CN110807949B - Parking space detection method and device - Google Patents
Parking space detection method and device Download PDFInfo
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- CN110807949B CN110807949B CN201810884799.3A CN201810884799A CN110807949B CN 110807949 B CN110807949 B CN 110807949B CN 201810884799 A CN201810884799 A CN 201810884799A CN 110807949 B CN110807949 B CN 110807949B
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Abstract
The application discloses parking stall detection method, move from the first end of surveying the parking stall to the second end of surveying the parking stall through control vehicle, wherein, lateral sensors are all installed to the head and the afterbody of vehicle, can regard the distance between head and the afterbody lateral sensor as the benchmark value of measurement parking stall size, and the condition of the barrier that detects according to head and afterbody lateral sensor, can obtain the effective travel time of vehicle, on the basis of the benchmark value of parking stall, combine the effective distance of traveling of vehicle at effective travel time and the compensation volume of the parking stall detection error that the ultrasonic wave of sensor leads to in the lateral direction propagation and revise, can obtain the size of surveying the parking stall. The parking space size can be measured by the lateral sensor without complex positioning calculation, so that the detection process of the parking space is greatly simplified, and the parking space size measuring method has high feasibility and applicability. The application also discloses a parking space detection device.
Description
Technical Field
The present disclosure relates to the field of electronic technologies, and in particular, to a method and an apparatus for detecting a parking space.
Background
With the development of science and technology, vehicles have become more popular vehicles. When a vehicle is used for traveling, for example, driving to a shopping mall, a proper parking space is often required to be found for parking. Therefore, it is necessary to provide a method for detecting the parking space size.
The conventional parking space detection method is realized by a vehicle auxiliary parking system. Specifically, the complex positioning calculation is carried out through rear wheel pulses and a vehicle course angle, and compensation is carried out according to the obstacle profile, the vehicle speed and the distance to the lateral obstacle measured by a lateral radar, so that the size of the parking space is obtained.
The traditional parking space detection method needs complicated calculation transformation and is difficult to be widely applied. Therefore, it is an urgent need to solve the problem of providing a simplified parking space detection method.
Disclosure of Invention
In view of this, the present application provides a method and an apparatus for detecting a parking space, so that detection of a parking space can be achieved through simple operations and calculations, and the method and the apparatus have a wide application prospect.
The application provides a parking space detection method in a first aspect, and the method comprises the following steps:
controlling a vehicle to move from a first end of a detected parking space to a second end of the detected parking space, and recording the effective driving time of the vehicle; the effective running time is determined according to the condition that the head side sensor and the tail side sensor of the vehicle detect the obstacles;
determining an effective driving distance according to the effective driving time;
determining the size of the parking space according to the parking space reference value, the effective driving distance and the compensation amount; the parking space reference value is the distance between the head side sensor and the tail side sensor of the vehicle; the compensation quantity is a compensation value for compensating the parking space detection error caused by the transmission of the ultrasonic waves emitted by the head side sensor and the tail side sensor in the lateral direction.
Optionally, if the effective driving time is the time when neither the head side sensor nor the tail side sensor of the vehicle detects the obstacle;
the determining the size of the parking space according to the parking space reference value, the effective driving distance and the compensation amount comprises the following steps:
and summing the parking space reference value, the effective driving distance and the compensation amount, and taking the sum of the parking space reference value, the effective driving distance and the compensation amount as the size of the parking space.
Optionally, if the effective driving time is the time when the head side sensor and the tail side sensor of the vehicle detect the obstacle simultaneously,
determining the size of the parking space according to the parking space reference value, the effective driving distance and the compensation amount comprises the following steps:
and (4) making a difference between the parking space reference value and the effective driving distance, and summing the obtained difference value and the compensation amount to obtain the size of the parking space.
Optionally, the parking spaces include horizontal parking spaces or vertical parking spaces.
Optionally, the effective travel distance is calculated as follows:
acquiring the speed of the vehicle in the effective running time;
and integrating the speed in the time period of the effective driving time to obtain the effective driving distance.
Optionally, the compensation amount is obtained by looking up a table from a pre-calibrated compensation table according to the lateral distance.
Optionally, the method further includes:
and if the size of the parking space is larger than or equal to a preset parking space threshold value, determining the parking space as an effective parking space.
Optionally, if the parking space is a horizontal parking space, the preset parking space threshold value is the sum of the length of the vehicle body and the first correction value; if the parking space is a vertical parking space, the preset parking space threshold value is the sum of the width of the vehicle body and a second correction value; the first correction value and the second correction value are obtained by parking test according to vehicles of corresponding models.
Optionally, the method further includes:
and if the parking space is a horizontal parking space, determining that the parking space is an invalid parking space when the head side sensor and the tail side sensor of the vehicle simultaneously detect the obstacle.
A second aspect of the present application provides a parking space detection apparatus, including:
the recording unit is used for controlling the vehicle to move from the first end of the detected parking space to the second end of the detected parking space and recording the effective driving time of the vehicle; the effective running time is determined according to the condition that the head side sensor and the tail side sensor of the vehicle detect the obstacles;
the first determining unit is used for determining an effective driving distance according to the effective driving time;
the second determining unit is used for determining the size of the parking space according to the parking space reference value, the effective driving distance and the compensation amount; the parking space reference value is the distance between the head side sensor and the tail side sensor of the vehicle; the compensation quantity is a compensation value for compensating the parking space detection error caused by the transmission of the ultrasonic waves emitted by the head side sensor and the tail side sensor in the lateral direction.
Optionally, the second determining unit is specifically configured to:
and if the effective running time is the time when neither the head side sensor nor the tail side sensor of the vehicle detects the obstacle, summing the parking space reference value, the effective running distance and the compensation amount, and taking the sum of the parking space reference value, the effective running distance and the compensation amount as the size of the parking space.
Optionally, the second determining unit is specifically configured to:
and if the effective running time is the time when the head side sensor and the tail side sensor of the vehicle simultaneously detect the obstacle, the parking space reference value is differed from the effective running distance, and the obtained difference value and the compensation amount are summed to be used as the size of the parking space.
Optionally, the parking spaces include horizontal parking spaces or vertical parking spaces.
Optionally, the first determining unit is specifically configured to:
acquiring the speed of the vehicle in the effective running time;
and integrating the speed in the time period of the effective driving time to obtain the effective driving distance.
Optionally, the compensation amount is obtained by looking up a table from a pre-calibrated compensation table according to the lateral distance.
Optionally, the apparatus further comprises:
and the third determining unit is used for determining the parking space as an effective parking space if the size of the parking space is larger than or equal to a preset parking space threshold value.
Optionally, if the parking space is a horizontal parking space, the preset parking space threshold value is the sum of the length of the vehicle body and the first correction value; if the parking space is a vertical parking space, the preset parking space threshold value is the sum of the width of the vehicle body and a second correction value; the first correction value and the second correction value are obtained by parking test according to vehicles of corresponding models.
Optionally, the apparatus further comprises:
and the fourth determining unit is used for determining that the parking space is an invalid parking space when the head side sensor and the tail side sensor of the vehicle simultaneously detect the obstacle if the parking space is a horizontal parking space.
According to the technical scheme, the embodiment of the application has the following advantages:
in the embodiment of the application, can realize the measurement of parking stall size through head side direction sensor and the afterbody side direction sensor that utilizes the vehicle, specifically be, control the vehicle from the first end of being surveyed the parking stall to the second end of being surveyed the parking stall removes, wherein, side direction sensor is all installed to the head and the afterbody of vehicle, can regard the distance between head and the afterbody side direction sensor as the benchmark value of measuring the parking stall size, and according to the condition of the barrier that head and afterbody side direction sensor detected, can obtain the effective travel time of vehicle, on the basis of the parking stall benchmark value, combine the effective travel distance of vehicle at effective travel time and the compensation volume of the parking stall detection error that the ultrasonic wave of sensor leads to in the lateral direction propagation, can obtain the size of being surveyed the parking stall. The parking space size can be measured by the lateral sensor without complex positioning calculation, so that the detection process of the parking space is greatly simplified, and the parking space size measuring method has high feasibility and applicability.
Drawings
Fig. 1 is a flowchart of a parking space detection method according to an embodiment of the present application;
fig. 2 is a schematic diagram illustrating a parking space size detection of a horizontal parking space in an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating an exemplary embodiment of a parking space size detection for a vertical parking space;
FIG. 4 is a schematic diagram illustrating a detection of a vertical parking space according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a parking space detection device according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Aiming at the technical problem that in the prior art, a parking space needs to be subjected to complex positioning calculation through rear wheel pulses and a vehicle course angle, and the detection method is complex due to the fact that compensation is carried out according to the profile of an obstacle, the vehicle speed and the distance from a lateral radar to the lateral obstacle, the embodiment of the application provides a parking space detection method, which comprises the steps of controlling a vehicle to move from a first end of the detected parking space to a second end of the detected parking space, wherein lateral sensors are mounted on the head portion and the tail portion of the vehicle, the distance between the head portion and the tail portion of the vehicle can be used as a reference value for measuring the size of the parking space, the effective driving time of the vehicle can be obtained according to the condition of the obstacle detected by the head portion and the tail portion of the vehicle, and the compensation quantity of parking space detection errors caused by the effective driving distance of the vehicle in the effective driving time and the transmission of ultrasonic waves of the sensors in the lateral direction is combined to correct on the basis of the reference value of the parking space, the size of the measured parking space can be obtained.
According to the method, complicated positioning calculation is not required to be carried out through rear wheel pulses and the vehicle course angle, the side sensors at the head and the tail of the vehicle are used as 'rulers' for measuring the parking space, and the size of the parking space can be determined by carrying out simple addition and subtraction operation on the basis of the 'rulers'. Therefore, the parking space detection method is greatly simplified, and in the detection process, the detection value is corrected through the corresponding compensation quantity, so that the accuracy of the detection result is guaranteed. The method has wide applicability because the size of the parking space can be detected quickly and accurately.
In order to make the technical solution of the embodiment of the present application clearer, a method for detecting a parking space provided in the embodiment of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a parking space detection method according to an embodiment of the present application, and referring to fig. 1, the method includes:
s101: controlling a vehicle to move from a first end of a detected parking space to a second end of the detected parking space, and recording the effective driving time of the vehicle; the effective travel time is determined according to the condition that the head side sensor and the tail side sensor of the vehicle detect the obstacles.
The tested parking space is the parking space with the size to be tested. The parking space is provided with an entrance and an exit for a driver to park or take a car. The two ends of the entrance are the first end and the second end of the parking space. As an example of the application, one end on the left side of the parking space can be used as a first end, and one end on the right side can be used as a second end. In some cases, the right end may be used as the first end, and the left end may be used as the second end, which is not limited in the embodiments of the present application.
In order to detect the size of the detected parking space and determine whether the parking space is suitable for current vehicle parking, a head side sensor and a tail side sensor which are installed on the vehicle can be used as a ruler, the vehicle is controlled to move from a first end to a second end of the detected parking space, and therefore the ruler can also move, and the size of the parking space can be calculated according to the length of the ruler, the driving distance of the vehicle in a certain specific time period and the like. For example, in the case of a large parking space, the driving distance of a specific time period may be increased based on the length of the ruler to obtain the size of the parking space. For ease of understanding, the specific time period may be recorded as an effective travel time of the vehicle.
Therefore, when the vehicle is controlled to move from the first end to the second end of the detected parking space, the effective running time can be recorded. Wherein the effective travel time is determined according to the condition that the head side sensor and the tail side sensor of the vehicle detect the obstacles.
S102: and determining an effective driving distance according to the effective driving time.
After the effective travel time is determined, the effective travel distance can be calculated according to the speed of the vehicle. Specifically, the speed of the vehicle in the effective driving time can be acquired, and the speed is integrated in the effective driving time period to obtain the effective driving distance.
If the speed of the vehicle in the effective travel time is represented by v and the effective travel time is represented by t, the effective travel distance may be ^ vdt. V can be regarded as a function of time t, and the effective travel distance can be obtained by integrating v in the time domain. It should be noted that if v is a constant, that is, if the vehicle is traveling at a constant speed v, the effective travel distance may be represented as v · t.
S103: determining the size of the parking space according to the parking space reference value, the effective driving distance and the compensation amount; the parking space reference value is the distance between the head side sensor and the tail side sensor of the vehicle; the compensation quantity is a compensation value for compensating the parking space detection error caused by the transmission of the ultrasonic waves emitted by the head side sensor and the tail side sensor in the lateral direction.
In the embodiment, the measurement is performed by using the side sensor installed at the head and the side sensor installed at the tail of the vehicle as a ruler, and the length of the ruler is a reference value for measuring the size of the parking space, that is, a parking space reference value. For convenience of description, the symbol L may be used to indicate that the parking space reference value is a distance between the head side sensor and the tail side sensor of the vehicle. The head side sensor and the tail side sensor can be installed at different positions and angles, and the size of the vehicle is different, so that the parking space reference value can be different for different vehicles.
The head side sensor and the tail side sensor detect obstacles by emitting ultrasonic waves, and the vehicle still runs when the ultrasonic waves are propagated in the lateral direction, so that a certain deviation exists in an effective running distance, and a parking space detection error caused by the propagation of the ultrasonic waves emitted by the head side sensor and the tail side sensor in the lateral direction can be compensated. For different lateral distances, different compensation values may exist. In this embodiment, a compensation value for a parking space detection error caused by propagation of an ultrasonic wave emitted from a sensor in a lateral direction is used as a compensation amount.
The compensation amount can be obtained by looking up a table from a pre-calibrated compensation table according to the lateral distance. The compensation table is a table for representing compensation amounts corresponding to different lateral distances. In some possible implementations, the compensation table may be obtained by the following calibration experiment. Specifically, a plurality of groups of experiments are set, each group of experiments corresponds to different lateral distances, the vehicle is controlled to move from one end of the parking space to the other end of the parking space, an effective driving distance and a parking space reference value are calculated, then the actual value of the parking space is measured through measuring tools such as a tape measure, and the compensation amount corresponding to the lateral distance is determined according to the actual value of the parking space, the parking space reference value and the effective driving distance. In the calibration experiment, each group of experiments can be repeatedly executed, and the average value is calculated to be used as the compensation amount, so that a more accurate compensation table can be obtained, and more accurate detection of the size of the parking space is facilitated.
After the parking space reference value, the effective driving distance and the compensation amount are determined, the size of the parking space can be determined according to the parking space reference value, the effective driving distance and the compensation amount. The parking space size is determined according to the parking space reference value, the effective driving distance and the compensation amount, the parking space reference value, the effective driving distance, the compensation amount and the like are simply added and subtracted, and the parking space detection can be realized without complex positioning calculation in the prior art.
After the size of the parking space is determined, the parking space can be further judged, and whether the parking space is an effective space or not is determined. In some possible implementation manners of this embodiment, if the size of the parking space is greater than or equal to the preset parking space threshold, the parking space is determined as the effective parking space. The effective parking space is a parking space which can be used for parking, and when the detected parking space is determined to be the effective parking space, the size of the detected parking space indicates that the current vehicle can be parked.
The preset parking space threshold value is a standard for judging whether the parking space is effective or not. Can set up the different parking stall threshold values of predetermineeing to the parking stall of different grade type, for example, can set up one to the horizontal parking stall and predetermine the parking stall threshold value, set up another to perpendicular parking stall and predetermine the parking stall threshold value. If the parking space is a horizontal parking space, the preset parking space threshold value can be obtained by performing parking test according to the vehicle with the corresponding model after the vehicle length and the first correction value are set, and if the parking space is a vertical parking space, the preset parking space threshold value is the vehicle width and the second correction value. The parking test means that parking is respectively carried out in parking spaces with different sizes, the size of the parking space which can just park is determined, the parking spaces smaller than the size cannot park, and the parking spaces larger than the size can park. And subtracting the length of the vehicle body from the size of the horizontal parking space to obtain a first correction value, and subtracting the width of the vehicle body from the size of the vertical parking space to obtain a second correction value. In some possible implementations, the first correction value and the second correction value may be set according to an empirical value, for example, the first correction value may be 0.8m, which is not limited in this embodiment.
From the above, the embodiments of the present application provide a method for detecting a parking space, which can measure the size of the parking space by using a head side sensor and a tail side sensor of a vehicle, and specifically, control the vehicle to move from a first end of a detected parking space to a second end of the detected parking space, wherein, the head and the tail of the vehicle are both provided with side sensors, the distance between the head side sensor and the tail side sensor can be used as a reference value for measuring the size of the parking space, and according to the condition of the obstacles detected by the head and tail side sensors, the effective running time of the vehicle can be obtained, on the basis of the parking space reference value, the effective driving distance of the vehicle in the effective driving time and the compensation quantity of the parking space detection error caused by the transmission of the ultrasonic wave of the sensor in the lateral direction are combined for correction, so that the size of the detected parking space can be obtained. The parking space size can be measured by the lateral sensor without complex positioning calculation, so that the detection process of the parking space is greatly simplified, and the parking space size measuring method has high feasibility and applicability.
In the above-described embodiments, there are many possibilities in the case where the head side sensor and the tail side sensor of the vehicle detect an obstacle, for example, neither the head side sensor nor the tail side sensor detects an obstacle, both the head side sensor and the tail side sensor detect an obstacle, neither the head side sensor detects an obstacle but the tail side sensor detects an obstacle, or both the head side sensor and the tail side sensor detect an obstacle but the tail side sensor does not detect an obstacle.
The following describes a process of determining an effective travel time according to a detected obstacle and determining a parking space size according to a parking space reference value, an effective travel distance, and a compensation amount, with reference to the drawings.
In the case of a large parking space, the effective driving time may be a time when neither the head side sensor nor the tail side sensor of the vehicle detects an obstacle. For ease of understanding, the description is made in connection with a vehicle movement process. The vehicle is controlled to advance from the first end to the second end, and the vehicle can go through the following stages in the moving process, wherein the stages comprise that the head side sensor does not detect the obstacle, the tail side sensor detects the obstacle, the head side sensor does not detect the obstacle as the moving process, the tail side sensor changes from the obstacle detection state to the obstacle non-detection state, then, the head side sensor changes from the obstacle non-detection state to the obstacle detection state, and the tail side sensor does not detect the obstacle. The time period between the first time t1 and the second time t2 is the time when neither the head side sensor nor the tail side sensor detects the obstacle, that is, the effective driving time of the vehicle. The time difference between the first time t1 and the second time t2 may be acquired as the effective travel time. Under the condition that time delay of ultrasonic waves emitted by the sensors is not considered, the size of the detected parking space is equal to the sum of the distance between the head side sensor and the tail side sensor of the vehicle, namely a parking space reference value, and the distance of the vehicle in the effective driving time, namely the effective driving distance. When considering the propagation delay, it is also necessary to increase the amount of compensation on the basis of the above. The size of the detected parking space is equal to the sum of the parking space reference value, the effective driving distance and the compensation amount.
Fig. 2 shows a schematic diagram of a detection of a space size of a horizontal space. As shown in fig. 2, the vehicle travels from the first end to the second end of the parking space at a speed v, when the head of the vehicle does not detect an obstacle, and the tail of the vehicle changes from detecting an obstacle to just not detecting an obstacle, the time is recorded as a first time t1, and along with the movement of the vehicle, when the head of the vehicle changes from not detecting an obstacle to just detecting an obstacle, and the tail of the vehicle does not detect an obstacle, the time is recorded as a second time t2, then the effective travel time can be represented by t2-t1, and t2-t1 is the time when neither the head side sensor nor the tail side sensor of the vehicle detects an obstacle.
In the example of fig. 2, the measured parking space size can be calculated by the following formula in consideration of the compensation amount:
wherein, S represents the size of the detected parking space, v represents the vehicle speed, D represents the lateral distance from the lateral sensor to the obstacle, and f (D) represents the corresponding compensation amount under the condition that the lateral distance is D.
For a vertical parking space, there is also a case where neither the head side sensor nor the tail side sensor of the vehicle detects an obstacle. Fig. 3 shows a schematic diagram of the detection of the size of a vertical parking space. The effective travel time can be determined in the same manner as in fig. 2, and a similar measured vehicle location can also be calculated according to equation (1).
In some cases, for example, when the parking space is small, when the vehicle moves from the first end to the second end of the parking space, there is no case where neither the head side sensor nor the tail side sensor of the vehicle detects an obstacle, and the effective driving time of the vehicle is the time when both the head side sensor and the tail side sensor of the vehicle detect an obstacle. Specifically, the vehicle is controlled to move forward from the first end to the second end, and the vehicle can go through the following stages in the moving process, including that the head side sensor does not detect the obstacle, the tail side sensor detects the obstacle at the first end, the head side sensor changes from not detecting the obstacle to just detecting the obstacle at the second end as the movement progresses, the tail side sensor detects the obstacle at the first end, namely, both the head side sensor and the tail side sensor detect the obstacle, and the vehicle continues to move forward until the head side sensor detects the obstacle at the second end, and the tail side sensor just does not detect the obstacle at the first end. The head side sensor is changed from not detecting the obstacle to just detecting the second end obstacle, the time when the tail side sensor detects the first end obstacle is recorded as a third time t3, the head side sensor detects the obstacle, the time when the tail side sensor changes from detecting the obstacle to just not detecting the first end obstacle is recorded as a fourth time t4, and the time period between the third time t3 and the fourth time t4 is the time when the head side sensor and the tail side sensor of the vehicle detect the obstacle at the same time, namely the effective running time of the vehicle.
Under the condition that time delay of ultrasonic waves emitted by the sensors is not considered, the size of the detected parking space is equivalent to the difference between the distance between the head side sensor and the tail side sensor of the vehicle, namely the parking space reference value, and the distance of the vehicle in the effective driving time, namely the effective driving distance. When considering the propagation delay, it is also necessary to increase the amount of compensation on the basis of the above. The size of the detected parking space is equivalent to the sum of the difference between the parking space reference value and the effective driving distance and the compensation amount. Based on the above, if the effective driving time is the time when the head side sensor and the tail side sensor of the vehicle detect the obstacle at the same time, the parking space reference value and the effective driving distance are differed, and the obtained difference value and the compensation amount are summed to be used as the size of the parking space.
In this case, if the vehicle speed is v, the compensation amount is f (d), and the parking space reference value is L, the parking space size S can be calculated by the following formula:
it should be noted that the compensation quantity f (D) is relatively small and is generally smaller than the effective travel distance
Therefore, the space size S is smaller than L. If the parking stall is horizontal parking stall, be less than the parking stall benchmark value when the parking stall size, just also be less than automobile body length, the vehicle will unable the parking, can be directly confirm invalid parking stall with the parking stall. That is, if the parking space is a horizontal parking space, and when the head side sensor and the tail side sensor of the vehicle detect the obstacle at the same time, the parking space can be directly determined as an invalid parking space, and subsequent calculation is not needed.
When the parking space is a vertical parking space, the vehicle has the possibility of parking even if the size S of the parking space is smaller than the parking space reference value and smaller than the length of the vehicle body. The method provided by the embodiment can be used for detecting the size of the parking space so as to determine whether the detected parking space is suitable for parking the current vehicle.
Fig. 4 shows a schematic diagram of detecting the size of a vertical parking space. As shown in fig. 4, when the vehicle starts from the first end to the second end of the parking space, the head of the vehicle just detects no obstacle, the tail of the vehicle detects an obstacle, the head side sensor changes from not detecting an obstacle to just detecting the second end obstacle along with the movement of the vehicle, and the tail side sensor of the vehicle detects the first end obstacle, the time may be referred to as a third time t3, as the vehicle advances, the vehicle head side sensor detects the obstacle at the second end, the vehicle tail side sensor changes from detecting the obstacle at the first end to just not detecting the obstacle at the first end, and the time may be referred to as a fourth time t4, where a time period between the third time t3 and the fourth time t4 is a time when the vehicle head side sensor and the vehicle tail side sensor detect the obstacle at the same time, that is, an effective travel time of the vehicle. And then, inquiring the compensation amount corresponding to the current lateral distance through a compensation table, acquiring a parking space reference value L, and calculating the size of the vertical parking space according to the formula (2).
The above embodiments of the method for detecting a parking space provided in the embodiments of the present application are based on some specific implementation manners, and the embodiments of the present application further provide a device for detecting a parking space. Next, the parking space detection device provided in the embodiment of the present application will be described in terms of functional modularization.
Fig. 5 is a schematic structural diagram of a parking space detection device according to an embodiment of the present application, and referring to fig. 5, the device 500 includes:
the recording unit 510 is configured to control a vehicle to move from a first end of a detected parking space to a second end of the detected parking space, and record effective driving time of the vehicle; the effective running time is determined according to the condition that the head side sensor and the tail side sensor of the vehicle detect the obstacles;
a first determining unit 520, configured to determine an effective driving distance according to the effective driving time;
a second determining unit 530, configured to determine the size of the parking space according to the parking space reference value, the effective driving distance, and the compensation amount; the parking space reference value is the distance between the head side sensor and the tail side sensor of the vehicle; the compensation quantity is a compensation value for compensating the parking space detection error caused by the transmission of the ultrasonic waves emitted by the head side sensor and the tail side sensor in the lateral direction.
Optionally, the second determining unit 530 is specifically configured to:
and if the effective running time is the time when neither the head side sensor nor the tail side sensor of the vehicle detects the obstacle, summing the parking space reference value, the effective running distance and the compensation amount, and taking the sum of the parking space reference value, the effective running distance and the compensation amount as the size of the parking space.
Optionally, the second determining unit 530 is specifically configured to:
and if the effective running time is the time when the head side sensor and the tail side sensor of the vehicle simultaneously detect the obstacle, the parking space reference value is differed from the effective running distance, and the obtained difference value and the compensation amount are summed to be used as the size of the parking space.
Optionally, the parking spaces include horizontal parking spaces or vertical parking spaces.
Optionally, the first determining unit 520 is specifically configured to:
acquiring the speed of the vehicle in the effective running time;
and integrating the speed in the time period of the effective driving time to obtain the effective driving distance.
Optionally, the compensation amount is obtained by looking up a table from a pre-calibrated compensation table according to the lateral distance.
Optionally, the apparatus further comprises:
and the third determining unit is used for determining the parking space as an effective parking space if the size of the parking space is larger than or equal to a preset parking space threshold value.
Optionally, if the parking space is a horizontal parking space, the preset parking space threshold value is the sum of the length of the vehicle body and the first correction value; if the parking space is a vertical parking space, the preset parking space threshold value is the sum of the width of the vehicle body and a second correction value; the first correction value and the second correction value are obtained by parking test according to vehicles of corresponding models.
Optionally, the apparatus further comprises:
and the fourth determining unit is used for determining that the parking space is an invalid parking space when the head side sensor and the tail side sensor of the vehicle simultaneously detect the obstacle if the parking space is a horizontal parking space.
Therefore, the embodiment of the present application provides a parking space detection device, which can measure a size of a parking space by using a head side sensor and a tail side sensor of a vehicle, and specifically, control the vehicle to move from a first end of the detected parking space to a second end of the detected parking space, wherein the head and the tail of the vehicle are both provided with the side sensors, a distance between the head side sensor and the tail side sensor can be used as a reference value for measuring the size of the parking space, and an effective driving time of the vehicle can be obtained according to a condition of an obstacle detected by the head side sensor and the tail side sensor, and on the basis of the reference value of the parking space, the effective driving distance of the vehicle in the effective driving time and a compensation amount of a parking space detection error caused by the propagation of ultrasonic waves of the sensor in the lateral direction are combined for correction, so that the size of the detected parking space can be obtained. The parking space size can be measured by the lateral sensor without complex positioning calculation, so that the detection process of the parking space is greatly simplified, and the parking space size measuring method has high feasibility and applicability.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
Claims (7)
1. A method of detecting a parking space, the method comprising:
controlling a vehicle to move from a first end of a detected parking space to a second end of the detected parking space, and recording the effective driving time of the vehicle; the effective running time is determined according to the condition that the head side sensor and the tail side sensor of the vehicle detect the obstacles;
determining an effective driving distance according to the effective driving time;
determining the size of the parking space according to the parking space reference value, the effective driving distance and the compensation amount; the parking space reference value is the distance between the head side sensor and the tail side sensor of the vehicle; the compensation quantity is a compensation value for compensating a parking space detection error caused by the fact that ultrasonic waves emitted by the head side sensor and the tail side sensor are spread in the lateral direction; the compensation quantity is obtained by looking up a table from a pre-calibrated compensation table according to the lateral distance, and the compensation quantity corresponding to the lateral distance in the pre-calibrated compensation table is determined according to the actual parking space value, the reference parking space value and the effective driving distance;
if the effective running time is the time when neither the head side sensor nor the tail side sensor of the vehicle detects the obstacle; the determining the size of the parking space according to the parking space reference value, the effective driving distance and the compensation amount comprises the following steps: summing the parking space reference value, the effective driving distance and the compensation amount, and taking the sum of the parking space reference value, the effective driving distance and the compensation amount as the size of the parking space;
if the effective driving time is the time when the head side sensor and the tail side sensor of the vehicle detect the obstacle at the same time, determining the size of the parking space according to the parking space reference value, the effective driving distance and the compensation amount comprises the following steps: and (4) making a difference between the parking space reference value and the effective driving distance, and summing the obtained difference value and the compensation amount to obtain the size of the parking space.
2. The method of claim 1, wherein the slots comprise horizontal slots or vertical slots.
3. The method according to any one of claims 1 to 2, characterized in that the effective driving distance is calculated by:
acquiring the speed of the vehicle in the effective running time;
and integrating the speed in the time period of the effective driving time to obtain the effective driving distance.
4. The method according to any one of claims 1 to 2, further comprising:
and if the size of the parking space is larger than or equal to a preset parking space threshold value, determining the parking space as an effective parking space.
5. The method according to claim 4, wherein if the parking space is a horizontal parking space, the preset parking space threshold is the sum of the length of the vehicle body and the first correction value; if the parking space is a vertical parking space, the preset parking space threshold value is the sum of the width of the vehicle body and a second correction value; the first correction value and the second correction value are obtained by parking test according to vehicles of corresponding models.
6. The method according to any one of claims 1 to 2, further comprising:
and if the parking space is a horizontal parking space, determining that the parking space is an invalid parking space when the head side sensor and the tail side sensor of the vehicle simultaneously detect the obstacle.
7. A parking space detection device, comprising:
the recording unit is used for controlling the vehicle to move from the first end of the detected parking space to the second end of the detected parking space and recording the effective driving time of the vehicle; the effective running time is determined according to the condition that the head side sensor and the tail side sensor of the vehicle detect the obstacles;
the first determining unit is used for determining an effective driving distance according to the effective driving time;
the second determining unit is used for determining the size of the parking space according to the parking space reference value, the effective driving distance and the compensation amount; the parking space reference value is the distance between the head side sensor and the tail side sensor of the vehicle; the compensation quantity is a compensation value for compensating a parking space detection error caused by the fact that ultrasonic waves emitted by the head side sensor and the tail side sensor are spread in the lateral direction; the compensation quantity is obtained by looking up a table from a pre-calibrated compensation table according to the lateral distance, and the compensation quantity corresponding to the lateral distance in the pre-calibrated compensation table is determined according to the actual parking space value, the reference parking space value and the effective driving distance;
the second determining unit is specifically configured to determine that the effective driving time is the time when neither the head side sensor nor the tail side sensor of the vehicle detects the obstacle; summing the parking space reference value, the effective driving distance and the compensation amount, and taking the sum of the parking space reference value, the effective driving distance and the compensation amount as the size of the parking space; and if the effective running time is the time when the head side sensor and the tail side sensor of the vehicle simultaneously detect the obstacle, the parking space reference value is differed from the effective running distance, and the obtained difference value and the compensation amount are summed to be used as the size of the parking space.
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| CN113553881A (en) * | 2020-04-23 | 2021-10-26 | 华为技术有限公司 | Parking space detection method and related device |
| CN112764042B (en) * | 2020-12-28 | 2023-11-21 | 上海汽车集团股份有限公司 | Obstacle detection and tracking method and device |
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| DE10216346A1 (en) * | 2002-04-13 | 2003-10-23 | Valeo Schalter & Sensoren Gmbh | Parking assistance system for a motor vehicle in which the length and depth of a parking space are determined using side mounted distance sensors and a vehicle path sensor, with said measurements being corrected for vehicle speed |
| DE102011013681A1 (en) * | 2011-03-11 | 2012-09-13 | Valeo Schalter Und Sensoren Gmbh | A method for detecting a parking space, parking assistance system and motor vehicle with a parking assistance system |
| CN102431551B (en) * | 2011-11-18 | 2014-06-11 | 奇瑞汽车股份有限公司 | Parking space detecting method and parking space detecting system |
| CN104821101A (en) * | 2015-04-29 | 2015-08-05 | 惠州华阳通用电子有限公司 | Method for detecting inclined-parking parking place and device thereof |
| CN106671974B (en) * | 2015-11-10 | 2019-09-20 | 新乡航空工业(集团)有限公司 | A kind of method for detecting parking stalls for Intelligent parking system |
| CN105608924A (en) * | 2016-02-18 | 2016-05-25 | 广州橙行智动汽车科技有限公司 | Parking space detection method based on ultrasonic radar |
| CN108281041A (en) * | 2018-03-05 | 2018-07-13 | 东南大学 | A kind of parking space's detection method blended based on ultrasonic wave and visual sensor |
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