CN111750879A - Auxiliary parking method and device - Google Patents
Auxiliary parking method and device Download PDFInfo
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- CN111750879A CN111750879A CN201910252813.2A CN201910252813A CN111750879A CN 111750879 A CN111750879 A CN 111750879A CN 201910252813 A CN201910252813 A CN 201910252813A CN 111750879 A CN111750879 A CN 111750879A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
- G01C21/3685—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities the POI's being parking facilities
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Abstract
The invention provides an auxiliary parking method, which comprises the following steps: acquiring first image data of a traffic sign on the right side of a road of a driving position of a vehicle; judging whether the driving position belongs to a no-parking area or not based on the road sign information in the first image data; and generating reminding information to remind a user of driving away as soon as possible in response to the driving position belonging to the no-parking area.
Description
Technical Field
The invention relates to a vehicle auxiliary driving method, in particular to an auxiliary parking method and a device thereof.
Background
With the popularization of vehicles and the management of traffic conditions, safe and civilized driving increasingly enters the category of traffic management. And the parking difficulty caused by the limited spatial position of the city is increasingly serious. With the popularization of electronic police, the violation becomes a violation type with a very high occurrence probability.
The violation is usually caused by the user carelessly not finding the forbidden identification, however, there are also situations where the forbidden identification is hidden from easy discovery.
The current navigation system may determine that a certain area is a no-parking area based on violation data acquired by a background, but the navigation system does not actively remind a user that the position of the user belongs to the no-parking area, and only can distinguish the certain area on a navigation interface.
The information that whether the current position belongs to the no-parking area or not is acquired by the user and depends on the visual observation of the user, so that misjudgment and omission are easy to occur, and the user is troubled. It is highly desirable to provide a method capable of assisting a user in acquiring information of a no-parking area so as to assist the user in parking.
Disclosure of Invention
In order to overcome the defects, the invention aims to provide a method and a device for intelligently reminding a user whether the current position of the user can be parked when the user parks the vehicle. Preferably, the method and the device thereof are used for judging whether the current position belongs to a time-limited driving position when the current position can stop and reminding the user of driving away when the stop available time is about to end.
According to an aspect of the present invention, there is provided a parking assist method including: acquiring first image data of a traffic sign on the right side of a road of a driving position of a vehicle; judging whether the driving position belongs to a no-parking area or not based on the road sign information in the first image data; and generating reminding information to remind a user of driving away as soon as possible in response to the driving position belonging to the no-parking area.
Still further, the parking assist method further includes: and responding to the fact that the current speed of the vehicle is smaller than a first preset speed threshold value, and judging whether the driving position belongs to a no-parking area or not based on the road sign information in the first image data.
Still further, the parking assist method further includes: and controlling a central control display screen or an instrument display screen of the vehicle to display the reminding information in response to that the current vehicle speed of the vehicle is less than a first preset vehicle speed threshold value.
Further, the determining whether the driving position belongs to the no-parking area includes: identifying a traffic sign included in the first image data; and responding to the stop prohibition identification in the traffic road sign included in the first image data, and judging that the driving position belongs to a stop prohibition area.
Further, the determining whether the driving position belongs to the no-parking area further includes: matching each traffic sign included in the first image data with all the stop prohibition identifications; and responding to the fact that a traffic road sign included in the first image data is successfully matched with any stop prohibition identification, and judging that the stop prohibition identification exists in the traffic road sign.
Still further, the matching further comprises: calculating the similarity between each traffic road sign and all the stop-forbidden marks; and responding to the maximum similarity between a traffic road sign and a stop prohibition identification, wherein the similarity is greater than a preset threshold value, and judging that the traffic road sign and the stop prohibition identification are successfully matched.
Further, the parking assist method is characterized by further comprising: responding to the fact that the driving position belongs to a no-parking area and the current speed of the vehicle is smaller than a second preset speed threshold value, and acquiring second image data of a road shoulder on the right side of the driving position; identifying the second image data to judge whether the driving position has a penalty mark or not; and responding to the driving position to have the penalty mark, and generating the reminding information comprising penalty content.
According to an aspect of the present invention, a parking assist apparatus includes: a memory; and a processor coupled to the memory, the processor configured to: acquiring first image data of a traffic sign on the right side of a road of a driving position of a vehicle; judging whether the driving position belongs to a no-parking area or not based on the road sign information in the first image data; and generating reminding information to remind a user of driving away as soon as possible in response to the driving position belonging to the no-parking area.
Still further, the processor is further configured to: and responding to the fact that the current speed of the vehicle is smaller than a first preset speed threshold value, and judging whether the driving position belongs to a no-parking area or not based on the road sign information in the first image data.
Still further, the processor is further configured to: and controlling a central control display screen or an instrument display screen of the vehicle to display the reminding information in response to that the current vehicle speed of the vehicle is less than a first preset vehicle speed threshold value.
Still further, the processor is further configured to: identifying a traffic sign included in the first image data; and responding to the stop prohibition identification in the traffic road sign included in the first image data, and judging that the driving position belongs to a stop prohibition area.
Still further, the processor is further configured to: matching each traffic sign included in the first image data with all the stop prohibition identifications; and responding to the fact that a traffic road sign included in the first image data is successfully matched with any stop prohibition identification, and judging that the stop prohibition identification exists in the traffic road sign.
Still further, the processor is further configured to: calculating the similarity between each traffic road sign and all the stop-forbidden marks; and responding to the maximum similarity between a traffic road sign and a stop prohibition identification, wherein the similarity is greater than a preset threshold value, and judging that the traffic road sign and the stop prohibition identification are successfully matched.
Still further, the processor is further configured to: responding to the fact that the driving position belongs to a no-parking area and the current speed of the vehicle is smaller than a second preset speed threshold value, and acquiring second image data of a road shoulder on the right side of the driving position; identifying the second image data to judge whether the driving position has a penalty mark or not; and responding to the driving position to have the penalty mark, and generating the reminding information comprising penalty content.
According to an aspect of the present invention, there is provided a computer storage medium having a computer program stored thereon, wherein the computer program when executed implements the steps of the assisted parking method as defined in any one of the above.
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The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings.
FIG. 1 is a schematic flow chart diagram of one embodiment according to one aspect of the present invention;
FIG. 2 is a partial flow diagram of one embodiment in accordance with an aspect of the present invention;
FIG. 3 is a schematic flow chart diagram of another embodiment according to one aspect of the present invention;
FIG. 4 is a partial flow diagram of one embodiment in accordance with an aspect of the present invention;
FIG. 5 is a hardware schematic block diagram of an embodiment depicted in accordance with another aspect of the invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is noted that the aspects described below in connection with the figures and the specific embodiments are only exemplary and should not be construed as imposing any limitation on the scope of the present invention.
According to one aspect of the invention, a parking assisting method is provided for judging whether a current position of a vehicle belongs to a no-parking area so as to assist a user in parking.
In one embodiment, as shown in the flowchart of fig. 1, the parking assist method 100 includes steps S110 to S130.
Wherein, step S110 is: the method comprises the steps of obtaining first image data of a traffic sign on the right side of a road of a driving position of a vehicle.
It is understood that the driving position is a position where the vehicle is located during driving. In the present invention, when the user has the intention to park, the first image data is acquired to determine whether the current driving position of the vehicle belongs to the no-parking area, so that the first image data of the traffic sign on the right side of the road of the current driving position of the vehicle can be acquired in step S110 when the vehicle is determined to have the intention to park.
The "acquiring the first image data" may be performed from any one of photographing devices mounted on the vehicle and capable of photographing the right side of the road on which the vehicle is located. Due to the randomness of the driving position of the vehicle, preferably, the first image data covers a certain range around the driving position of the vehicle to ensure that no traffic signs on the road are missed.
In some embodiments, to ensure that no traffic signs on the road are missed, the image data of the front, back and right of the position of the vehicle can be obtained by a plurality of cameras disposed at a plurality of different positions on the vehicle, and the combination of the image data captured by the plurality of cameras constitutes the first image data.
On the other hand, the application scenario of the present application is to determine whether the current driving position can be stopped for the user preparing to stop the vehicle, so that the vehicle driven by the user should be in a low-speed driving state along the road. Therefore, in some embodiments, the first image data captured by the capturing device arranged on the vehicle and used for capturing the front right of the head of the vehicle can also be obtained. The first image data may also be sufficient to cover road markings provided on the road as the vehicle travels slowly along the road.
It is understood that the first image data may also be obtained through a communication module on the vehicle, and the communication module communicates with a roadside unit, a monitoring device or a vehicle networking arranged on a road where the vehicle is located to obtain the first image data stored or captured in the roadside unit, the monitoring device or the vehicle networking.
The traffic road sign comprises a sign board standing on a road shoulder, and a graphic or an arrow mark drawn on the road or the road shoulder and other marks for indicating traffic regulations.
Step S120 is: and judging whether the driving position belongs to a no-parking area or not based on the road sign information in the first image data.
The landmark information is information indicated by traffic landmarks.
And performing image recognition on the traffic sign included in the first image data to determine whether the mark indicating the parking information exists on the right side of the road where the vehicle is located.
The specific image recognition method can be a neural network algorithm, a template matching method, a geometric transformation method and other image recognition methods capable of recognizing the road mark.
Step S130 is: and generating first reminding information to remind a user of driving away as soon as possible in response to the driving position belonging to the no-parking area.
Further, the first reminding information can be text or simulation picture information displayed on a central control display screen or an instrument display screen of the vehicle.
Preferably, the first reminding information can be informed to the user in a manner of attracting the attention of the user when the user is judged to have the parking intention. Specifically, step S130 may include: and controlling a central control display screen or an instrument display screen of the vehicle to display the first reminding information in response to that the current vehicle speed of the vehicle is less than a first preset vehicle speed threshold value.
Further, in a preferred embodiment, as shown in fig. 2, step S120 may specifically include steps S121 to S122.
Step S121 is: a traffic sign included in the first image data is identified. It is understood that the first image data may include a plurality of traffic signs, each of which may exist in different sizes in the first image data, and the image-recognized traffic signs may be all or part of the first image data.
Step S122 is: and judging that the driving position belongs to a no-stop area in response to the no-stop mark in the traffic sign included in the first image data.
Specifically, the existing common prohibition identifier may be used as an identification template, and the traffic sign in the first image data identified by the image is compared with the identification template to determine whether the prohibition identifier exists in the first image data.
Preferably, step S122 may include steps S1221 to S1222.
Step S1221 is: and matching each traffic sign included in the first image data with all the stop-forbidden marks.
It is to be appreciated that the disabling flag may be a recognition template corresponding to a physical disabling flag that facilitates image data matching.
The specific matching method may be to calculate similarity between each traffic road sign and all recognition templates of the parking-forbidden marks, and determine the parking-forbidden mark matched with the traffic road sign based on the similarity between each traffic road sign and all the parking-forbidden marks. Each traffic sign is associated with a similarity corresponding to all the stop signs, respectively. And in response to the fact that the maximum similarity associated with a traffic road sign is larger than a preset threshold value, judging that the traffic road sign is successfully matched with the stop prohibition identification corresponding to the maximum similarity.
It is understood that the stop sign corresponding to the maximum similarity among all similarities associated with each traffic sign is the stop sign most likely to match the traffic sign. When the similarity value exceeds the preset threshold range, the similarity between the traffic road sign and the stop prohibition identification meets the preset requirement, so that the traffic road sign can be judged to be successfully matched with the stop prohibition identification corresponding to the maximum similarity.
Further, the similarity may be the similarity between the number and the position of the pixel points of each chroma in the recognition template of the partial or whole image data corresponding to the traffic sign and the stop prohibition identification in the first image data.
Step S1222 is: and judging that the stop prohibition identification exists in the traffic road sign in response to the fact that the traffic road sign included in the first image data is successfully matched with any stop prohibition identification.
Further, in a preferred embodiment, as shown in fig. 1, the parking assist method 100 further includes steps S140 to S160.
Wherein, step S140 is: and responding to the fact that the driving position belongs to the no-parking area and the current speed of the vehicle is smaller than a second preset speed threshold value, and obtaining second image data of a road shoulder on the right side of the driving position.
It can be understood that when the current vehicle speed of the vehicle is less than the second preset vehicle speed threshold, it can be determined that the vehicle has the parking intention, and since the current driving position belongs to the no-parking area, the second image data needs to be acquired to identify the penalty that will be caused by the illegal parking at the current driving position.
It will be appreciated that the second predetermined vehicle speed threshold may be the same as or different from the first predetermined vehicle speed threshold. Preferably, the second preset vehicle speed threshold may be lower than the first vehicle speed threshold, that is, when the vehicle runs at a vehicle speed lower than the second preset vehicle speed threshold, it may be determined that the vehicle has an intention to stop at the current running position.
Step S150 is: and identifying the second image data to judge whether the driving position has a penalty mark.
The existence of specific regulations in traffic regulations may cause corresponding penalty contents if certain marks, such as marks, diagrams, arrows or lines, are violated, and the penalty marks refer to marks, such as marks, diagrams, arrows or lines, which can correspond to specific trigger contents. The penalty mark means that the action of the restriction is a penalty mark for violating the stop.
It is understood that when the penalty mark exists in a similar form to the traffic sign or in a similar position, the first image data may include the penalty mark. The first image data may be directly used as the second image data in case the first image data already includes the penalty flag. When the penalty mark and the traffic sign are different in existence form or are far different in set position, the second image data independently exist.
It is understood that the method for identifying the second image data may be the same as or different from the method for identifying the first image data.
Step S160 is: and responding to the running position with the penalty mark, and generating the reminding information comprising penalty content. Specifically, the penalty content is added to the reminder information generated at step S130.
The penalty content marks corresponding penalty categories for the penalty, such as: fine or deduction etc.
It can be understood that the reminding information including the punishment content can arouse the attention of the user and prevent the gambling psychology.
In another embodiment, as shown in FIG. 3, the parking assist method 300 includes steps S310-S330.
Wherein, step S310 is: the method comprises the steps of obtaining first image data of a traffic sign on the right side of a road of a driving position of a vehicle.
It is understood that the driving position is a position where the vehicle is located during driving.
The "acquiring the first image data" may be performed from any one of photographing devices mounted on the vehicle and capable of photographing the right side of the road on which the vehicle is located. Due to the randomness of the driving position of the vehicle, preferably, the first image data covers a certain range around the driving position of the vehicle to ensure that no traffic signs on the road are missed.
In some embodiments, to ensure that no traffic signs on the road are missed, the image data of the front, back and right of the position of the vehicle can be obtained by a plurality of cameras disposed at a plurality of different positions on the vehicle, and the combination of the image data captured by the plurality of cameras constitutes the first image data.
On the other hand, the application scenario of the present application is to determine whether the current driving position can be stopped for the user preparing to stop the vehicle, so that the vehicle driven by the user should be in a low-speed driving state along the road. Therefore, in some embodiments, the first image data captured by the capturing device arranged on the vehicle and used for capturing the front right of the head of the vehicle can also be obtained. The first image data may also be sufficient to cover road markings provided on the road as the vehicle travels slowly along the road.
It is understood that the first image data may also be obtained through a communication module on the vehicle, and the communication module communicates with a roadside unit, a monitoring device or a vehicle networking arranged on a road where the vehicle is located to obtain the first image data stored or captured in the roadside unit, the monitoring device or the vehicle networking.
The traffic road sign comprises a sign board standing on a road shoulder, and a graphic or an arrow mark drawn on the road or the road shoulder and other marks for indicating traffic regulations.
Step S320 is: and judging whether the driving position belongs to a no-parking area or not based on the road sign information in the first image data in response to the fact that the current speed of the vehicle is smaller than a first preset speed threshold value.
The purpose of the present invention is to judge whether a vehicle can be parked at a current driving position when a user has an intention to park so as to assist the user in parking, and to analyze and judge the first image data when the vehicle has been judged to have the intention to park. In general, a user travels along the way at a slow vehicle speed when searching for a parking area, and therefore, when the vehicle speed of the vehicle is lower than a preset vehicle speed threshold value, the user is estimated to have an intention to park.
It can be understood that judging whether the driving position belongs to the no-parking area when the user has the parking intention avoids continuously executing judgment when the user normally drives, and saves calculation steps and calculation resources.
The landmark information is information indicated by traffic landmarks.
And performing image recognition on the traffic sign included in the first image data to determine whether the mark indicating the parking information exists on the right side of the road where the vehicle is located.
The specific image recognition method can be a neural network algorithm, a template matching method, a geometric transformation method and other image recognition methods capable of recognizing the road mark.
Step S330 is: and generating first reminding information to remind a user of driving away as soon as possible in response to the driving position belonging to the no-parking area.
It is understood that the first reminding message can be a text or simulated picture message displayed on a central control display screen or an instrument display screen of the vehicle.
Further, in a preferred embodiment, as shown in fig. 4, step S320 may specifically include steps S321 to S322.
Step S321 is: a traffic sign included in the first image data is identified. It is understood that the first image data may include a plurality of traffic signs, each of which may exist in different sizes in the first image data, and the image-recognized traffic signs may be all or part of the first image data.
Step S322 is: and judging that the driving position belongs to a no-stop area in response to the no-stop mark in the traffic sign included in the first image data.
Specifically, the existing common prohibition identifier may be used as an identification template, and the traffic sign in the first image data identified by the image is compared with the identification template to determine whether the prohibition identifier exists in the first image data.
Preferably, step S322 may include steps S3221 to S3222.
Step S3221 is: and matching each traffic sign included in the first image data with all the stop-forbidden marks.
It is to be appreciated that the disabling flag may be a recognition template corresponding to a physical disabling flag that facilitates image data matching.
The specific matching method may be to calculate similarity between each traffic road sign and all recognition templates of the parking-forbidden marks, and determine the parking-forbidden mark matched with the traffic road sign based on the similarity between each traffic road sign and all the parking-forbidden marks. Each traffic sign is associated with a similarity corresponding to all the stop signs, respectively. And in response to the fact that the maximum similarity associated with a traffic road sign is larger than a preset threshold value, judging that the traffic road sign is successfully matched with the stop prohibition identification corresponding to the maximum similarity.
It is understood that the stop sign corresponding to the maximum similarity among all similarities associated with each traffic sign is the stop sign most likely to match the traffic sign. When the similarity value exceeds the preset threshold range, the similarity between the traffic road sign and the stop prohibition identification meets the preset requirement, so that the traffic road sign can be judged to be successfully matched with the stop prohibition identification corresponding to the maximum similarity.
Further, the similarity may be the similarity between the number and the position of the pixel points of each chroma in the recognition template of the partial or whole image data corresponding to the traffic sign and the stop prohibition identification in the first image data.
Step S3222 is: and judging that the stop prohibition identification exists in the traffic road sign in response to the fact that the traffic road sign included in the first image data is successfully matched with any stop prohibition identification.
Further, in a preferred embodiment, as shown in FIG. 3, the parking assist method 300 further includes steps S340-S360.
Wherein, step S340 is: and responding to the fact that the driving position belongs to the no-parking area and the current speed of the vehicle is smaller than a second preset speed threshold value, and obtaining second image data of a road shoulder on the right side of the driving position.
It can be understood that when the current vehicle speed of the vehicle is less than the second preset vehicle speed threshold, it can be determined that the vehicle is ready to stop, and since the current driving position belongs to the no-parking area, the second image data needs to be acquired to identify the penalty that will be caused by the illegal parking at the current driving position.
It will be appreciated that the second predetermined vehicle speed threshold may be the same as or different from the first predetermined vehicle speed threshold. Preferably, the second preset vehicle speed threshold may be lower than the first vehicle speed threshold, that is, when the vehicle runs at a vehicle speed lower than the second preset vehicle speed threshold, it may be determined that the vehicle has an intention to stop at the current running position.
Step S350 is: and identifying the second image data to judge whether the driving position has a penalty mark.
The existence of specific regulations in traffic regulations may cause corresponding penalty contents if certain marks, such as marks, diagrams, arrows or lines, are violated, and the penalty marks refer to marks, such as marks, diagrams, arrows or lines, which can correspond to specific trigger contents. The penalty mark means that the action of the restriction is a penalty mark for violating the stop.
It is understood that when the penalty mark exists in a similar form to the traffic sign or in a similar position, the first image data may include the penalty mark. The first image data may be directly used as the second image data in case the first image data already includes the penalty flag. When the penalty mark and the traffic sign are different in existence form or are far different in set position, the second image data independently exist.
It is understood that the method for identifying the second image data may be the same as or different from the method for identifying the first image data.
Step S360 is: and responding to the running position with the penalty mark, and generating the reminding information comprising penalty content.
The penalty content marks corresponding penalty categories for the penalty, such as: fine or deduction etc.
It can be understood that the reminding information including the punishment content can arouse the attention of the user and prevent the gambling psychology.
By the method, the function of assisting the user in identifying the road mark is realized, and when the parking intention of the user is judged, the current position of the user is reminded to be a no-parking area through the first reminding information so as to prevent illegal parking.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
According to another aspect of the present invention, a parking assistance apparatus is provided for determining whether a current location of a vehicle belongs to a no-parking area so as to assist a user in parking.
In one embodiment, as shown in the hardware schematic block diagram of fig. 5, the secondary parking device 500 includes a memory 510 and a processor 520.
The memory 510 is used to store computer programs.
The processor 520 is coupled to the memory 510 for executing computer programs stored on the memory 510. The processor 520, based on the memory 510, is configured to: acquiring first image data of a traffic sign on the right side of a road of a driving position of a vehicle; judging whether the driving position belongs to a no-parking area or not based on the road sign information in the first image data; and generating first reminding information to remind a user of driving away as soon as possible in response to the driving position belonging to the no-parking area.
It is understood that the driving position is a position where the vehicle is located during driving. In the present invention, when the user has the intention to park, the first image data is acquired to determine whether the current driving position of the vehicle belongs to the no-parking area, so that the first image data of the traffic sign on the right side of the road of the current driving position of the vehicle can be acquired in step S110 when the vehicle is determined to have the intention to park.
The "acquiring the first image data" may be performed from any one of photographing devices mounted on the vehicle and capable of photographing the right side of the road on which the vehicle is located. Due to the randomness of the driving position of the vehicle, preferably, the first image data covers a certain range around the driving position of the vehicle to ensure that no traffic signs on the road are missed.
In some embodiments, to ensure that no traffic signs on the road are missed, the image data of the front, back and right of the position of the vehicle can be obtained by a plurality of cameras disposed at a plurality of different positions on the vehicle, and the combination of the image data captured by the plurality of cameras constitutes the first image data.
On the other hand, the application scenario of the present application is to determine whether the current driving position can be stopped for the user preparing to stop the vehicle, so that the vehicle driven by the user should be in a low-speed driving state along the road. Therefore, in some embodiments, the first image data captured by the capturing device arranged on the vehicle and used for capturing the front right of the head of the vehicle can also be obtained. The first image data may also be sufficient to cover road markings provided on the road as the vehicle travels slowly along the road.
It is understood that the first image data may also be obtained through a communication module on the vehicle, and the communication module communicates with a roadside unit, a monitoring device or a vehicle networking arranged on a road where the vehicle is located to obtain the first image data stored or captured in the roadside unit, the monitoring device or the vehicle networking.
The traffic road sign comprises a sign board standing on a road shoulder, and a graphic or an arrow mark drawn on the road or the road shoulder and other marks for indicating traffic regulations.
The landmark information is information indicated by traffic landmarks.
Further, the processor 520 performs image recognition on the traffic sign included in the first image data to determine whether there is a mark indicating parking information on the right side of the road where the vehicle is located.
The specific image recognition method can be a neural network algorithm, a template matching method, a geometric transformation method and other image recognition methods capable of recognizing the road mark.
Further, the first reminding information can be text or simulation picture information displayed on a central control display screen or an instrument display screen of the vehicle.
Preferably, the first reminding information can be informed to the user in a manner of attracting the attention of the user when the user is judged to have the parking intention. In particular, processor 520 is further configured to: and controlling a central control display screen or an instrument display screen of the vehicle to display the first reminding information in response to that the current vehicle speed of the vehicle is less than a first preset vehicle speed threshold value.
Further, in a preferred embodiment, the processor 520 is further configured to: identifying a traffic sign included in the first image data; and judging that the driving position belongs to a no-stop area in response to the no-stop mark in the traffic sign included in the first image data.
It is understood that the first image data may include a plurality of traffic signs, each of which may exist in different sizes in the first image data, and the image-recognized traffic signs may be all or part of the first image data.
Specifically, the existing common prohibition identifier may be used as an identification template, and the traffic sign in the first image data identified by the image is compared with the identification template to determine whether the prohibition identifier exists in the first image data.
Preferably, the processor 520 is further configured to: matching each traffic sign included in the first image data with all the stop prohibition identifications; and judging that the stop prohibition identification exists in the traffic road sign in response to the fact that the traffic road sign included in the first image data is successfully matched with any stop prohibition identification.
It is to be appreciated that the disabling flag may be a recognition template corresponding to a physical disabling flag that facilitates image data matching.
The specific matching method may be to calculate similarity between each traffic road sign and all recognition templates of the parking-forbidden marks, and determine the parking-forbidden mark matched with the traffic road sign based on the similarity between each traffic road sign and all the parking-forbidden marks. Each traffic sign is associated with a similarity corresponding to all the stop signs, respectively. And in response to the fact that the maximum similarity associated with a traffic road sign is larger than a preset threshold value, judging that the traffic road sign is successfully matched with the stop prohibition identification corresponding to the maximum similarity.
It is understood that the stop sign corresponding to the maximum similarity among all similarities associated with each traffic sign is the stop sign most likely to match the traffic sign. When the similarity value exceeds the preset threshold range, the similarity between the traffic road sign and the stop prohibition identification meets the preset requirement, so that the traffic road sign can be judged to be successfully matched with the stop prohibition identification corresponding to the maximum similarity.
Further, the similarity may be the similarity between the number and the position of the pixel points of each chroma in the recognition template of the partial or whole image data corresponding to the traffic sign and the stop prohibition identification in the first image data.
Further, in a preferred embodiment, the processor 520 is further configured to: responding to the fact that the driving position belongs to the no-parking area and the current speed of the vehicle is smaller than a second preset speed threshold value, and obtaining second image data of a road shoulder on the right side of the driving position; identifying second image data to judge whether the driving position has a penalty mark or not; and responding to the running position with the penalty mark, and generating the reminding information comprising penalty content.
It can be understood that when the current vehicle speed of the vehicle is less than the second preset vehicle speed threshold, it can be determined that the vehicle has the parking intention, and since the current driving position belongs to the no-parking area, the second image data needs to be acquired to identify the penalty that will be caused by the illegal parking at the current driving position.
It will be appreciated that the second predetermined vehicle speed threshold may be the same as or different from the first predetermined vehicle speed threshold.
The existence of specific regulations in traffic regulations may cause corresponding penalty contents if certain marks, such as marks, diagrams, arrows or lines, are violated, and the penalty marks refer to marks, such as marks, diagrams, arrows or lines, which can correspond to specific trigger contents. The penalty mark means that the action of the restriction is a penalty mark for violating the stop.
It is understood that when the penalty mark exists in a similar form to the traffic sign or in a similar position, the first image data may include the penalty mark. The first image data may be directly used as the second image data in case the first image data already includes the penalty flag. When the penalty mark and the traffic sign are different in existence form or are far different in set position, the second image data independently exist.
It is understood that the method for identifying the second image data may be the same as or different from the method for identifying the first image data.
Specifically, the above-mentioned penalty contents may be matched according to the provision of the existing traffic regulations. For example, the deduction and/or fine rules corresponding to the road signs in the traffic regulations are matched based on the shape of the line drawn on the road shoulder and the color thereof.
It can be understood that the reminding information including the punishment content can arouse the attention of the user and prevent the gambling psychology.
In another embodiment, the processor 520 in the secondary parking apparatus 500 may be configured to implement the steps of the secondary parking method in the secondary parking method 300 described above when executing a computer program stored on the memory 510.
According to yet another aspect of the present invention, there is provided a computer storage medium having a computer program stored thereon, the computer program when executed, implementing the steps of the above-described assisted parking method.
Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits (bits), symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disks) usually reproduce data magnetically, while discs (discs) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
The previous description is provided to enable any person skilled in the art to practice the various aspects described herein. It is to be understood that the scope of the invention is to be defined by the appended claims and not by the specific constructions and components of the embodiments illustrated above. Those skilled in the art can make various changes and modifications to the embodiments within the spirit and scope of the present invention, and these changes and modifications also fall within the scope of the present invention.
Claims (15)
1. A method of parking assist comprising:
acquiring first image data of a traffic sign on the right side of a road of a driving position of a vehicle;
judging whether the driving position belongs to a no-parking area or not based on the road sign information in the first image data; and
and generating reminding information to remind a user of driving away as soon as possible in response to the fact that the driving position belongs to the no-parking area.
2. The parking assist method according to claim 1, further comprising:
and responding to the fact that the current speed of the vehicle is smaller than a first preset speed threshold value, and judging whether the driving position belongs to a no-parking area or not based on the road sign information in the first image data.
3. The parking assist method according to claim 1, further comprising:
and controlling a central control display screen or an instrument display screen of the vehicle to display the reminding information in response to that the current vehicle speed of the vehicle is less than a first preset vehicle speed threshold value.
4. The parking assist method according to claim 1, wherein the judging whether the driving position belongs to a no-parking area comprises:
identifying a traffic sign included in the first image data; and
and judging that the driving position belongs to a no-stop area in response to the no-stop mark in the traffic sign included in the first image data.
5. The parking assist method according to claim 4, wherein the judging whether the driving position belongs to the no-parking area further comprises:
matching each traffic sign included in the first image data with all the stop prohibition identifications; and
and judging that the stop prohibition identification exists in the traffic road sign in response to the fact that the matching between the traffic road sign and any stop prohibition identification in the first image data is successful.
6. The parking assist method of claim 5, wherein the matching further comprises:
calculating the similarity between each traffic road sign and all the stop-forbidden marks; and
and in response to the fact that the similarity between a traffic road sign and a stop prohibition identification is the maximum and is greater than a preset threshold value, judging that the traffic road sign and the stop prohibition identification are successfully matched.
7. The parking assist method according to claim 1, further comprising:
responding to the fact that the driving position belongs to a no-parking area and the current speed of the vehicle is smaller than a second preset speed threshold value, and acquiring second image data of a road shoulder on the right side of the driving position;
identifying the second image data to judge whether the driving position has a penalty mark or not; and
and responding to the running position with the penalty mark, and generating the reminding information comprising penalty content.
8. A parking assist apparatus comprising:
a memory; and
a processor coupled to the memory, the processor configured to:
acquiring first image data of a traffic sign on the right side of a road of a driving position of a vehicle;
judging whether the driving position belongs to a no-parking area or not based on the road sign information in the first image data; and
and generating reminding information to remind a user of driving away as soon as possible in response to the fact that the driving position belongs to the no-parking area.
9. The assisted parking apparatus of claim 8, wherein the processor is further configured to:
and responding to the fact that the current speed of the vehicle is smaller than a first preset speed threshold value, and judging whether the driving position belongs to a no-parking area or not based on the road sign information in the first image data.
10. The assisted parking apparatus of claim 8, wherein the processor is further configured to:
and controlling a central control display screen or an instrument display screen of the vehicle to display the reminding information in response to that the current vehicle speed of the vehicle is less than a first preset vehicle speed threshold value.
11. The assisted parking apparatus of claim 8, wherein the processor is further configured to:
identifying a traffic sign included in the first image data; and
and judging that the driving position belongs to a no-stop area in response to the no-stop mark in the traffic sign included in the first image data.
12. The assisted parking apparatus of claim 11, wherein the processor is further configured to:
matching each traffic sign included in the first image data with all the stop prohibition identifications; and
and judging that the stop prohibition identification exists in the traffic road sign in response to the fact that the matching between the traffic road sign and any stop prohibition identification in the first image data is successful.
13. The assisted parking apparatus of claim 12, wherein the processor is further configured to:
calculating the similarity between each traffic road sign and all the stop-forbidden marks; and
and in response to the fact that the similarity between a traffic road sign and a stop prohibition identification is the maximum and is greater than a preset threshold value, judging that the traffic road sign and the stop prohibition identification are successfully matched.
14. The assisted parking apparatus of claim 8, wherein the processor is further configured to:
responding to the fact that the driving position belongs to a no-parking area and the current speed of the vehicle is smaller than a second preset speed threshold value, and acquiring second image data of a road shoulder on the right side of the driving position;
identifying the second image data to judge whether the driving position has a penalty mark or not; and
and responding to the running position with the penalty mark, and generating the reminding information comprising penalty content.
15. A computer storage medium having a computer program stored thereon, wherein the computer program when executed implements the steps of a method of parking assist as claimed in any one of claims 8 to 14.
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| CN201910252813.2A CN111750879A (en) | 2019-03-29 | 2019-03-29 | Auxiliary parking method and device |
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