comparison result is that the relative distance is smaller than or equal to the preset distance threshold, judging that the analysis result is that the target electric vehicle is located in a parking wire frame in a preset parking area;
and when the comparison result is that the relative distance is greater than the preset distance threshold value, judging that the analysis result is that the target electric vehicle is not located in a parking wire frame in a preset parking area.
It should be understood that, by comparing the relative distance with the preset distance threshold, it can be determined whether the target electric vehicle is located in a parking wire frame in a preset parking area according to the comparison result, where the preset distance threshold may be adjusted according to different geographic location environments, or may be a fixed distance threshold, which is not limited in this embodiment.
And step S22, when the analysis result shows that the target electric vehicle is located in a parking wire frame in a preset parking area, judging that the target electric vehicle is parked at a preset correct position.
It should be understood that the parking wire frame may be a concave wire frame, a triangular wire frame, an arc wire frame, or a wire frame with other shapes, which is not limited in this embodiment, and it is determined that the target electric vehicle has been parked at the preset correct position in the parking wire frame in the preset parking area where the analysis result is the displacement of the target electric vehicle.
And step S23, when the analysis result shows that the target electric vehicle is not located in a parking wire frame in a preset parking area, judging that the target electric vehicle is not parked at a preset correct position.
It can be understood that when the target electric vehicle is not in the parking wire frame in the preset parking area, the target electric vehicle is not prepared for parking at the moment, and if the parking returning operation is allowed, normal parking of subsequent vehicles can be seriously affected, so that the target electric vehicle is judged not to be parked at a preset correct position at the moment, the target electric vehicle cannot be subjected to the subsequent returning operation, the ordered parking of the target electric vehicle is ensured, and the parking normalization and the accuracy of the target electric vehicle are improved.
According to the scheme, the target image is analyzed to generate an analysis result; when the analysis result shows that the target electric vehicle is located in a parking wire frame in a preset parking area, judging that the target electric vehicle is parked at a preset correct position; when the analysis result is that the target electric vehicle is not located in a parking wire frame in a preset parking area, the target electric vehicle is judged not to be parked at a preset correct position, and whether the target electric vehicle is parked at the preset correct position can be determined according to the image analysis result, so that the electric vehicle can be normally parked, the standard degree and the precision of parking of the target electric vehicle are improved, the pressure of electric vehicle management is relieved, the risk of traffic jam is reduced, and the phenomenon that the electric vehicle is randomly parked and randomly placed is improved.
Further, fig. 4 is a flowchart illustrating a third embodiment of the electric vehicle parking method according to the present invention, and as shown in fig. 4, the third embodiment of the electric vehicle parking method according to the present invention is proposed based on the second embodiment, in this embodiment, before the step S10, the electric vehicle parking method further includes the following steps:
and S001, acquiring the GPS signal intensity of the current running environment of the target electric vehicle.
It should be noted that the GPS signal strength may be GPS signal strength determined by data collected by a Global Positioning System (GPS) signal transceiver disposed on the target electric vehicle, and whether GPS Positioning is accurate or not may be determined to some extent by the GPS signal strength.
And S002, acquiring the GPS positioning information of the target electric vehicle when the GPS signal intensity is greater than the preset signal intensity.
It can be understood that when the GPS signal strength is greater than the preset signal strength, it indicates that the positioning information corresponding to the GPS signal is relatively accurate, and the GPS positioning information of the target electric vehicle can be determined through the acquired GPS data.
And S003, judging whether the target electric vehicle is positioned in a preset parking area or not according to the GPS positioning information.
It should be understood that the current position of the target electric vehicle can be determined through the GPS positioning information, and then whether the target electric vehicle is located in the preset parking area can be determined by matching the current position with the position of the preset parking area.
According to the scheme, the GPS signal intensity of the current running environment of the target electric vehicle is obtained; when the GPS signal intensity is greater than the preset signal intensity, acquiring GPS positioning information of the target electric vehicle; whether the target electric vehicle is located in a preset parking area or not is judged according to the GPS positioning information, the specific position of the target electric vehicle can be accurately determined, the accuracy rate of standard parking is improved, the correct returning process is guaranteed to be started, the pressure of electric vehicle management is reduced, the risk of traffic jam is reduced, and the phenomenon that the electric vehicle is randomly parked and placed is improved.
Based on the embodiment of the electric vehicle parking method, the invention further provides an electric vehicle parking device.
Referring to fig. 5, fig. 5 is a functional block diagram of a parking apparatus for an electric vehicle according to a first embodiment of the present invention.
In a first embodiment of the electric vehicle parking apparatus of the present invention, the electric vehicle parking apparatus includes:
the image obtaining module 10 is configured to send a camera starting instruction to the target electric vehicle when detecting that the target electric vehicle is located in a preset parking area and receiving a vehicle returning instruction of the target electric vehicle sent by the mobile terminal, so that the target electric vehicle starts a camera, obtains a target image through the camera, and feeds back the target image.
It should be noted that the preset parking area is a preset and planned area for parking the electric vehicle, and the size of the preset parking area may be variable according to different geographic locations of the terrain or may be fixed, which is not limited in this embodiment; after the target electric vehicle is detected to be located in a preset parking area, it is indicated that the target electric vehicle preliminarily meets a vehicle returning condition, at this time, after a vehicle returning instruction sent by a mobile terminal is received, a camera opening instruction can be sent like the target electric vehicle, the camera is generally arranged at the tail of the target electric vehicle, and can also be arranged on the side surface of a vehicle body or other positions, which is not limited in this embodiment; the camera is started through the camera starting instruction to obtain images and target images within a certain range, and the target images are fed back to a processor or a central control device on the target electric vehicle to be subjected to image analysis.
And the analysis module 20 is configured to analyze the target image fed back by the target electric vehicle, and determine whether the target electric vehicle stops at a preset correct position according to an analysis result.
It can be understood that, by analyzing the target image, it can be determined whether the target electric vehicle is parked at a preset correct position according to an analysis result, where the preset correct position is a parking position of a single electric vehicle preset in the preset parking area, and the preset correct position generally limits the orientation of the target electric vehicle, that is, limits the vehicle head from being parked at one side of the preset correct position, or limits the vehicle tail from being parked at one side of the preset correct position, and the preset correct position may be a position determined by a concave wire frame, a position determined by a triangular wire frame, or a position determined by an arc wire, or a preset correct position determined by other manners, which is not limited in this embodiment.
And the returning module 30 is configured to perform a returning process on the target electric vehicle when the target electric vehicle stops at a preset correct position. It should be understood that after the target electric vehicle stops at the preset correct position, it indicates that the target electric vehicle meets the vehicle returning condition, and then the vehicle returning process is performed on the target electric vehicle until the vehicle returning is finished.
The steps implemented by each functional module of the electric vehicle parking device can refer to each embodiment of the electric vehicle parking method of the present invention, and are not described herein again.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores an electric vehicle parking program, and the electric vehicle parking program, when executed by a processor, implements the following operations:
when the target electric vehicle is detected to be located in a preset parking area and a returning instruction of the target electric vehicle sent by a mobile terminal is received, sending a camera starting instruction to the target electric vehicle so that the target electric vehicle starts a camera, acquiring a target image through the camera and feeding back the target image;
analyzing a target image fed back by the target electric vehicle, and judging whether the target electric vehicle stops at a preset correct position according to an analysis result;
and when the target electric vehicle stops at a preset correct position, carrying out a vehicle returning process on the target electric vehicle.
Further, the electric vehicle parking program when executed by the processor further implements the following operations:
when the target electric vehicle stops at a preset correct position, generating a motor control signal and a vehicle lock control signal;
and sending the motor control signal and the vehicle lock control signal to a target electric vehicle so that the target electric vehicle cuts off the power of the motor according to the motor control signal and locks the vehicle lock according to the vehicle lock control signal.
Further, the electric vehicle parking program when executed by the processor further implements the following operations:
analyzing the target image to generate an analysis result;
when the analysis result shows that the target electric vehicle is located in a parking wire frame in a preset parking area, judging that the target electric vehicle is parked at a preset correct position;
and when the analysis result shows that the target electric vehicle is not positioned in a parking wire frame in a preset parking area, judging that the target electric vehicle is not parked at a preset correct position.
Further, the electric vehicle parking program when executed by the processor further implements the following operations:
denoising the target image, and extracting image characteristics from the denoised target image;
dividing the image characteristics into electric vehicle characteristics and parking wire frame characteristics according to a preset characteristic set;
determining the relative distance between the target electric vehicle and a parking wire frame according to the electric vehicle characteristics and the parking wire frame characteristics;
and comparing the relative distance with a preset distance threshold value, and generating an analysis result according to a comparison result.
Further, the electric vehicle parking program when executed by the processor further implements the following operations:
determining an electric vehicle centroid of the electric vehicle characteristic and determining a parking wire frame centroid of the parking wire frame characteristic;
obtaining a straight-line distance from the center of mass of the electric vehicle to the center of mass of the parking wire frame;
and determining the relative distance between the target electric vehicle and a parking wire frame according to a preset image ranging algorithm and the linear distance.
Further, the electric vehicle parking program when executed by the processor further implements the following operations:
comparing the relative distance with a preset distance threshold value and generating a comparison result;
when the comparison result is that the relative distance is smaller than or equal to the preset distance threshold, judging that the analysis result is that the target electric vehicle is located in a parking wire frame in a preset parking area;
and when the comparison result is that the relative distance is greater than the preset distance threshold value, judging that the analysis result is that the target electric vehicle is not located in a parking wire frame in a preset parking area.
Further, the electric vehicle parking program when executed by the processor further implements the following operations:
acquiring the GPS signal intensity of the current running environment of the target electric vehicle;
when the GPS signal intensity is greater than the preset signal intensity, acquiring GPS positioning information of the target electric vehicle;
and judging whether the target electric vehicle is positioned in a preset parking area or not according to the GPS positioning information.
According to the scheme, when the target electric vehicle is detected to be located in the preset parking area and a returning instruction of the target electric vehicle sent by the mobile terminal is received, a camera opening instruction is sent to the target electric vehicle, so that the target electric vehicle opens the camera, a target image is obtained through the camera, and the target image is fed back; analyzing a target image fed back by the target electric vehicle, and judging whether the target electric vehicle stops at a preset correct position according to an analysis result; when the target electric vehicle stops at the preset correct position, the target electric vehicle is returned, and when the target electric vehicle stops at the preset correct position, the target electric vehicle can be normally stopped, so that the normal degree and the accuracy of the target electric vehicle are improved, the pressure of electric vehicle management is reduced, the risk of traffic jam is reduced, and the phenomenon that the electric vehicle is randomly stopped and placed is improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An electric vehicle parking method, characterized by comprising:
when the target electric vehicle is detected to be located in a preset parking area and a returning instruction of the target electric vehicle sent by a mobile terminal is received, sending a camera starting instruction to the target electric vehicle so that the target electric vehicle starts a camera, acquiring a target image through the camera and feeding back the target image;
analyzing a target image fed back by the target electric vehicle, and judging whether the target electric vehicle stops at a preset correct position according to an analysis result;
and when the target electric vehicle stops at a preset correct position, carrying out a vehicle returning process on the target electric vehicle.
2. The electric vehicle parking method according to claim 1, wherein when the target electric vehicle is parked at the preset correct position, the returning process of the target electric vehicle is performed, and specifically comprises:
when the target electric vehicle stops at a preset correct position, generating a motor control signal and a vehicle lock control signal;
and sending the motor control signal and the vehicle lock control signal to a target electric vehicle so that the target electric vehicle cuts off the power of the motor according to the motor control signal and locks the vehicle lock according to the vehicle lock control signal.
3. The electric vehicle parking method according to claim 2, wherein the analyzing the target image fed back by the target electric vehicle and determining whether the target electric vehicle is parked at a preset correct position according to the analysis result specifically comprises:
analyzing the target image to generate an analysis result;
when the analysis result shows that the target electric vehicle is located in a parking wire frame in a preset parking area, judging that the target electric vehicle is parked at a preset correct position;
and when the analysis result shows that the target electric vehicle is not positioned in a parking wire frame in a preset parking area, judging that the target electric vehicle is not parked at a preset correct position.
4. The electric vehicle parking method according to claim 3, wherein the analyzing the target image to generate an analysis result specifically comprises:
denoising the target image, and extracting image characteristics from the denoised target image;
dividing the image characteristics into electric vehicle characteristics and parking wire frame characteristics according to a preset characteristic set;
determining the relative distance between the target electric vehicle and a parking wire frame according to the electric vehicle characteristics and the parking wire frame characteristics;
and comparing the relative distance with a preset distance threshold value, and generating an analysis result according to a comparison result.
5. The electric vehicle parking method according to claim 4, wherein the determining the relative distance between the target electric vehicle and the parking wire frame according to the electric vehicle characteristic and the parking wire frame characteristic specifically comprises:
determining an electric vehicle centroid of the electric vehicle characteristic and determining a parking wire frame centroid of the parking wire frame characteristic;
obtaining a straight-line distance from the center of mass of the electric vehicle to the center of mass of the parking wire frame;
and determining the relative distance between the target electric vehicle and a parking wire frame according to a preset image ranging algorithm and the linear distance.
6. The electric vehicle parking method according to claim 5, wherein the comparing the relative distance with a preset distance threshold and generating an analysis result according to the comparison result specifically comprises:
comparing the relative distance with a preset distance threshold value and generating a comparison result;
when the comparison result is that the relative distance is smaller than or equal to the preset distance threshold, judging that the analysis result is that the target electric vehicle is located in a parking wire frame in a preset parking area;
and when the comparison result is that the relative distance is greater than the preset distance threshold value, judging that the analysis result is that the target electric vehicle is not located in a parking wire frame in a preset parking area.
7. The electric vehicle parking method according to any one of claims 1 to 6, wherein before detecting that a target electric vehicle is located in a preset parking area and receiving a return instruction of the target electric vehicle sent by a mobile terminal, the electric vehicle parking method further comprises sending a camera turn-on instruction to the target electric vehicle to enable the target electric vehicle to turn on a camera, obtain a target image through the camera, and feed back the target image:
acquiring the GPS signal intensity of the current running environment of the target electric vehicle;
when the GPS signal intensity is greater than the preset signal intensity, acquiring GPS positioning information of the target electric vehicle;
and judging whether the target electric vehicle is positioned in a preset parking area or not according to the GPS positioning information.
8. An electric vehicle parking apparatus, comprising:
the system comprises an image acquisition module, a camera starting module and a control module, wherein the image acquisition module is used for sending a camera starting instruction to a target electric vehicle when the target electric vehicle is detected to be located in a preset parking area and a returning instruction of the target electric vehicle sent by a mobile terminal is received, so that the target electric vehicle starts a camera, acquires a target image through the camera and feeds back the target image;
the analysis module is used for analyzing the target image fed back by the target electric vehicle and judging whether the target electric vehicle stops at a preset correct position according to an analysis result;
and the vehicle returning module is used for carrying out vehicle returning flow on the target electric vehicle when the target electric vehicle stops at a preset correct position.
9. An electric vehicle, characterized in that the electric vehicle comprises: an electric vehicle body, a memory, a processor and an electric vehicle parking program stored on the memory and executable on the processor, the electric vehicle parking program being configured to implement the steps of the electric vehicle parking method as claimed in any one of claims 1 to 7.
10. A storage medium having stored thereon an electric vehicle parking program which, when executed by a processor, implements the steps of the electric vehicle parking method as recited in any one of claims 1 to 7.
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