CN110874950B - Navigation system/method for parking of user, computer readable storage medium and device - Google Patents
Navigation system/method for parking of user, computer readable storage medium and device Download PDFInfo
- Publication number
- CN110874950B CN110874950B CN201811020377.8A CN201811020377A CN110874950B CN 110874950 B CN110874950 B CN 110874950B CN 201811020377 A CN201811020377 A CN 201811020377A CN 110874950 B CN110874950 B CN 110874950B
- Authority
- CN
- China
- Prior art keywords
- parking
- image data
- vehicle
- area
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000012545 processing Methods 0.000 claims abstract description 54
- 238000004891 communication Methods 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 11
- 238000012795 verification Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000013481 data capture Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000019800 disodium phosphate Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
Abstract
The invention provides a navigation system/method, a computer readable storage medium and a device for parking by a user, wherein the system comprises: the system comprises a plurality of groups of first data acquisition modules, a plurality of groups of second data acquisition modules and a plurality of data processing modules, wherein each group of first data acquisition modules is arranged on a lane of a parking area and is used for acquiring real-time area image data signals in the parking area and image data signals of vehicles entering the parking area; each reflection signal capturing module is arranged at a parking space and used for capturing reflection signals generated when a vehicle enters the parking space; and the central processing module is used for simulating a real-time three-dimensional scene of the parking area according to the real-time area image data signal so as to acquire available vacancy information in the parking area, planning a navigation path for a newly entered vehicle, and simulating the three-dimensional scene of the parking area at the current moment according to the image data signal of the vehicle and the reflection signal. The invention realizes the real-time capture of the barrier information while reducing the investment cost, and improves the safety factor of the passenger car parking.
Description
Technical Field
The invention belongs to the technical field of passenger car parking, and relates to a navigation system and a method, in particular to a navigation system/method, a computer readable storage medium and a device for parking by a user.
Background
In recent years, a plurality of solutions for automatic passenger-replacing parking appear in the market, and the solutions are all expected to realize a scene that a driver gets off a vehicle at a specified place and can automatically drive the vehicle from a falling point to an empty parking space for parking through an automatic passenger-replacing parking technology under the condition that people do not enter a parking lot.
No matter the technical scheme based on LIDAR (laser radar) or the technical scheme of robot lift car, the characteristics of this kind of scheme are: the costs involved in the infrastructure are very high, and there is no technical solution that can be balanced between vehicle and parking technology.
Therefore, how to provide a navigation system/method, computer readable storage medium and device for parking by a user to solve the problems of high cost in infrastructure and unbalanced technology between vehicle and parking in the prior art has become a technical problem to be urgently solved by the people in the art
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide a navigation system/method, computer-readable storage medium and device for parking by a user, which can solve the problems of the prior art that the investment in infrastructure is high and the balance between the vehicle and the parking technology is not balanced.
In order to achieve the above and other related objects, an aspect of the present invention provides a navigation system for parking by a user, which is disposed in a parking area composed of a plurality of parking spaces and lanes, wherein the parking spaces are in a checkerboard shape; the navigation system for parking by the user comprises: the system comprises a plurality of groups of image data capturing modules, wherein each group of first data acquisition modules is arranged on a lane of a parking area and is used for capturing real-time area image data signals in the parking area and image data signals of vehicles entering the parking area; the system comprises a plurality of reflected signal capturing modules, a plurality of control modules and a plurality of control modules, wherein each reflected signal capturing module is arranged on a parking space and used for capturing a reflected signal generated when a vehicle enters the parking space; and the central processing module is respectively in communication connection with the image data capturing module and the reflected signal capturing module and is used for simulating a real-time three-dimensional scene of the parking area according to the real-time area image data signal so as to obtain available vacancy information in the parking area, planning a navigation path for a newly entered vehicle and simulating the three-dimensional scene of the parking area at the current moment according to the image data signal of the vehicle and the reflected signal.
In one embodiment of the present invention, sets of image data capture modules form an image capture array within the parking area.
In an embodiment of the present invention, a parking spot is disposed at an entrance of the parking area, and a coverage signal capturing module connected to the central processing module is installed at the parking spot, and is configured to capture a coverage signal of a vehicle covering the parking spot and transmit the coverage signal to the central processing module; and after receiving the coverage signal, the central processing module sends a link request for communication link with the vehicle, receives verification information fed back by the vehicle at the central processing module so as to verify the vehicle, and after successful verification, performs handshake with the vehicle.
In an embodiment of the present invention, the reflection signal generated when the vehicle enters the parking space and captured by the reflection signal capturing module is depth data generated by a depth of the vehicle entering the parking space; after the central processing module detects that the depth signal exceeds a preset depth threshold value, the vehicle is indicated to enter the parking space; depth data is the length/width-reflection distance of the parking space; wherein the reflection distance is one half of the time from the transmission of the reflection signal to the reception of the reflection signal multiplied by the wave speed of the sound wave.
In an embodiment of the invention, the real-time area image data signals include area image data signals without occlusion information in all parking spaces or area image data signals with occlusion information in parking spaces.
In an embodiment of the present invention, if the real-time area image data signal is an area image data signal without occlusion information on the parking space, after receiving the coverage signal, the central processing module obtains a contour data signal of the vehicle according to the image data signal of the vehicle, searches for an available parking space and plans a navigation path according to a user requirement, and sends the navigation path to the vehicle to guide the vehicle to enter the available parking space; judging whether the vehicle completely enters the available parking space or not according to the proportion of the profile data signal of the vehicle occupying the available parking space and depth data generated by the depth of the vehicle entering the parking space, if so, enabling the image data capturing module corresponding to the position of the available parking space to capture a shielding signal for shielding the available parking space, and simulating a three-dimensional scene of the parking area at the current moment according to the shielding signal; if the real-time area image data signal is an area image data signal with shielding information on a parking space, the central processing module compares the image data signal at the initial moment with the image data signal at the current moment to acquire available vacancy information in the parking area; after the central processing module receives the coverage signal, searching an available parking space and planning a navigation path according to the user requirement, and sending the navigation path to the vehicle so as to guide the vehicle to enter the searched available parking space; judging whether the vehicle completely enters the available parking space or not according to the proportion of the profile data signal of the vehicle occupying the available parking space and depth data generated by the depth of the vehicle entering the available parking space; if yes, enabling the image data capturing module corresponding to the position of the available parking space to capture a shielding signal for shielding the available parking space, and simulating a three-dimensional scene of the parking area at the current moment according to the shielding signal.
In an embodiment of the present invention, the vehicle is configured with the reflected signal capturing module; if the reflected signal capturing module arranged on the vehicle detects whether an obstacle exists on a navigation path and detects whether the distance between the obstacle and the vehicle head exceeds a preset distance; if so, transmitting an obstacle signal to the central processing module so that the central processing module can plan the navigation path again; and if not, indicating the vehicle to continue to travel according to the navigation path.
The invention provides a navigation method for parking by a user, which is arranged in a parking area consisting of a plurality of parking spaces and lanes, wherein the parking spaces are in a checkerboard shape; the navigation method for parking of the user comprises the following steps: when a real-time area image data signal in the parking area is captured, simulating a real-time three-dimensional scene of the parking area according to the real-time area image data signal to acquire available vacancy information in the parking area and plan a navigation path for a newly entered vehicle; when a new vehicle entering the parking area is detected, capturing an image data signal of the vehicle entering the parking area and a reflection signal generated when the vehicle enters the parking space, and simulating a three-dimensional scene of the parking area at the current moment according to the image data signal of the vehicle and the reflection signal.
Still another aspect of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for navigating a parking of a user.
In a final aspect, the present invention provides a device for parking a vehicle in a parking area comprising a plurality of parking spaces and lanes, wherein the parking spaces are tessellated; the device comprises: data acquisition equipment, with processor and the memory that data acquisition equipment is connected: the memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory to enable the processor to execute the navigation method for parking by the user according to claim 8.
In an embodiment of the invention, the data acquisition device includes: the cameras in each group are respectively arranged on two sides of a lane of the stopping area; the interval distances between the cameras positioned on the same lane are the same; the parking sensors are arranged on a parking space; and/or a millimeter wave radar is arranged between two adjacent cameras positioned on one side of the lane.
In an embodiment of the invention, the parking sensor is an ultrasonic sensor.
In an embodiment of the present invention, the vehicle is configured with the ultrasonic sensor; if the ultrasonic sensor arranged on the vehicle detects whether an obstacle exists on a navigation path and detects whether the distance between the obstacle and the vehicle head exceeds a preset distance; if yes, transmitting an obstacle signal to the processor so that the processor replans a navigation path; if not, indicating the vehicle to continue to travel according to the navigation path
As described above, the navigation system/method, computer-readable storage medium and apparatus for parking by a user according to the present invention have the following advantages:
the navigation system/method, the computer readable storage medium and the device for parking by the user realize the real-time capture of the barrier information and improve the safety factor of the passenger car parking by utilizing the existing safety monitoring camera facility in the parking area while reducing the investment cost.
Drawings
Fig. 1 is a schematic view of a parking area to which the present invention is applied.
Fig. 2 is a schematic structural diagram of a navigation system for parking by a user according to an embodiment of the present invention.
Fig. 3A is a schematic view of an application scenario of the image data capturing module according to the present invention.
Fig. 3B is a schematic diagram of another application scenario of the image data capturing module according to the present invention.
Fig. 3C is a schematic view illustrating an application scenario of the reflection signal capturing module in a parking space according to the present invention.
Fig. 4 is a flowchart illustrating a navigation method for parking by a user according to an embodiment of the present invention.
Description of the element reference numerals
1 parking area
11 parking space
12 lanes
13 point of falling
Navigation system for parking of 2 users
21 image data capturing module
22 reflection signal capture module
23 overlay signal capture module
25 central processing module
S41-S43 steps
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the type, amount and proportion of each component in actual implementation can be changed freely, and the layout of the components can be more complicated.
The technical principles of the navigation system/method, the computer readable storage medium and the device for parking by the user provided by the invention are as follows:
the method comprises the steps of reasonably arranging a sensor and a camera component in a parking lot to acquire data of vehicle entering, searching available parking places, planning a navigation path, and then sending the data to a central controller (including CAN bus control) of the vehicle in a wireless transmission mode to realize automatic parking control of the vehicle.
Example one
The embodiment provides a navigation system for parking by a user, which is applied to a parking area consisting of a plurality of parking spaces and lanes, wherein the parking spaces are in a checkerboard shape; the navigation system for parking by the user comprises:
the system comprises a plurality of groups of image data capturing modules, wherein each group of first data acquisition modules is arranged on a lane of a parking area and is used for capturing real-time area image data signals in the parking area and image data signals of vehicles entering the parking area;
the system comprises a plurality of reflected signal capturing modules, a plurality of control modules and a plurality of control modules, wherein each reflected signal capturing module is arranged on a parking space and is used for capturing a reflected signal generated when a vehicle enters the parking space;
and the central processing module is respectively in communication link with the image data capturing module and the reflection signal capturing module and is used for simulating a real-time three-dimensional scene of the parking area according to the real-time area image data signal so as to obtain available vacancy information in the parking area, planning a navigation path for a newly-entered vehicle and simulating a three-dimensional scene of the parking area at the current moment according to the image data signal of the vehicle and the reflection signal.
The navigation system for parking by the user provided in the present embodiment will be described in detail with reference to the drawings. The navigation system for parking by the user in this embodiment is applied to a parking area 1 as shown in fig. 1, where the parking area 1 is composed of a plurality of parking spaces 11 and lanes 12, the parking spaces 11 are in a checkerboard shape, and a parking point 13 is disposed at an entrance.
It should be noted that the following division of the respective modules of the navigation system is only a division of logical functions, and the actual implementation may be wholly or partially integrated into one physical entity or may be physically separated. And these modules can be realized in the form of software called by processing element; or can be implemented in the form of hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the x module may be a processing element separately set up, or may be implemented by being integrated in a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and the following functions of the x module may be called and executed by a processing element of the apparatus. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, the steps of the above method or the following modules may be implemented by hardware integrated logic circuits in a processor element or instructions in software.
For example, the following modules may be one or more integrated circuits configured to implement the above methods, e.g.: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the following modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Please refer to fig. 2, which is a schematic structural diagram of a navigation system for parking by a user in an embodiment. As shown in fig. 2, the navigation system 2 for parking by the user includes: an image data capturing module 21, a reflected signal capturing module 22, an overlay signal capturing module 23 and a central processing module 24.
Several groups of image data capturing modules 21 are arranged on the lanes of the stopping area, and in this embodiment, the image data capturing modules 21 may be cameras. Referring to fig. 3A and 3B, schematic diagrams of one application scenario and another application scenario of the image data capturing module are shown. As shown in fig. 3A, the cameras are arranged in 2 groups on two sides of a lane (such as a column of an indoor parking lot, a roof of a frame, etc.), and the cameras on the same lane are spaced at the same distance, for example, every 50-100 meters in the vertical direction of one lane (standard distance 2.2 m). Referring additionally to fig. 3B, if there are two adjacent lanes, 3 are arranged, and so on. In the present embodiment, several sets of image data capture modules 21 form an image capture array within the parking area.
In this embodiment, the image data capturing module 21 is configured to capture a real-time area image data signal in the parking area and an image data signal of a vehicle entering the parking area.
The real-time image data signals in the parking area, for example, the image data signals at the initial time in the parking area, the image data signals at the last time in the parking area, and the image data signals at the current time in the parking area. The initial time image data signal in the parking area is an area image data signal in which no occlusion information exists in all parking spaces.
The image data signal at the last moment in the parking area and the image data signal at the current moment in the parking area are area image data signals in which shielding information exists on the parking space.
In this embodiment, the image data signals collected at different times are compared with the image data signals at the initial time to determine which parking spaces are unavailable parking spaces and which parking spaces are available parking spaces.
And comparing the image data signal at the previous moment with the image data signal at the current moment to judge which available parking spaces at the previous moment become unavailable parking spaces at the current moment.
While one image data capture module is sufficient to provide surveillance within the parking lot, depth sensing using two cameras in each limited visibility region is not economically feasible. Therefore, in the present embodiment, it is proposed to use a frequency-multiplexed ultrasonic sensor array to detect occupancy, and the current state of the parking lot. When the vehicle is driven in, the exact position of the car can be calculated from the data provided by the ultrasonic sensors based on the geometry of the vehicle.
A plurality of reflection signal capturing modules 22, wherein each reflection signal capturing module 22 is disposed on a parking space, and as shown in the application scene diagram of the reflection signal capturing module in the parking space in fig. 3C, the reflection signal capturing modules are disposed at two ends of the parking space.
In the present embodiment, the reflected signal capturing module 22 is used for capturing the reflected signal generated by the vehicle entering the parking space.
Specifically, the reflection signal generated by the vehicle entering the parking space and captured by the reflection signal capturing module is depth data generated by the depth of the vehicle entering the parking space. And after the central processing module detects that the depth signal exceeds a preset depth threshold value, indicating that the vehicle enters the parking space.
Wherein the depth data is a length/width-reflection distance of the parking space; the reflection distance is one-half of the time from the transmission of the reflection signal to the reception of the reflection signal multiplied by the wave speed of the sound wave.
The coverage signal capturing module 23 is installed at the landing point and is configured to capture a coverage signal of a vehicle covering the landing point and transmit the coverage signal to the central processing module 24. After receiving the coverage signal, the central processing module 24 sends a link request for performing a communication link with the vehicle, receives the verification information fed back by the vehicle at the central processing module 24 to verify the vehicle, and performs handshake with the vehicle after successful verification.
In the present embodiment, the authentication information includes (Vehicle Unique Identification code) Unique Vehicle Identification Number, MAC addresses of Wlan (MAC address of wireless local area network), associated IMEI, Vehicle OEM, ServiceRequestingKey, protocol version, and the like.
The central processing module 24, which is respectively connected to the image data capturing module 21, the reflected signal capturing module 22, and the cover signal capturing module 23 in a communication manner, is configured to simulate a real-time three-dimensional scene of the parking area according to the real-time area image data signal, so as to obtain available vacancy information in the parking area, plan a navigation path for a newly entered vehicle, and simulate a three-dimensional scene of the parking area at the current time according to the image data signal and the reflected signal of the vehicle.
The central processing module 24 is configured to simulate a three-dimensional scene of the parking area at an initial time according to the image data signal at the initial time.
The user of the central processing module 23 simulates the three-dimensional scene of the parking area at the previous moment according to the image data signal at the previous moment, and so on.
Specifically, according to the building photos and panoramic pictures acquired by the image data capturing module 21, 3Dmax software is used for three-dimensional modeling, the pictures are rendered according to an oblique 45-degree angle, and the pictures are adjusted by a PS (packet switching) and are cut into 256-pixel grid pictures for GIS (geographic information system) calling; and (4) importing the cut grid map into a 3DGIS system to finish platform building, and adding parking space information, barrier information and the like.
The central processing module 24 is configured to add the captured contour data signal of the vehicle parked in the parking space to the simulated three-dimensional scene at the initial time according to the image data signal at the previous time to form the three-dimensional scene at the previous time.
Specifically, if the real-time area image data signal is an area image data signal in which no shielding information exists on the parking space, after receiving the coverage signal, the central processing module 24 obtains a contour data signal of the vehicle according to the image data signal of the vehicle, searches for an available parking space and plans a navigation path according to user requirements, and sends the navigation path to the vehicle to guide the vehicle to enter the available parking space; judging whether the vehicle completely enters the available parking space or not according to the proportion of the profile data signal of the vehicle occupying the available parking space and depth data generated by the depth of the vehicle entering the parking space, if so, enabling the image data capturing module corresponding to the position of the available parking space to capture a shielding signal for shielding the available parking space, and simulating a three-dimensional scene of the parking area at the current moment according to the shielding signal; if not, the selected available parking space is not occupied.
In this embodiment, the user demand includes finding an available parking space nearest to the exit of the parking lot, finding an available parking space nearest to the entrance of the parking lot, finding an available parking space nearest to the destination point, finding an available parking space with a large number of available parking spaces around, and the like.
If the proportion of the available parking spaces occupied by the profile data signals of the vehicles exceeds a preset occupation proportion (for example, 80%), and after the depth data generated by the depth of the vehicles entering the parking spaces exceeds a preset depth threshold value, the vehicles completely enter the searched available parking spaces.
Specifically, if the real-time area image data signal is an area image data signal in which shielding information exists on a parking space, the central processing module 24 compares the image data signal at the initial time with the image data signal at the current time to obtain available vacancy information in the parking area; after the central processing module receives the coverage signal, searching an available parking space and planning a navigation path according to the user requirement, and sending the navigation path to the vehicle so as to guide the vehicle to enter the searched available parking space; judging whether the vehicle completely enters the available parking space or not according to the profile data signal of the vehicle and depth data generated by the depth of the vehicle entering the available parking space; if yes, enabling the image data capturing module corresponding to the position of the available parking space to capture a shielding signal for shielding the available parking space, and simulating a three-dimensional scene of the parking area at the current moment according to the shielding signal. If not, the selected available parking space is not occupied.
In this embodiment, the reflected signal capturing module is also configured on the vehicle. When the vehicle receives a navigation path planned by a central processing module through a CAN bus, a vehicle controller starts to control the vehicle to execute automatic parking, if a reflected signal capturing module configured on the vehicle detects whether an obstacle exists on the navigation path, and detects whether the distance between the obstacle and the vehicle head exceeds a preset distance (in the embodiment, the preset distance is 35 meters between the vehicle head and the obstacle); if so, transmitting an obstacle signal to the central processing module so that the central processing module can plan the navigation path again; and if not, indicating the vehicle to continue to travel according to the navigation path.
The navigation system for parking by the user in the embodiment realizes real-time capture of barrier information while reducing the investment cost by utilizing the existing safety monitoring camera facility in the parking area, and improves the safety factor of the passenger car parking.
Example two
The embodiment provides a navigation method for parking by a user, which is arranged in a parking area consisting of a plurality of parking spaces and lanes, wherein the parking spaces are in a checkerboard shape; the navigation method for parking by the user comprises the following steps:
when a real-time area image data signal in the parking area is captured, simulating a three-dimensional scene at the last moment of the parking area according to the real-time area image data signal to acquire available vacancy information in the parking area and plan a navigation path for a newly entered vehicle;
when a vehicle newly entering the parking area is detected, capturing an image data signal of the vehicle entering the parking area and a reflection signal generated when the vehicle enters the parking space, and simulating a three-dimensional scene of the parking area at the current moment according to the image data signal of the vehicle and the reflection signal.
The following describes the navigation method for parking by the user according to the present embodiment in detail with reference to the drawings. Please refer to fig. 4, which is a flowchart illustrating a navigation method for parking by a user according to an embodiment. As shown in fig. 4, the navigation method for parking by the user specifically includes the following steps:
s41, receiving a real-time area image data signal originating from the image data capturing module. In this embodiment, the real-time image data signal in the parking area, for example, the initial time image data signal in the parking area, the last time image data signal in the parking area, and the current time image data signal in the parking area. The initial time image data signal in the parking area is an area image data signal in which no occlusion information exists in all parking spaces.
The image data signal at the last moment in the parking area and the image data signal at the current moment in the parking area are area image data signals in which shielding information exists on the parking space.
In this embodiment, the image data signals collected at different times are compared with the image data signals at the initial time to determine which parking spaces are unavailable parking spaces and which parking spaces are available parking spaces.
The image data signals at the last moment are compared with the image data signals at the current moment, so that the available parking spaces of the coats at the current moment are judged to be unavailable parking spaces.
And S42, simulating a real-time three-dimensional scene of the parking area according to the real-time area image data signal to acquire available vacancy information in the parking area, and planning a navigation path for a newly entered vehicle.
For example, a three-dimensional scene at the initial time of the parking area is simulated based on the image data signal at the initial time.
And simulating a three-dimensional scene of the parking area at the last moment according to the image data signal at the last moment, and so on.
S43, when a vehicle newly enters the parking area is detected, and an image data signal of the vehicle entering the parking area and a reflection signal generated when the vehicle enters the parking space are captured, simulating a three-dimensional scene of the parking area at the current moment according to the image data signal of the vehicle and the reflection signal.
Specifically, if the real-time area image data signal is an area image data signal without shielding information on the parking space, after receiving the coverage signal, obtaining a contour data signal of the vehicle according to the image data signal of the vehicle, searching for an available parking space and planning a navigation path according to user requirements, and sending the navigation path to the vehicle to guide the vehicle to enter the available parking space; judging whether the vehicle completely enters the available parking space or not according to the proportion of the profile data signal of the vehicle occupying the available parking space and depth data generated by the depth of the vehicle entering the parking space, if so, enabling the image data capturing module corresponding to the position of the available parking space to capture a shielding signal for shielding the available parking space, and simulating a three-dimensional scene of the parking area at the current moment according to the shielding signal; if not, the selected available parking space is not occupied.
In this embodiment, the user demand includes finding an available parking space nearest to the exit of the parking lot, finding an available parking space nearest to the entrance of the parking lot, finding an available parking space nearest to the destination point, finding an available parking space with a large number of available parking spaces around, and the like.
If the proportion of the available parking spaces occupied by the profile data signals of the vehicle exceeds a preset occupation proportion (for example, 80%), and the depth data generated by the depth of the vehicle entering the parking spaces exceeds a preset depth threshold value, the vehicle is indicated to completely enter the found available parking spaces.
Specifically, if the real-time area image data signal is an area image data signal in which shielding information exists on a parking space, comparing the image data signal at the initial moment with the image data signal at the current moment to obtain available vacancy information in the parking area; after the central processing module receives the coverage signal, searching an available parking space and planning a navigation path according to the user requirement, and sending the navigation path to the vehicle so as to guide the vehicle to enter the searched available parking space; judging whether the vehicle completely enters the available parking space or not according to the profile data signal of the vehicle and depth data generated by the depth of the vehicle entering the available parking space; if yes, enabling the image data capturing module corresponding to the position of the available parking space to capture a shielding signal for shielding the available parking space, and simulating a three-dimensional scene of the parking area at the current moment according to the shielding signal. If not, the selected available parking space is not occupied.
In this embodiment, step S43 may further perform specific analysis by combining the reflected signals captured by the reflected signal capturing module configured on the vehicle. If the reflected signal capturing module arranged on the vehicle detects whether an obstacle exists on a navigation path and detects whether the distance between the obstacle and the vehicle head exceeds a preset distance; if so, transmitting an obstacle signal to the central processing module so that the central processing module can plan the navigation path again; and if not, indicating the vehicle to continue to travel according to the navigation path.
The present embodiment also provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-described navigation method for parking by a user. Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
EXAMPLE III
The present embodiment provides a device, which is disposed in a parking area composed of a plurality of parking spaces and lanes, wherein the parking spaces are in a checkerboard shape; the device comprises: the system comprises data acquisition equipment, a processor connected with the data acquisition equipment, a memory, a transceiver, a communication interface and a system bus; the memory is used for storing the computer program, the communication interface is used for communicating with other devices, and the processor and the transceiver are used for operating the computer program to enable the device to execute the steps of the navigation method for parking by the user according to the embodiment.
In this embodiment, the data acquisition device includes: the cameras in each group are respectively arranged on two sides of a lane of the stopping area; the distance between the cameras on the same lane is the same; the parking sensors are arranged on a parking space; and/or a millimeter wave radar is arranged between two adjacent cameras positioned on one side of the lane. Wherein, the parking sensor is an ultrasonic sensor.
In the present embodiment, the ultrasonic sensor is disposed in the vehicle in order to improve the safety of valet parking. If the ultrasonic sensor arranged on the vehicle detects whether an obstacle exists on a navigation path and detects whether the distance between the obstacle and the vehicle head exceeds a preset distance; if so, transmitting an obstacle signal to the processor so that the processor replans a navigation path; and if not, indicating the vehicle to continue to travel according to the navigation path.
The above-mentioned system bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The Memory may include a Random Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
In summary, the navigation system/method, the computer readable storage medium and the device for parking by the user of the present invention utilize the existing security surveillance camera facility in the parking area, thereby reducing the investment cost, simultaneously realizing the real-time capture of the obstacle information, and improving the safety factor of the valet parking. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (13)
1. A navigation system for parking of a user is characterized by being arranged in a parking area consisting of a plurality of parking spaces and lanes, wherein the parking spaces are in a checkerboard shape; the navigation system for parking by the user comprises:
the system comprises a plurality of groups of image data capturing modules, a plurality of groups of image data capturing modules and a plurality of image data processing modules, wherein each group of image data capturing module is arranged on a lane and is used for capturing real-time area image data signals in a parking area and image data signals of vehicles entering the parking area; the real-time area image data signals in the parking area comprise initial moment image data signals in the parking area, last moment image data signals in the parking area and current moment image data signals in the parking area; the initial moment image data signals in the parking area are area image data signals without shielding information on all parking spaces; the image data signal at the last moment in the parking area and the image data signal at the current moment in the parking area are area image data signals with shielding information on the parking space;
the system comprises a plurality of reflected signal capturing modules, a plurality of parking space acquiring modules and a plurality of control modules, wherein each reflected signal capturing module is arranged on each parking space and is used for capturing a reflected signal generated after a vehicle enters the parking space;
the central processing module is respectively in communication connection with the image data capturing module and the reflected signal capturing module and is used for respectively simulating three-dimensional scenes of the initial moment and the last moment of the parking area according to the image data signal of the initial moment in the parking area and the image data signal of the last moment in the parking area in the real-time area image data signal in sequence;
if the real-time area image data signal is an area image data signal with shielding information on a parking space, the central processing module compares the image data signal at the initial moment with the image data signal at the current moment to acquire available vacancy information in the parking area; after the vehicle is guided to enter the found available parking space, whether the vehicle completely enters the available parking space is judged according to the proportion of the profile data signal of the vehicle occupying the available parking space and the depth data generated by the depth of the vehicle entering the parking space, if yes, the image data capturing module corresponding to the position of the available parking space captures a shielding signal for shielding the available parking space, and the three-dimensional scene of the parking area at the current moment is simulated according to the shielding signal.
2. The navigation system for user parking of claim 1 wherein sets of image data capture modules form an image capture array within the parking area.
3. The navigation system for parking of the user as claimed in claim 1, wherein a parking spot is provided at an entrance of the parking area, and a cover signal capturing module connected to the central processing module is installed at the parking spot, and is configured to capture a cover signal of the vehicle covering the parking spot and transmit the cover signal to the central processing module; and after receiving the coverage signal, the central processing module sends a link request for communication link with the vehicle, receives verification information fed back by the vehicle at the central processing module so as to verify the vehicle, and after successful verification, performs handshake with the vehicle.
4. The navigation system for parking of a user as recited in claim 3 wherein the reflected signal captured by the reflected signal capture module is depth data generated from a depth of a vehicle entering the parking space;
after the central processing module detects that the depth data exceeds a preset depth threshold value, indicating that the vehicle enters the parking space;
depth data is the length/width-reflection distance of the parking space;
wherein the reflection distance is one-half of the time from the transmission of the reflection signal to the reception of the reflection signal multiplied by the wave speed of the sound wave.
5. The navigation system for user parking according to claim 4, wherein the real-time area image data signal comprises an area image data signal in which no occlusion information exists on all parking spaces or an area image data signal in which occlusion information exists on parking spaces.
6. The navigation system for parking of a user according to claim 5,
if the real-time regional image data signal is a regional image data signal without shielding information on the parking space, the central processing module acquires a contour data signal of the vehicle according to the image data signal of the vehicle after receiving the coverage signal, searches for an available parking space and plans a navigation path according to the user requirement, and sends the navigation path to the vehicle so as to guide the vehicle to enter the available parking space; and judging whether the vehicle completely enters the available parking space or not according to the proportion of the profile data signal of the vehicle occupying the available parking space and the depth data generated by the depth of the vehicle entering the parking space, if so, enabling the image data capturing module corresponding to the position of the available parking space to capture a shielding signal for shielding the available parking space, and simulating the three-dimensional scene of the parking area at the current moment according to the shielding signal.
7. The navigation system for parking of a user as recited in claim 6 wherein said reflected signal capture module is configured on said vehicle; if the reflected signal capturing module arranged on the vehicle detects whether an obstacle exists on a navigation path and detects whether the distance between the obstacle and the vehicle head exceeds a preset distance; if so, transmitting an obstacle signal to the central processing module so that the central processing module can plan the navigation path again; and if not, indicating the vehicle to continue to travel according to the navigation path.
8. A navigation method for parking of a user is characterized in that the navigation method is arranged in a parking area consisting of a plurality of parking spaces and lanes, and the parking spaces are in a checkerboard shape; the navigation method for parking by the user comprises the following steps:
when a real-time area image data signal in the parking area is captured, simulating a real-time three-dimensional scene of the parking area according to the real-time area image data signal to acquire available vacancy information in the parking area and plan a navigation path for a newly entered vehicle; the real-time area image data signals in the parking area comprise initial moment image data signals in the parking area, last moment image data signals in the parking area and current moment image data signals in the parking area; the initial moment image data signals in the parking area are area image data signals without shielding information on all parking spaces; the image data signal at the last moment in the parking area and the image data signal at the current moment in the parking area are area image data signals with shielding information on the parking space;
when detecting that a new vehicle enters the parking area, capturing an image data signal of the vehicle entering the parking area and a reflection signal generated when the vehicle enters the parking space,
sequentially simulating three-dimensional scenes of the initial moment and the previous moment of the parking area according to the image data signal of the initial moment in the parking area and the image data signal of the previous moment in the parking area in the image data signal of the real-time area;
if the real-time regional image data signal is a regional image data signal with shielding information on a parking space, comparing the image data signal at the initial moment with the image data signal at the current moment to obtain available vacancy information in the parking region; after the vehicle is guided to enter the found available parking space, whether the vehicle completely enters the available parking space is judged according to the proportion of the profile data signal of the vehicle occupying the available parking space and the depth data generated by the depth of the vehicle entering the parking space, if yes, the image data capturing module corresponding to the position of the available parking space captures a shielding signal for shielding the available parking space, and the three-dimensional scene of the parking area at the current moment is simulated according to the shielding signal.
9. A computer-readable storage medium, on which a computer program is stored, the program, when being executed by a processor, implementing the navigation method for parking by a user according to claim 8.
10. A navigation device for parking of a user is characterized by being arranged in a parking area consisting of a plurality of parking spaces and lanes, wherein the parking spaces are in a checkerboard shape; the device comprises: the system comprises data acquisition equipment, a processor and a memory, wherein the processor and the memory are connected with the data acquisition equipment;
the memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory to enable the processor to execute the navigation method for parking by the user according to claim 8.
11. The navigation apparatus for parking by a user according to claim 10, wherein the data collecting device comprises:
the cameras in each group are respectively arranged on two sides of a lane of the parking area; the distance between the cameras on the same lane is the same;
the parking sensors are arranged on a parking space; and/or
And a millimeter wave radar is arranged between two adjacent cameras positioned on one side of the lane.
12. The navigation device for parking of a user of claim 11, wherein the parking sensor is an ultrasonic sensor.
13. The navigation device for parking of a user according to claim 12, wherein the ultrasonic sensor is provided on the vehicle; if the ultrasonic sensor arranged on the vehicle detects whether an obstacle exists on a navigation path and detects whether the distance between the obstacle and the vehicle head exceeds a preset distance; if so, transmitting an obstacle signal to the processor so that the processor replans a navigation path; and if not, indicating the vehicle to continue to travel according to the navigation path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811020377.8A CN110874950B (en) | 2018-09-03 | 2018-09-03 | Navigation system/method for parking of user, computer readable storage medium and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811020377.8A CN110874950B (en) | 2018-09-03 | 2018-09-03 | Navigation system/method for parking of user, computer readable storage medium and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110874950A CN110874950A (en) | 2020-03-10 |
| CN110874950B true CN110874950B (en) | 2022-09-20 |
Family
ID=69716609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811020377.8A Active CN110874950B (en) | 2018-09-03 | 2018-09-03 | Navigation system/method for parking of user, computer readable storage medium and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110874950B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113777966A (en) * | 2020-06-10 | 2021-12-10 | 上海汽车集团股份有限公司 | Zone controller and whole vehicle electrical framework |
| CN112509365B (en) * | 2020-11-18 | 2021-12-07 | 东风汽车集团有限公司 | Control method, device and system for passenger-riding parking |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005182504A (en) * | 2003-12-19 | 2005-07-07 | Matsushita Electric Ind Co Ltd | Parking support system |
| CN106067260A (en) * | 2016-07-22 | 2016-11-02 | 宁波大红鹰学院 | A kind of based in field TWA preengage parking management system online |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014221745A1 (en) * | 2014-10-27 | 2016-04-28 | Robert Bosch Gmbh | Method and system for monitoring a vehicle in a parking lot |
| CN104464368A (en) * | 2014-11-21 | 2015-03-25 | 河海大学常州校区 | Intelligent parking space finding and vehicle finding system and method for parking lot |
| DE102015002405A1 (en) * | 2015-02-24 | 2016-08-25 | Audi Ag | Method for traffic coordination of motor vehicles in a parking environment |
| CN105913685A (en) * | 2016-06-25 | 2016-08-31 | 上海大学 | Video surveillance-based carport recognition and intelligent guide method |
| CN107067795A (en) * | 2016-11-25 | 2017-08-18 | 斑马信息科技有限公司 | Parking system and method for parking |
| CN106846870A (en) * | 2017-02-23 | 2017-06-13 | 重庆邮电大学 | The intelligent parking system and method for the parking lot vehicle collaboration based on centralized vision |
| CN106875736B (en) * | 2017-04-01 | 2022-12-20 | 江苏大学 | Wireless automatic parking system and method |
-
2018
- 2018-09-03 CN CN201811020377.8A patent/CN110874950B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005182504A (en) * | 2003-12-19 | 2005-07-07 | Matsushita Electric Ind Co Ltd | Parking support system |
| CN106067260A (en) * | 2016-07-22 | 2016-11-02 | 宁波大红鹰学院 | A kind of based in field TWA preengage parking management system online |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110874950A (en) | 2020-03-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111105639B (en) | Parking space state detection method and device, vehicle guiding method and system and camera | |
| KR101740462B1 (en) | Mobile terminal standby method, device, program and recording medium | |
| CN106004655A (en) | Early warning method and device for blind spot collision | |
| CN112071110A (en) | Autonomous parking method, apparatus, system, computer device and storage medium | |
| CN112820137B (en) | Parking lot management method and device | |
| KR102429494B1 (en) | Apparatus for displaying target parking space of vehicle and method thereof | |
| CN112562408A (en) | Global path planning method, device and system based on vehicle-road cooperation | |
| CN110874950B (en) | Navigation system/method for parking of user, computer readable storage medium and device | |
| CN109859260A (en) | Determine the method, apparatus and computer readable storage medium of parking stall position | |
| CN113743171A (en) | Target detection method and device | |
| CN112419771B (en) | Parking method and device based on message broadcasting, computer equipment and storage medium | |
| CN112382127B (en) | Parking space allocation method and device | |
| CN114415692A (en) | Automatic parking method, device, apparatus, storage medium, and program for parking lot | |
| CN112908014A (en) | Vehicle searching method and device for parking lot | |
| CN115240094A (en) | Garbage detection method and device | |
| CN108475467B (en) | Method for detecting a parking error | |
| JP2020074030A (en) | Map update device, map update system, map update method, and program | |
| CN112445215A (en) | Automatic guided vehicle driving control method, device and computer system | |
| CN113370993A (en) | Control method and control system for automatic driving of vehicle | |
| CN113253278A (en) | Parking space identification method and device and computer storage medium | |
| JP7360520B1 (en) | Object tracking integration method and integration device | |
| CN114973752B (en) | License plate and parking space number association method and device, intelligent vehicle and readable storage medium | |
| WO2016206788A1 (en) | A system and a method for processing information of parking locations and a vehicle equipped with such system | |
| CN115359332A (en) | Data fusion method and device based on vehicle-road cooperation, electronic equipment and system | |
| WO2021164514A1 (en) | Target recognition method and apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 201822 No.208, building 4, no.1411, Yecheng Road, Jiading Industrial Zone, Jiading District, Shanghai Applicant after: Botai vehicle networking technology (Shanghai) Co.,Ltd. Address before: 201822 No.208, building 4, no.1411, Yecheng Road, Jiading Industrial Zone, Jiading District, Shanghai Applicant before: SHANGHAI PATEO ELECTRONIC EQUIPMENT MANUFACTURING Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: Room 3701, No. 866 East Changzhi Road, Hongkou District, Shanghai, 200080 Patentee after: Botai vehicle networking technology (Shanghai) Co.,Ltd. Country or region after: China Address before: 201822 No.208, building 4, no.1411, Yecheng Road, Jiading Industrial Zone, Jiading District, Shanghai Patentee before: Botai vehicle networking technology (Shanghai) Co.,Ltd. Country or region before: China |