CN110949255A - Auxiliary parking device and method for motor vehicle - Google Patents
Auxiliary parking device and method for motor vehicle Download PDFInfo
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- CN110949255A CN110949255A CN201911337057.XA CN201911337057A CN110949255A CN 110949255 A CN110949255 A CN 110949255A CN 201911337057 A CN201911337057 A CN 201911337057A CN 110949255 A CN110949255 A CN 110949255A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
Abstract
The embodiment of the invention provides an auxiliary parking device and method for a motor vehicle, wherein the device comprises: the video detection module is used for acquiring a panoramic video image of the surrounding environment of the motor vehicle and extracting an oblique image of the selectable parking space from the panoramic video image; the radar detection module is used for detecting obstacles in and around the selectable parking space in advance and determining the position of the obstacle; the comprehensive judgment module is used for judging whether an effective parking area exists in the selectable parking space according to the image of the selectable parking space and the position of the obstacle, selecting the selectable parking space with the effective parking area as a target parking space, and taking the effective parking area as the target parking area; the trajectory planning module plans a parking trajectory route according to the current position of the motor vehicle, the target parking space and the target parking area; and the parking module is used for controlling the motor vehicle to drive into the target parking space according to the parking track route and park in the target parking area. The embodiment can accurately and safely control the motor vehicle to drive into the inclined parking space.
Description
Technical Field
The embodiment of the invention relates to the technical field of auxiliary driving of motor vehicles, in particular to an auxiliary parking device and method for a motor vehicle.
Background
Most of existing motor vehicles adopt a radar ranging technology or a vision technology for realizing automatic parking, the radar ranging technology can be based on electromagnetic waves or ultrasonic waves and the like, for example, vehicle-mounted ultrasonic waves are used for transmitting ultrasonic waves through a vehicle-mounted ultrasonic device to search a parking space, but the vehicle-mounted ultrasonic waves need to reflect the ultrasonic waves back by means of obstacles when the parking space is a line-drawing parking space without obstacles, the detection cannot be carried out, and the detection efficiency is lower when the surface of the obstacle is provided with wave-absorbing materials, the size and shape of the obstacle are irregular, and the reflecting surface of the obstacle is not perpendicular to the direction of the ultrasonic waves; the vision technology is that the peripheral video images of the motor vehicle are obtained through the vehicle-mounted camera, the identification of the parking space is realized by detecting the line drawing characteristics of the parking space in the video images, however, when the parking space is defined by the interval between obstacles without drawing lines, the vision technology cannot realize parking, and when the parking of the obstacle vehicles on the side of the motor vehicle is not standard, the safety distance between the motor vehicle and the obstacle vehicles on the side cannot be ensured by the vision technology during parking, and the reliability is not high.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide an auxiliary parking device for a motor vehicle, which can effectively control the motor vehicle to accurately drive into an oblique parking space.
The embodiment of the invention further aims to solve the technical problem of providing an auxiliary parking method for a motor vehicle, which can effectively control the motor vehicle to accurately drive into an inclined parking space.
In order to solve the above technical problem, an embodiment of the present invention provides the following technical solutions: a vehicle parking assist apparatus, the apparatus comprising:
the video detection module is used for acquiring a panoramic video image of the surrounding environment of the motor vehicle in real time and extracting an oblique image capable of selecting a parking space from the panoramic video image;
the radar detection module is used for sending out detection waves to detect obstacles in and around the selectable parking space in advance and determine the position of the obstacle;
the comprehensive judgment module is used for calculating and judging whether an effective parking area exists in the selectable parking space according to the image of the selectable parking space and the corresponding position of the obstacle, so that the actual distances between the motor vehicle and the left and right sides and between the motor vehicle and the nearest obstacle at one end of the motor vehicle far away from the parking lane are not smaller than a preset threshold value, one selectable parking space with the effective parking area is selected as a target parking space, and the effective parking area in the target parking space is used as a target parking area;
the trajectory planning module is used for planning a parking trajectory route according to the current position of the motor vehicle, the target parking space and the target parking area, tracking the position of the motor vehicle relative to the target parking space and the target parking area in real time in the parking process and correcting the parking trajectory route;
and the parking module is used for controlling the motor vehicle to drive into the target parking space according to the parking track route and park in the target parking area.
Further, the comprehensive judgment module includes:
the parking area calculation unit is used for determining the length and the width of the selectable parking space according to the image of the selectable parking space and calculating and determining an available parking area in the selectable parking space by combining preset motor vehicle size data;
the obstacle analysis unit is used for judging whether the actual distances between the motor vehicle and the nearest obstacles on the left side, the right side and the end, far away from the parking lane, of the motor vehicle are not smaller than the threshold value when the motor vehicle is parked in the available parking area or not, and outputting a signal indicating that the effective parking area exists when the judgment result is yes;
and the judging unit is used for selecting the selectable parking spaces with the effective parking areas as target parking spaces according to the signals with the effective parking areas output by the obstacle analyzing unit, taking the effective parking areas as the target parking areas, and sending out instructions to enable the parking area calculating unit and the obstacle analyzing unit to stop data processing after the target parking spaces are selected.
Further, the parking area calculation unit includes:
the parking space size calculating subunit is used for determining the length and the width of the optional parking space according to the image of the optional parking space;
and the parking area calculating subunit is used for calculating and determining an available parking area in the selectable parking space according to the length and the width of the selectable parking space and preset motor vehicle size data, wherein the distance between each edge of the available parking area and the corresponding edge of the selectable parking space is not less than the corresponding preset distance.
Further, the video detection module comprises:
a reference system presetting unit for presetting an orientation reference system of the inclined parking space in the panoramic video image;
the system comprises an acquisition and synthesis unit, a storage unit and a display unit, wherein the acquisition and synthesis unit is used for respectively acquiring video images around the motor vehicle and synthesizing the video images around the motor vehicle into a panoramic video image of the surrounding environment of the motor vehicle;
and the parking space screening unit is used for detecting all idle parking spaces with acute or obtuse angles formed between all length directions and the orientation reference system in the panoramic video image according to the orientation reference system and taking the idle parking spaces as the selectable parking spaces.
Furthermore, the parking space screening unit is a haar feature classifier trained in advance.
On the other hand, in order to further solve the above technical problem, an embodiment of the present invention provides the following technical solutions: a method for assisting in parking a motor vehicle, said method comprising the steps of:
acquiring a panoramic video image of the surrounding environment of the motor vehicle in real time, and extracting an oblique image capable of selecting a parking space from the panoramic video image;
sending out detection waves to detect obstacles in and around the selectable parking space in advance and determine the position of the obstacle;
calculating and judging whether an effective parking area exists in the selectable parking space according to the image of the selectable parking space and the corresponding position of the obstacle, so that the actual distances between the vehicle and the nearest obstacles on the left side, the right side and the end, away from the parking lane, of the vehicle when the vehicle is parked in the effective parking area are not smaller than a preset threshold value, selecting one selectable parking space with the effective parking area as a target parking space, and taking the effective parking area in the target parking space as the target parking area;
planning a parking track route according to the current position of the motor vehicle, the target parking space and the target parking area, tracking the position of the motor vehicle relative to the target parking space and the target parking area in real time in the parking process, and correcting the parking track route;
and controlling the motor vehicle to drive into the target parking space according to the parking track route and park in the target parking area.
Further, the calculating and judging whether an effective parking area exists in the selectable parking space according to the image of the selectable parking space and the corresponding position of the obstacle makes the actual distances between the left side and the right side of the motor vehicle when the motor vehicle is parked in the effective parking area and between the motor vehicle and the nearest obstacle at one end of the motor vehicle far away from the parking lane not less than a preset threshold value, selects one selectable parking space with the effective parking area as a target parking space, and uses the effective parking area in the target parking space as the target parking area comprises:
determining the length and the width of the selectable parking space according to the image of the selectable parking space, and calculating and determining an available parking area in the selectable parking space by combining preset motor vehicle size data;
judging whether the actual distances between the motor vehicle and the left and right sides and the nearest barrier at the end of the motor vehicle far away from the parking lane when the motor vehicle is parked in the available parking area are not smaller than the threshold value, and outputting a signal of an effective parking area when the judgment result is yes;
and selecting the selectable parking spaces in the effective parking area as target parking spaces according to the signals of the effective parking areas, taking the effective parking areas as the target parking areas, and sending out instructions to stop executing the two steps after the target parking spaces are selected.
Further, the determining the length and the width of the selectable parking space according to the image of the selectable parking space and the calculating and determining the available parking area in the selectable parking space by combining the preset size data of the motor vehicle comprises:
determining the length and the width of the selectable parking space according to the image of the selectable parking space;
and calculating and determining an available parking area in the selectable parking space according to the length and the width of the selectable parking space and preset motor vehicle size data, wherein the distance between each edge of the available parking area and the corresponding edge of the selectable parking space is not less than the corresponding preset distance.
Further, the acquiring a panoramic video image of the surrounding environment of the motor vehicle in real time, and extracting an oblique parking space selectable image from the panoramic video image includes:
presetting an orientation reference system of the inclined parking spaces in the panoramic video image;
respectively collecting video images around the motor vehicle, and synthesizing the video images around the motor vehicle into a panoramic video image of the surrounding environment of the motor vehicle;
and detecting all idle parking spaces with acute angles or obtuse angles between the length directions and the orientation reference system in the panoramic video image according to the orientation reference system to serve as the selectable parking spaces.
Further, idle parking spaces with all length directions forming acute angles or obtuse angles with the orientation reference system are detected in the panoramic video image according to the orientation reference system by adopting a pre-trained haar feature classifier, and the idle parking spaces are used as the selectable parking spaces.
After the technical scheme is adopted, the embodiment of the invention at least has the following beneficial effects: the method comprises the steps that a video detection module obtains a panoramic video image of the surrounding environment of the motor vehicle in real time, an oblique image of an optional parking space is extracted from the panoramic video image, then a radar detection module sends out detection waves to detect obstacles in and around the optional parking space in advance and determine the position of the obstacle, a comprehensive judgment module calculates and judges whether an effective parking area exists in the optional parking space according to the image of the optional parking space and the position of the corresponding obstacle, the actual distances between the motor vehicle and the nearest obstacles on the left side and the right side and at the end, far away from a parking lane, of the motor vehicle when the motor vehicle is parked in the effective parking area are not smaller than a preset threshold value, one optional parking space with the effective parking area is selected as a target parking space, and the effective parking area in the target parking space is used as a target parking area; the accuracy and the safety of parking space detection are improved by the aid of a radar ranging technology and a video detection technology, finally, a parking track route is planned through a track planning module according to the current position of a motor vehicle, the target parking space and the target parking area, the position of the motor vehicle relative to the target parking space and the target parking area is tracked in real time in the parking process, the parking track route is corrected, the parking module controls the motor vehicle to drive into the target parking space according to the parking track route and park in the target parking area, and the motor vehicle can be effectively and safely driven into the inclined parking space.
Drawings
Fig. 1 is a schematic diagram of the parking assistance device for a motor vehicle according to the present invention before parking.
Fig. 2 is a schematic diagram of the parking assistance device for a motor vehicle according to the present invention during parking.
Fig. 3 is a schematic diagram illustrating the principle of the auxiliary parking device for a motor vehicle after the motor vehicle is parked in an inclined parking space.
Fig. 4 is a schematic block diagram of an alternative embodiment of the parking assist apparatus for a motor vehicle according to the present invention.
Fig. 5 is a schematic block diagram of a comprehensive judgment module according to an alternative embodiment of the parking assist apparatus for a motor vehicle of the present invention.
Fig. 6 is a schematic block diagram of a parking area calculation unit according to an alternative embodiment of the parking assist apparatus for a motor vehicle of the present invention.
Fig. 7 is a schematic block diagram of a video detection module according to an alternative embodiment of the vehicle parking assist apparatus of the present invention.
Fig. 8 is a flowchart illustrating steps of an alternative embodiment of a method for assisting in parking a vehicle according to the present invention.
Fig. 9 is a detailed flowchart of step S3 of an alternative embodiment of the method for assisting in parking a motor vehicle according to the present invention.
Fig. 10 is a detailed flowchart of step S31 of an alternative embodiment of the method for assisting in parking a motor vehicle according to the present invention.
Fig. 11 is a detailed flowchart of step S1 of an alternative embodiment of the method for assisting in parking a motor vehicle according to the present invention.
Detailed Description
The present application will now be described in further detail with reference to the accompanying drawings and specific examples. It should be understood that the following illustrative embodiments and description are only intended to explain the present invention, and are not intended to limit the present invention, and features of the embodiments and examples in the present application may be combined with each other without conflict.
As shown in fig. 1 to 4, an alternative embodiment of the present invention provides a parking assist apparatus for a motor vehicle, the apparatus including:
the system comprises a video detection module 1, a parking space A selection module and a parking space selection module, wherein the video detection module is used for acquiring a panoramic video image of the surrounding environment of a motor vehicle in real time and extracting an oblique image of the selectable parking space A from the panoramic video image;
the radar detection module 3 is used for sending out detection waves to detect obstacles in and around the selectable parking space A in advance and determine the position of the obstacles;
the comprehensive judgment module 5 is configured to calculate and judge whether an effective parking area B exists in the selectable parking space a according to the image of the selectable parking space a and the corresponding obstacle position, so that the actual distances between the vehicle and the nearest obstacles on the left and right sides and the end of the vehicle far away from the parking lane C when the vehicle is parked in the effective parking area B are not smaller than a preset threshold value, select one selectable parking space a in which the effective parking area B exists as a target parking space, and use the effective parking area B in the target parking space as a target parking area;
the trajectory planning module 7 is used for planning a parking trajectory route according to the current position of the motor vehicle, the target parking space and the target parking area, tracking the position of the motor vehicle relative to the target parking space and the target parking area in real time in the parking process and correcting the parking trajectory route;
and the parking module 9 is used for controlling the motor vehicle to drive into the target parking space according to the parking track route and park in the target parking area.
The embodiment of the invention obtains the panoramic video image of the surrounding environment of the motor vehicle in real time through the video detection module 1, extracting an oblique image of an optional parking space A from the panoramic video image, then sending out a detection wave by a radar detection module 3 to detect obstacles in and around the optional parking space A in advance and determine the position of the obstacle, calculating and judging whether an effective parking area B exists in the optional parking space A by a comprehensive judgment module 5 according to the image of the optional parking space A and the corresponding position of the obstacle, when the motor vehicle is parked in the effective parking area B, the actual distances between the motor vehicle and the nearest barriers on the left side, the right side and one end, far away from the parking lane C, of the motor vehicle are not smaller than a preset threshold value, one optional parking space A with the effective parking area B is selected as a target parking space, and the effective parking area B in the target parking space is used as a target parking area; the accuracy and the safety of parking space detection are improved by the aid of a radar ranging technology and a video detection technology, finally, a parking track route is planned through a track planning module 7 according to the current position of a motor vehicle, the target parking space and the target parking area, the position of the motor vehicle relative to the target parking space and the target parking area is tracked in real time in the parking process, the parking track route is corrected, and a parking module 9 controls the motor vehicle to drive into the target parking space according to the parking track route and park in the target parking area, so that the motor vehicle can be effectively and safely driven into the inclined parking space.
In an alternative embodiment of the present invention, as shown in fig. 5, the comprehensive judgment module 5 includes:
the parking area calculation unit 50 is used for determining the length and the width of the selectable parking space A according to the image of the selectable parking space A and calculating and determining an available parking area in the selectable parking space A by combining preset motor vehicle size data;
the obstacle analysis unit 52 is configured to determine whether actual distances to the left and right sides and a nearest obstacle at one end of the vehicle away from the parking lane C when the vehicle is parked in the available parking area are both smaller than the threshold value, and output a signal indicating that the available parking area B exists if the determination result is yes;
and the determining unit 54 is configured to select, according to the signal with the valid parking area B output by the obstacle analyzing unit, an optional parking space a with the valid parking area B as a target parking space, use the valid parking area B as a target parking area, and send an instruction to stop data processing of the parking area calculating unit 50 and the obstacle analyzing unit 52 after the target parking space is selected.
In the embodiment of the invention, the parking area calculation unit 50 determines the length and width of the selectable parking space A according to the image of the selectable parking space A, and calculating and determining available parking areas in the optional parking spaces A by combining preset motor vehicle size data, the obstacle analyzing unit 52 then determines whether the actual distances to the left and right sides and the nearest obstacle at the end of the vehicle away from the parking lane C when the vehicle is parked within the available parking area are both not less than the threshold value, and outputs a signal indicating that the valid parking area B exists when the determination result is yes, and finally the determination unit 54 selects the selectable parking space a in which the valid parking area B exists as the target parking space according to the signal indicating that the valid parking area B exists and output by the obstacle analysis unit, the effective parking area B is used as a target parking area, so that the safe distance between the motor vehicle and the barrier after the motor vehicle drives into the parking space can be effectively ensured; and the parking area calculation unit 50 and the obstacle analysis unit 52 stop data processing by sending out an instruction after the target parking space is selected, so that repeated selection of the target parking space is avoided, and finally, the vehicle cannot be parked.
In still another alternative embodiment of the present invention, as shown in fig. 6, the parking area calculation unit 50 includes:
the parking space size calculation subunit 501 is configured to determine the length and the width of the selectable parking space a according to the image of the selectable parking space a;
and the parking area calculation subunit 503 is configured to calculate and determine an available parking area within the selectable parking space a according to the length and width of the selectable parking space a and preset vehicle size data, where a distance between each edge of the available parking area and a corresponding edge of the selectable parking space a is not less than a corresponding preset distance.
According to the embodiment of the invention, firstly, the length and the width of the selectable parking space A are determined by the parking space size calculating subunit 501 according to the image of the selectable parking space A, then the parking area calculating subunit 503 calculates and determines the available parking area in the selectable parking space A according to the length and the width of the selectable parking space A and the preset size data of the motor vehicle, and the distance between each edge of the available parking area and the corresponding edge of the selectable parking space A is not smaller than the corresponding preset distance, so that the motor vehicle is ensured to be in a safe distance with an obstacle when the motor vehicle is parked in the available parking area.
In yet another alternative embodiment of the present invention, as shown in fig. 7, the video detection module 1 includes:
a reference system presetting unit 10, configured to preset an orientation reference system of a skew parking space in the panoramic video image;
the acquisition and synthesis unit 12 is used for respectively acquiring video images around the motor vehicle and synthesizing the video images around the motor vehicle into a panoramic video image of the surrounding environment of the motor vehicle;
and a parking space screening unit 14, configured to detect, in the panoramic video image according to the orientation reference system, all free parking spaces with acute or obtuse angles between the length directions and the orientation reference system as the selectable parking space a.
According to the embodiment of the invention, the video images around the motor vehicle are collected through the collecting and synthesizing unit 12, and the video images around the motor vehicle are further synthesized into the panoramic video image of the surrounding environment of the motor vehicle, so that the steps are simple, and the collecting efficiency can be improved; and detecting all idle parking spaces with acute or obtuse angles between the length directions and the orientation reference system in the panoramic video image according to the orientation reference system to serve as the selectable parking space A, so that the detection efficiency is high, and the inclined idle parking spaces can be effectively screened out. In the embodiment shown in fig. 1-3, the heading reference frame is taken of a parking lane C of the vehicle, with the arrows indicating the direction of travel of the vehicle.
In another optional embodiment of the present invention, the parking space screening unit 14 is a pre-trained haar feature classifier. According to the embodiment of the invention, the parking space screening unit 14 adopts the pre-trained haar feature classifier, all samples forming acute angles or obtuse angles with the reference system can be used as positive samples during specific training, samples which do not meet the requirements can be used as negative samples, and the haar feature classifier is adopted for training, so that the target meeting the requirements can be effectively detected, and the detection effect is good.
In another aspect, as shown in fig. 8, an embodiment of the present invention further provides a method for assisting parking of a motor vehicle, including the steps of:
s1: acquiring a panoramic video image of the surrounding environment of the motor vehicle in real time, and extracting an oblique image of the selectable parking space A from the panoramic video image;
s2: sending out detection waves to detect obstacles in and around the selectable parking space A in advance and determine the position of the obstacles;
s3: calculating and judging whether an effective parking area B exists in the selectable parking space A or not according to the image of the selectable parking space A and the corresponding position of the obstacle, so that the actual distances between the motor vehicle and the nearest obstacles on the left side, the right side and the end, far away from the parking lane C, of the motor vehicle when the motor vehicle is parked in the effective parking area B are not smaller than a preset threshold value, selecting one selectable parking space A with the effective parking area B as a target parking space, and taking the effective parking area B in the target parking space as a target parking area;
s4: planning a parking track route according to the current position of the motor vehicle, the target parking space and the target parking area, tracking the position of the motor vehicle relative to the target parking space and the target parking area in real time in the parking process, and correcting the parking track route;
s5: and controlling the motor vehicle to drive into the target parking space according to the parking track route and park in the target parking area.
According to the embodiment of the invention, through the method, a panoramic video image of the surrounding environment of the motor vehicle is obtained in real time, an oblique image of an optional parking space A is extracted from the panoramic video image, then a detection wave is sent out to detect obstacles in and around the optional parking space A in advance and determine the position of the obstacle, whether an effective parking area B exists in the optional parking space A is calculated and judged according to the image of the optional parking space A and the corresponding position of the obstacle, so that the actual distances between the motor vehicle and the nearest obstacles on the left side and the right side and at the end, far away from a parking lane C, of the motor vehicle when the motor vehicle is parked in the effective parking area B are not smaller than a preset threshold value, one optional parking space A with the effective parking area B is selected as a target parking space, and the effective parking area B in the target parking space is used as a target parking area; the accuracy and the safety of parking space detection are improved by the aid of a radar ranging technology and a video detection technology, finally, a parking track route is planned according to the current position of a motor vehicle, the target parking space and the target parking area, the position of the motor vehicle relative to the target parking space and the target parking area is tracked in real time in the parking process, the parking track route is corrected, the motor vehicle is controlled to drive into the target parking space according to the parking track route and park in the target parking area, and the motor vehicle can be effectively controlled to accurately and safely drive into an oblique parking space.
In an alternative embodiment of the present invention, as shown in fig. 9, the step S3 includes:
s31: determining the length and the width of the selectable parking space according to the image of the selectable parking space A, and calculating and determining an available parking area in the selectable parking space A by combining preset motor vehicle size data;
s32: judging whether the actual distances between the motor vehicle and the left and right sides and the nearest barrier at one end of the motor vehicle far away from the parking lane C are not less than the threshold value when the motor vehicle is parked in the available parking area, and outputting a signal of an effective parking area B when the judgment result is yes;
s33: and selecting the selectable parking space A with the effective parking area B as a target parking space according to the signal with the effective parking area B, taking the effective parking area B as a target parking area, and sending an instruction to stop executing the two steps after the target parking space is selected.
The embodiment of the invention determines the length and the width of the selectable parking space A according to the image of the selectable parking space A by the method, and calculating and determining available parking areas in the optional parking spaces A by combining preset motor vehicle size data, then judging whether the actual distances between the motor vehicle and the nearest obstacles on the left side, the right side and the end of the motor vehicle far away from the parking lane C are not less than the threshold value when the motor vehicle is parked in the available parking area, and outputs a signal of the effective parking area B when the judgment result is yes, and finally selects the selectable parking space A of the effective parking area B as a target parking space according to the signal of the effective parking area B output by the obstacle analysis unit, the effective parking area B is used as a target parking area, so that the safe distance between the motor vehicle and the barrier after the motor vehicle drives into the parking space can be effectively ensured; and sending an instruction to stop executing the steps S31 and S32 after the target parking space is selected, so that repeated selection of the target parking space is avoided, and finally, the vehicle cannot be parked.
In an alternative embodiment of the present invention, as shown in fig. 10, the step S31 includes:
s310: determining the length and width of the selectable parking space A according to the image of the selectable parking space A;
s311: and calculating and determining an available parking area in the selectable parking space A according to the length and the width of the selectable parking space A and preset motor vehicle size data, wherein the distance between each edge of the available parking area and the corresponding edge of the selectable parking space A is not less than the corresponding preset distance.
According to the method, the length and the width of the optional parking space A are determined according to the image of the optional parking space A, then the available parking area in the optional parking space A is determined through calculation according to the length and the width of the optional parking space A and the preset size data of the motor vehicle, the distance between each edge of the available parking area and the corresponding edge of the optional parking space A is not smaller than the corresponding preset distance, and the motor vehicle is ensured to be in a safe distance with an obstacle when the motor vehicle stops in the available parking area.
In yet another alternative embodiment of the present invention, as shown in fig. 11, the step S1 includes:
s10: presetting an orientation reference system of the inclined parking spaces in the panoramic video image;
s11: respectively collecting video images around the motor vehicle, and synthesizing the video images around the motor vehicle into a panoramic video image of the surrounding environment of the motor vehicle;
s12: and detecting all idle parking spaces with acute angles or obtuse angles between the length directions and the orientation reference system in the panoramic video image according to the orientation reference system to serve as the selectable parking spaces A.
According to the embodiment of the invention, the video images around the motor vehicle are collected by the method, and the video images around the motor vehicle are further synthesized into the panoramic video image of the surrounding environment of the motor vehicle, so that the steps are simple, and the collection efficiency can be improved; and detecting all idle parking spaces with acute or obtuse angles between the length directions and the orientation reference system in the panoramic video image according to the orientation reference system to serve as the selectable parking space A, so that the detection efficiency is high, and the inclined idle parking spaces can be effectively screened out.
In an optional embodiment of the present invention, a pre-trained haar feature classifier is adopted to detect all vacant parking spaces with acute or obtuse angles between the length direction and the orientation reference system in the panoramic video image according to the orientation reference system, and the vacant parking spaces are used as the optional parking spaces a. The embodiment of the invention adopts the haar feature classifier which is trained in advance, can effectively detect the target which meets the requirement, and has good detection effect.
The functions described in the embodiments of the present invention may be stored in a storage medium readable by a computing device if they are implemented in the form of software functional modules or units and sold or used as independent products. Based on such understanding, part of the contribution of the embodiments of the present invention to the prior art or part of the technical solution may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computing device (which may be a personal computer, a server, a mobile computing device, a network device, or the like) to execute all or part of the steps of the method described in the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An auxiliary parking apparatus for a motor vehicle, comprising:
the video detection module is used for acquiring a panoramic video image of the surrounding environment of the motor vehicle in real time and extracting an oblique image capable of selecting a parking space from the panoramic video image;
the radar detection module is used for sending out detection waves to detect obstacles in and around the selectable parking space in advance and determine the position of the obstacle;
the comprehensive judgment module is used for calculating and judging whether an effective parking area exists in the selectable parking space according to the image of the selectable parking space and the corresponding position of the obstacle, so that the actual distances between the motor vehicle and the left and right sides and between the motor vehicle and the nearest obstacle at one end of the motor vehicle far away from the parking lane are not smaller than a preset threshold value, one selectable parking space with the effective parking area is selected as a target parking space, and the effective parking area in the target parking space is used as a target parking area;
the trajectory planning module is used for planning a parking trajectory route according to the current position of the motor vehicle, the target parking space and the target parking area, tracking the position of the motor vehicle relative to the target parking space and the target parking area in real time in the parking process and correcting the parking trajectory route;
and the parking module is used for controlling the motor vehicle to drive into the target parking space according to the parking track route and park in the target parking area.
2. A vehicle parking assist apparatus according to claim 1, wherein the comprehensive judgment module comprises:
the parking area calculation unit is used for determining the length and the width of the selectable parking space according to the image of the selectable parking space and calculating and determining an available parking area in the selectable parking space by combining preset motor vehicle size data;
the obstacle analysis unit is used for judging whether the actual distances between the motor vehicle and the nearest obstacles on the left side, the right side and the end, far away from the parking lane, of the motor vehicle are not smaller than the threshold value when the motor vehicle is parked in the available parking area or not, and outputting a signal indicating that the effective parking area exists when the judgment result is yes;
and the judging unit is used for selecting the selectable parking spaces with the effective parking areas as target parking spaces according to the signals with the effective parking areas output by the obstacle analyzing unit, taking the effective parking areas as the target parking areas, and sending out instructions to enable the parking area calculating unit and the obstacle analyzing unit to stop data processing after the target parking spaces are selected.
3. A vehicle parking assist apparatus according to claim 2, wherein the parking area calculation unit includes: the parking space size calculating subunit is used for determining the length and the width of the optional parking space according to the image of the optional parking space;
and the parking area calculating subunit is used for calculating and determining an available parking area in the selectable parking space according to the length and the width of the selectable parking space and preset motor vehicle size data, wherein the distance between each edge of the available parking area and the corresponding edge of the selectable parking space is not less than the corresponding preset distance.
4. A vehicle assisted parking apparatus as claimed in claim 1, wherein the video detection module comprises:
a reference system presetting unit for presetting an orientation reference system of the inclined parking space in the panoramic video image;
the system comprises an acquisition and synthesis unit, a storage unit and a display unit, wherein the acquisition and synthesis unit is used for respectively acquiring video images around the motor vehicle and synthesizing the video images around the motor vehicle into a panoramic video image of the surrounding environment of the motor vehicle;
and the parking space screening unit is used for detecting all idle parking spaces with acute or obtuse angles formed between all length directions and the orientation reference system in the panoramic video image according to the orientation reference system and taking the idle parking spaces as the selectable parking spaces.
5. An auxiliary parking device for motor vehicles as claimed in claim 4, wherein the parking space screening unit is a pre-trained haar feature classifier.
6. A method for assisting in parking a motor vehicle, said method comprising the steps of:
acquiring a panoramic video image of the surrounding environment of the motor vehicle in real time, and extracting an oblique image capable of selecting a parking space from the panoramic video image;
sending out detection waves to detect obstacles in and around the selectable parking space in advance and determine the position of the obstacle;
calculating and judging whether an effective parking area exists in the selectable parking space according to the image of the selectable parking space and the corresponding position of the obstacle, so that the actual distances between the vehicle and the nearest obstacles on the left side, the right side and the end, away from the parking lane, of the vehicle when the vehicle is parked in the effective parking area are not smaller than a preset threshold value, selecting one selectable parking space with the effective parking area as a target parking space, and taking the effective parking area in the target parking space as the target parking area;
planning a parking track route according to the current position of the motor vehicle, the target parking space and the target parking area, tracking the position of the motor vehicle relative to the target parking space and the target parking area in real time in the parking process, and correcting the parking track route;
and controlling the motor vehicle to drive into the target parking space according to the parking track route and park in the target parking area.
7. The method for assisting in parking a motor vehicle as claimed in claim 6, wherein the step of calculating and judging whether an effective parking area exists in the selectable parking space according to the image of the selectable parking space and the corresponding position of the obstacle makes actual distances between the motor vehicle and the nearest obstacles on the left side, the right side and the end of the motor vehicle far away from the parking lane when the motor vehicle is parked in the effective parking area not less than a preset threshold value, the step of selecting the selectable parking space with the effective parking area as the target parking space, and the step of taking the effective parking area in the target parking space as the target parking area comprises the steps of:
determining the length and the width of the selectable parking space according to the image of the selectable parking space, and calculating and determining an available parking area in the selectable parking space by combining preset motor vehicle size data;
judging whether the actual distances between the motor vehicle and the left and right sides and the nearest barrier at the end of the motor vehicle far away from the parking lane when the motor vehicle is parked in the available parking area are not smaller than the threshold value, and outputting a signal of an effective parking area when the judgment result is yes;
and selecting the selectable parking spaces in the effective parking area as target parking spaces according to the signals of the effective parking areas, taking the effective parking areas as the target parking areas, and sending out instructions to stop executing the two steps after the target parking spaces are selected.
8. An auxiliary parking method for a motor vehicle as claimed in claim 7, wherein the determining of the length and width of the selectable parking space from the image of the selectable parking space and the calculation of the available parking area in the selectable parking space in combination with the preset motor vehicle size data comprises:
determining the length and the width of the selectable parking space according to the image of the selectable parking space;
and calculating and determining an available parking area in the selectable parking space according to the length and the width of the selectable parking space and preset motor vehicle size data, wherein the distance between each edge of the available parking area and the corresponding edge of the selectable parking space is not less than the corresponding preset distance.
9. A method for assisting in parking a vehicle as claimed in claim 6, wherein the step of obtaining a panoramic video image of the environment around the vehicle in real time, and the step of extracting an oblique image of the selectable parking spaces from the panoramic video image comprises:
presetting an orientation reference system of the inclined parking spaces in the panoramic video image;
respectively collecting video images around the motor vehicle, and synthesizing the video images around the motor vehicle into a panoramic video image of the surrounding environment of the motor vehicle;
and detecting all idle parking spaces with acute angles or obtuse angles between the length directions and the orientation reference system in the panoramic video image according to the orientation reference system to serve as the selectable parking spaces.
10. A method for assisting in parking a vehicle as claimed in claim 9, wherein a pre-trained haar feature classifier is used to detect all vacant parking spaces having acute or obtuse angles between their length directions and a heading reference frame in the panoramic video image as the selectable parking spaces.
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| CN201911337057.XA CN110949255A (en) | 2019-12-23 | 2019-12-23 | Auxiliary parking device and method for motor vehicle |
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| CN201911337057.XA CN110949255A (en) | 2019-12-23 | 2019-12-23 | Auxiliary parking device and method for motor vehicle |
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