CN111824261A - Parking control display method, device and equipment - Google Patents
Parking control display method, device and equipment Download PDFInfo
- Publication number
- CN111824261A CN111824261A CN202010402604.4A CN202010402604A CN111824261A CN 111824261 A CN111824261 A CN 111824261A CN 202010402604 A CN202010402604 A CN 202010402604A CN 111824261 A CN111824261 A CN 111824261A
- Authority
- CN
- China
- Prior art keywords
- target
- parking
- parking space
- candidate
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The application provides a parking control display method, a parking control display device and parking control equipment, wherein the method comprises the following steps: acquiring a target position point of a target vehicle; receiving relative position information of candidate parking spaces and target position points sent by an automatic parking controller; acquiring position coordinate information of candidate parking spaces according to the relative position information in a rectangular coordinate system with a target position point as an origin; drawing an image of the candidate parking space according to the position coordinate information of the candidate parking space; and sending the vehicle image of the target vehicle and the candidate parking space image to the target device for displaying. Therefore, the parking environment can be accurately grasped and selected by the user conveniently by displaying specific information such as relative position information between the target vehicle and the candidate parking spaces and size angles of the parking spaces.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a parking control display method, device and equipment.
Background
At present, an automatic parking technology is one of hot spots of current intelligent driving, and how to enable a user to accurately know the distance between a vehicle and a parking space and dynamically display the vehicle state in the parking process is very important.
In the related technology, a display terminal statically displays a fixed vehicle and a parking space, and the corresponding parking space is lighted after an effective parking space is searched, so that the display mode of the parking process is similar, the realization process of the mode is simple, and the defect is that a user cannot accurately know the actual size parameter and angle of the parking space, the included angle between the own vehicle and the parking space and the like.
Content of application
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present application is to provide a parking control display method, which facilitates a user to accurately grasp and select a parking environment by displaying specific information, such as relative position information between a target vehicle and a parking space candidate and a size angle of the parking space itself.
A second object of the present application is to provide a parking control display device.
A third object of the present application is to provide an electronic device.
A fourth object of the present application is to propose a computer readable storage medium.
To achieve the above object, an embodiment of a first aspect of the present application provides a parking control display method, including: acquiring a target position point of a target vehicle; receiving relative position information of the candidate parking spaces and the target position point, which is sent by an automatic parking controller; in a rectangular coordinate system with the target position point as an origin, acquiring position coordinate information of the candidate parking spaces according to the relative position information; drawing an image of the candidate parking space according to the position coordinate information of the candidate parking space; and sending the vehicle image of the target vehicle and the candidate parking space image to a target device for displaying.
According to the parking control display method, the target position point of the target vehicle is obtained; receiving relative position information of candidate parking spaces and target position points sent by an automatic parking controller; acquiring position coordinate information of candidate parking spaces according to the relative position information in a rectangular coordinate system with a target position point as an origin; drawing an image of the candidate parking space according to the position coordinate information of the candidate parking space; and sending the vehicle image of the target vehicle and the candidate parking space image to the target device for displaying. Therefore, the parking environment can be accurately grasped and selected by the user conveniently by displaying specific information such as relative position information between the target vehicle and the candidate parking spaces and size angles of the parking spaces.
In addition, the parking control display method according to the above-described embodiment of the present application may further have the following additional technical features:
according to an embodiment of the application, after the displaying, at the target device, the vehicle image of the target vehicle and the image of the candidate parking space, the method further includes: receiving a parking space selection instruction, and determining a target parking space from the candidate parking spaces; and sending the vehicle image of the target vehicle and the target parking space image corresponding to the target parking space to the target device for displaying.
According to an embodiment of the present application, the method further includes: acquiring a parking space angular point position point with the shortest distance to the target vehicle; receiving relative position information of the target parking stall and the stall corner position, a target vehicle head direction and a preset included angle, which are sent by an automatic parking controller; acquiring target position coordinate information of the target vehicle according to the relative position information of the target parking space and the parking space angular point position in a rectangular coordinate system with the parking space angular point position point as an origin; and generating a parking track of the target vehicle and the target parking stall according to the target position coordinate information, the direction of the head of the target vehicle and the preset included angle, and sending the parking track to the target device for displaying.
According to an embodiment of the application, the drawing of the parking space candidate image according to the position coordinate information of the parking space candidate includes: acquiring coordinate information of four angular positions of the candidate parking spaces; and performing linear connection on adjacent angular positions according to the coordinate information of the four angular positions to generate the candidate parking space image.
According to one embodiment of the application, the target vehicle image and the parking space image are displayed according to a preset proportion in the target device.
In order to achieve the above object, a second aspect of the present invention provides a parking control display device, including: the first acquisition module is used for acquiring a target position point of a target vehicle; the first receiving module is used for receiving the relative position information of the candidate parking space and the target position point, which is sent by the automatic parking controller; the second acquisition module is used for acquiring the position coordinate information of the candidate parking spaces according to the relative position information in a rectangular coordinate system with the target position point as an origin; the processing module is used for drawing a candidate parking space image according to the position coordinate information of the candidate parking space; and the display module is used for sending the vehicle image of the target vehicle and the candidate parking space image to a target device for displaying.
According to the parking control display device, the target position point of the target vehicle is obtained; receiving relative position information of candidate parking spaces and target position points sent by an automatic parking controller; acquiring position coordinate information of candidate parking spaces according to the relative position information in a rectangular coordinate system with a target position point as an origin; drawing an image of the candidate parking space according to the position coordinate information of the candidate parking space; and sending the vehicle image of the target vehicle and the candidate parking space image to the target device for displaying. Therefore, the parking environment can be accurately grasped and selected by the user conveniently by displaying specific information such as relative position information between the target vehicle and the candidate parking spaces and size angles of the parking spaces.
To achieve the above object, a third aspect of the present application provides an electronic device, including: the parking control display method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the parking control display method is realized.
By executing the parking control display method, the electronic device of the embodiment of the application is convenient for a user to accurately grasp and select the parking environment by displaying the relative position information between the target vehicle and the candidate parking space and the specific information such as the size angle of the parking space and the like
To achieve the above object, a fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the above-mentioned parking control display method.
The computer-readable storage medium of the embodiment of the application, by executing the parking control display method, displays the relative position information between the target vehicle and the candidate parking space and the specific information such as the size angle of the parking space, and the like, and facilitates the user to accurately grasp and select the parking environment.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a parking control display method according to an embodiment of the present application;
FIG. 2 is an exemplary diagram of coordinate systems established for a target vehicle and candidate parking spaces during a parking space search process according to an embodiment of the present application;
FIG. 3 is an exemplary diagram of establishment of a coordinate system of an HMI display interface in a parking space searching process according to an embodiment of the application;
fig. 4 is a flowchart of a parking control display method according to an embodiment of the present application;
FIG. 5 is an exemplary diagram of coordinate system establishment during an automatic parking process according to an embodiment of the present application;
FIG. 6 is an exemplary diagram of an HMI display interface coordinate system establishment during an automatic parking process according to an embodiment of the present application;
fig. 7 is a block schematic diagram of a parking control display device according to an embodiment of the present application;
FIG. 8 is a block schematic diagram of an electronic device according to an embodiment of the application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
A parking control display method, apparatus, and device according to an embodiment of the present application are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a parking control display method according to an embodiment of the present application.
As shown in fig. 1, the parking control display method according to the embodiment of the present application may include the steps of:
s101, acquiring a target position point of the target vehicle.
And S102, receiving the relative position information of the candidate parking space and the target position point, which is sent by the automatic parking controller.
In practical application, the automatic parking controller searches one or more candidate parking spaces for a user to select in the driving process through sensors such as vision and ultrasonic waves, wherein the types of the candidate parking spaces comprise one or more of parallel parking spaces, vertical parking spaces, inclined parking spaces and the like.
Specifically, the target vehicle is a current running vehicle, and a target position point of the target vehicle may be obtained, where the target position point may be selected as needed, and a vehicle rear axle center point is preferably used as the target position point.
Therefore, the car machine can acquire the relative position information of the candidate parking space and the target position point from the automatic parking controller, namely the relative distance between each position point of the candidate parking space and the target position point.
And S103, acquiring the position coordinate information of the candidate parking spaces according to the relative position information in a rectangular coordinate system with the target position point as an origin.
And step 104, drawing an image of the candidate parking space according to the position coordinate information of the candidate parking space.
And 105, sending the vehicle image of the target vehicle and the candidate parking space image to the target device for displaying.
Specifically, in a rectangular coordinate system with the target position point as the origin, the position coordinate information of the candidate parking space is obtained according to the relative position information, which is the relative distance between each position point of the candidate parking space and the target position point, for example, the position a coordinate is (x1, y1) or the like.
Furthermore, drawing a candidate parking space image according to the position coordinate information of the candidate parking space, obtaining four angular position coordinate information of the candidate parking space as a possible implementation mode, and performing linear connection on adjacent angular positions according to the four angular position coordinate information to generate the candidate parking space image; as another possible implementation manner, position coordinate information of the candidate parking space is obtained, and the position coordinate information is input into a preset image generation model to generate a candidate parking space image.
And finally, sending the vehicle image of the target vehicle and the candidate parking space image to a target device for displaying, wherein the target device can be a display terminal (a central control vehicle or a meter) of a human-computer interface of the vehicle, a mobile phone application program and the like.
It can be understood that the vehicle image of the target vehicle and the candidate parking space image are sent to the target device to be displayed according to a preset proportion, the coordinate points of the corresponding parking spaces in the vehicle machine and the actually detected coordinate points are preferably in one-to-one proportional correspondence, and the proportional value is the ratio H/H of the actual detection to the size of the human-computer display interface during parking space searching, so that the user experience is improved.
That is to say, in the process of searching for a parking space by automatic parking, a rectangular coordinate system with a central point (target position point) of a rear axle of the vehicle as an origin is established to describe relative position information between the vehicle and the searched candidate parking space, and the searched candidate parking space is fitted on a human-computer interface of the automatic parking space search through coordinate information of a parking space profile under the coordinate system.
For example, as shown in fig. 2, during the driving process of the target vehicle, the target vehicle automatically searches for a parking space, in this process, a rectangular coordinate system with a center point of a rear axle of the target vehicle as an origin is established, as can be seen from fig. 2, a coordinate system with a center point of a rear axle of the target vehicle as an origin O is established, for each candidate parking space searched, rectangular coordinates of four corner points in the established coordinate system are sent out, a display coordinate system is established in a human-machine display interface in the corresponding vehicle, and the vehicle is centered, as shown in fig. 3, an HMI in fig. 3 refers to a human-machine interface.
In summary, according to the parking control display method of the embodiment of the present application, the target location point of the target vehicle is obtained; receiving relative position information of candidate parking spaces and target position points sent by an automatic parking controller; acquiring position coordinate information of candidate parking spaces according to the relative position information in a rectangular coordinate system with a target position point as an origin; drawing an image of the candidate parking space according to the position coordinate information of the candidate parking space; and sending the vehicle image of the target vehicle and the candidate parking space image to the target device for displaying. Therefore, the parking environment can be accurately grasped and selected by the user conveniently by displaying specific information such as relative position information between the target vehicle and the candidate parking spaces and size angles of the parking spaces.
Based on the description of the above embodiment, the candidate parking spaces may be one or more, the user may select a target parking space for parking according to actual application requirements, and after the user selects a corresponding target parking space through a display terminal (a central control car machine or an instrument) of a human-computer interface of the target vehicle or a mobile phone application program terminal, the automatic parking controller establishes a mathematical description system in which a position of a center point of a front end vertical line of the parking space selected by the user is used as an origin of coordinates, accurately describes a position of the own car and a parking trajectory of the own car, transmits the position and the parking trajectory to the car machine, and implements fitting display of a parking process in the automatic parking interface by the car machine, which is described in detail with reference to fig. 4.
Fig. 4 is a flowchart of a parking control display method according to an embodiment of the present application.
As shown in fig. 4, the parking control display method according to the embodiment of the present application may further include, after step 105, the steps of:
step 201, receiving a parking space selection instruction, and determining a target parking space from candidate parking spaces.
Step 202, sending the vehicle image of the target vehicle and the target parking space image corresponding to the target parking space to the target device for displaying.
Specifically, after the user selects the parking space, a parking space selection instruction is received, and the target parking space is determined from the candidate parking spaces, so that a vehicle image of the target vehicle and a target parking space image corresponding to the target parking space are displayed on the target device, the user can further conduct parking processing, and the user experience is improved.
And step 203, acquiring a parking space angular point position point with the shortest distance to the target vehicle.
And 204, receiving the relative position information of the target parking space and the parking space corner position, the direction of the head of the target vehicle and a preset included angle, which are sent by the automatic parking controller.
Step 205, in a rectangular coordinate system with the parking space angular point position point as the origin, obtaining target position coordinate information of the target vehicle according to the relative position information of the target parking space and the parking space angular point position.
And step 206, generating a parking track of the target vehicle and the target parking space according to the target position coordinate information, the direction of the head of the target vehicle and a preset included angle, and sending the parking track to the target device for displaying.
Specifically, after the user selects the parking space to be parked through the mobile phone application program or the human-computer interface of the vehicle-mounted terminal, the coordinate system is established at the corner position of one side of the target parking space close to the target vehicle, as shown in fig. 5, L1B is the original point O of the newly-established rectangular coordinate system, the automatic driving controller sends out the coordinates of the center point of the rear shaft of the target vehicle and the preset included angle α between the head direction and the x-axis of the coordinate system, the relative position between the vehicle and the parking space can be uniquely described, and sends out a certain number of parking track points at the same time, after the human-computer interface is smoothed, the real-time display of the automatic parking track of the vehicle can be realized, as shown in fig. 6, wherein the preset included angle between the coordinates of the center point of the rear shaft of the target vehicle and the x-axis of the coordinate system is 0, and through the coordinate system establishment scheme, and the vehicle motion track information can be displayed in real time.
Therefore, the parking environment can be accurately grasped and selected by the user conveniently by displaying specific information such as relative position information between the target vehicle and the candidate parking spaces and size angles of the parking spaces.
To sum up, according to the parking control display method of the embodiment of the present application, a parking space selection instruction is received, a target parking space is determined from candidate parking spaces, a vehicle image of a target vehicle and a target parking space image corresponding to the target parking space are sent to a target device for display, a parking space angular point position point with the shortest distance to the target vehicle is obtained, relative position information between the target parking space and the parking space angular point position, a head direction of the target vehicle and a preset included angle sent by an automatic parking controller are received, and in a rectangular coordinate system with the parking space angular point position point as an origin, acquiring the target position coordinate information of the target vehicle according to the relative position information of the target parking space and the parking space angular point position, and generating a parking track of the target vehicle and the target parking stall according to the target position coordinate information, the direction of the head of the target vehicle and a preset included angle, and sending the parking track to the target equipment for displaying. Therefore, after the user selects the parking space, the coordinate system of the stationary vehicle of the parking space is established and information such as parking tracks and the like is displayed, so that the user can conveniently and accurately grasp and select the parking environment.
Fig. 7 is a block diagram schematically illustrating a parking control display device according to an embodiment of the present application.
As shown in fig. 7, the parking control display device according to the embodiment of the present application may include: the device comprises a first acquisition module 10, a first receiving module 20, a second acquisition module 30, a processing module 40 and a display module 50.
The first obtaining module 10 is configured to obtain a target location point of a target vehicle.
The first receiving module 20 is configured to receive the relative position information between the candidate parking space and the target position point, which is sent by the automatic parking controller.
And a second obtaining module 30, configured to obtain, in a rectangular coordinate system with the target location point as an origin, location coordinate information of the candidate parking space according to the relative location information.
And the processing module 40 is configured to draw a candidate parking space image according to the position coordinate information of the candidate parking space.
And the display module 50 is configured to send the vehicle image of the target vehicle and the parking space candidate image to a target device for display.
According to an embodiment of the application, the second receiving module is used for receiving a parking space selection instruction and determining a target parking space from the candidate parking spaces; the display module is further configured to send the vehicle image of the target vehicle and the target parking space image corresponding to the target parking space to the target device for display.
According to an embodiment of the application, the third obtaining module is configured to obtain a parking space angular point position point with the shortest distance to the target vehicle; the third receiving module is used for receiving the relative position information of the target parking stall and the stall corner position, the direction of the head of the target vehicle and a preset included angle, which are sent by the automatic parking controller; the fourth acquisition module is used for acquiring target position coordinate information of the target vehicle according to the relative position information of the target parking space and the parking space angular point position in a rectangular coordinate system with the parking space angular point position point as an origin; the display module is further configured to generate a parking track of the target vehicle and the target parking space according to the target position coordinate information, the head direction of the target vehicle and the preset included angle, and send the parking track to the target device for display.
According to an embodiment of the application, the drawing of the parking space candidate image according to the position coordinate information of the parking space candidate includes: acquiring coordinate information of four angular positions of the candidate parking spaces; and performing linear connection on adjacent angular positions according to the coordinate information of the four angular positions to generate the candidate parking space image.
According to one embodiment of the application, the target vehicle image and the parking space image are displayed according to a preset proportion in the target device.
It should be noted that details that are not disclosed in the parking control display device according to the embodiment of the present application refer to details that are disclosed in the parking control display method according to the embodiment of the present application, and detailed description thereof is omitted here.
According to the parking control display device of the embodiment of the application, the target position point of the target vehicle is obtained; receiving relative position information of candidate parking spaces and target position points sent by an automatic parking controller; acquiring position coordinate information of candidate parking spaces according to the relative position information in a rectangular coordinate system with a target position point as an origin; drawing an image of the candidate parking space according to the position coordinate information of the candidate parking space; and sending the vehicle image of the target vehicle and the candidate parking space image to the target device for displaying. Therefore, the parking environment can be accurately grasped and selected by the user conveniently by displaying specific information such as relative position information between the target vehicle and the candidate parking spaces and size angles of the parking spaces.
FIG. 8 is a block schematic diagram of an electronic device according to an embodiment of the application.
As shown in fig. 8, the electronic device 200 of the embodiment of the present application may include: the parking control display method includes a memory 210, a processor 220, and a computer program stored in the memory 210 and executable on the processor 220, and when the processor 220 executes the program, the parking control display method is implemented.
The electronic device of the embodiment of the application acquires the target position point of the target vehicle by executing the parking control display method; receiving relative position information of candidate parking spaces and target position points sent by an automatic parking controller; acquiring position coordinate information of candidate parking spaces according to the relative position information in a rectangular coordinate system with a target position point as an origin; drawing an image of the candidate parking space according to the position coordinate information of the candidate parking space; and sending the vehicle image of the target vehicle and the candidate parking space image to the target device for displaying. Therefore, the parking environment can be accurately grasped and selected by the user conveniently by displaying specific information such as relative position information between the target vehicle and the candidate parking spaces and size angles of the parking spaces.
Further, an embodiment of the present application also proposes a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the parking control display method described above.
The computer-readable storage medium of the embodiment of the application, by executing the parking control display method, displays the relative position information between the target vehicle and the candidate parking space and the specific information such as the size angle of the parking space, and the like, and facilitates the user to accurately grasp and select the parking environment.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A parking control display method characterized by comprising the steps of:
acquiring a target position point of a target vehicle;
receiving relative position information of the candidate parking spaces and the target position point, which is sent by an automatic parking controller;
in a rectangular coordinate system with the target position point as an origin, acquiring position coordinate information of the candidate parking spaces according to the relative position information;
drawing an image of the candidate parking space according to the position coordinate information of the candidate parking space;
and sending the vehicle image of the target vehicle and the candidate parking space image to a target device for displaying.
2. The method of claim 1, wherein after said displaying at a target device a vehicle image of said target vehicle and said image of a candidate parking spot, further comprising:
receiving a parking space selection instruction, and determining a target parking space from the candidate parking spaces;
and sending the vehicle image of the target vehicle and the target parking space image corresponding to the target parking space to the target device for displaying.
3. The method of claim 2, further comprising:
acquiring a parking space angular point position point with the shortest distance to the target vehicle;
receiving relative position information of the target parking stall and the stall corner position, a target vehicle head direction and a preset included angle, which are sent by an automatic parking controller;
acquiring target position coordinate information of the target vehicle according to the relative position information of the target parking space and the parking space angular point position in a rectangular coordinate system with the parking space angular point position point as an origin;
and generating a parking track of the target vehicle and the target parking stall according to the target position coordinate information, the direction of the head of the target vehicle and the preset included angle, and sending the parking track to the target device for displaying.
4. The method of claim 1, wherein said mapping an image of a candidate parking space based on location coordinate information of said candidate parking space comprises:
acquiring coordinate information of four angular positions of the candidate parking spaces;
and performing linear connection on adjacent angular positions according to the coordinate information of the four angular positions to generate the candidate parking space image.
5. The method of any one of claims 1 to 4,
and displaying the target vehicle image and the parking space image in the target equipment according to a preset proportion.
6. A parking control display device, characterized by comprising:
the first acquisition module is used for acquiring a target position point of a target vehicle;
the first receiving module is used for receiving the relative position information of the candidate parking space and the target position point, which is sent by the automatic parking controller;
the second acquisition module is used for acquiring the position coordinate information of the candidate parking spaces according to the relative position information in a rectangular coordinate system with the target position point as an origin;
the processing module is used for drawing a candidate parking space image according to the position coordinate information of the candidate parking space;
and the display module is used for sending the vehicle image of the target vehicle and the candidate parking space image to a target device for displaying.
7. The apparatus of claim 6, further comprising:
the second receiving module is used for receiving a parking space selection instruction and determining a target parking space from the candidate parking spaces;
the display module is further configured to send the vehicle image of the target vehicle and the target parking space image corresponding to the target parking space to the target device for display.
8. The apparatus of claim 7, further comprising:
the third acquisition module is used for acquiring a parking space angular point position point with the shortest distance to the target vehicle;
the third receiving module is used for receiving the relative position information of the target parking stall and the stall corner position, the direction of the head of the target vehicle and a preset included angle, which are sent by the automatic parking controller;
the fourth acquisition module is used for acquiring target position coordinate information of the target vehicle according to the relative position information of the target parking space and the parking space angular point position in a rectangular coordinate system with the parking space angular point position point as an origin;
the display module is further configured to generate a parking track of the target vehicle and the target parking space according to the target position coordinate information, the head direction of the target vehicle and the preset included angle, and send the parking track to the target device for display.
9. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the parking control display method according to any one of claims 1 to 5 when executing the program.
10. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the parking control display method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010402604.4A CN111824261B (en) | 2020-05-13 | 2020-05-13 | Parking control display method, device and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010402604.4A CN111824261B (en) | 2020-05-13 | 2020-05-13 | Parking control display method, device and equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111824261A true CN111824261A (en) | 2020-10-27 |
| CN111824261B CN111824261B (en) | 2022-04-29 |
Family
ID=72914109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010402604.4A Active CN111824261B (en) | 2020-05-13 | 2020-05-13 | Parking control display method, device and equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111824261B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112863234A (en) * | 2021-01-05 | 2021-05-28 | 广州小鹏自动驾驶科技有限公司 | Parking space display method and device, electronic equipment and storage medium |
| CN113392662A (en) * | 2021-05-24 | 2021-09-14 | 北京京东乾石科技有限公司 | Vehicle position information display method and device, electronic equipment and readable medium |
| CN115482668A (en) * | 2022-09-22 | 2022-12-16 | 安徽江淮汽车集团股份有限公司 | Visual parking space management method and system, electronic equipment and computer readable storage medium |
| CN115767439A (en) * | 2022-12-02 | 2023-03-07 | 东土科技(宜昌)有限公司 | Object position display method and device, storage medium and electronic equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102298779A (en) * | 2011-08-16 | 2011-12-28 | 淮安盈科伟力科技有限公司 | Image registering method for panoramic assisted parking system |
| CN109572687A (en) * | 2018-12-29 | 2019-04-05 | 百度在线网络技术（北京）有限公司 | It parks control method, device, electronic equipment and storage medium |
| CN109871745A (en) * | 2018-12-29 | 2019-06-11 | 百度在线网络技术（北京）有限公司 | Identify method, system and the vehicle of empty parking space |
| CN110239524A (en) * | 2019-05-23 | 2019-09-17 | 浙江吉利控股集团有限公司 | Automatic parking method, apparatus, system and terminal |
| CN110733497A (en) * | 2019-10-09 | 2020-01-31 | 宁波吉利汽车研究开发有限公司 | parking control method, system, electronic device and storage medium |
| CN110794970A (en) * | 2019-11-07 | 2020-02-14 | 广州小鹏汽车科技有限公司 | Three-dimensional display method and system of automatic parking interface and vehicle |
| CN110861639A (en) * | 2019-11-28 | 2020-03-06 | 安徽江淮汽车集团股份有限公司 | Parking information fusion method and device, electronic equipment and storage medium |
| US20200139888A1 (en) * | 2018-09-06 | 2020-05-07 | Aisin Seiki Kabushiki Kaisha | Vehicle periphery display device |
-
2020
- 2020-05-13 CN CN202010402604.4A patent/CN111824261B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102298779A (en) * | 2011-08-16 | 2011-12-28 | 淮安盈科伟力科技有限公司 | Image registering method for panoramic assisted parking system |
| US20200139888A1 (en) * | 2018-09-06 | 2020-05-07 | Aisin Seiki Kabushiki Kaisha | Vehicle periphery display device |
| CN109572687A (en) * | 2018-12-29 | 2019-04-05 | 百度在线网络技术（北京）有限公司 | It parks control method, device, electronic equipment and storage medium |
| CN109871745A (en) * | 2018-12-29 | 2019-06-11 | 百度在线网络技术（北京）有限公司 | Identify method, system and the vehicle of empty parking space |
| CN110239524A (en) * | 2019-05-23 | 2019-09-17 | 浙江吉利控股集团有限公司 | Automatic parking method, apparatus, system and terminal |
| CN110733497A (en) * | 2019-10-09 | 2020-01-31 | 宁波吉利汽车研究开发有限公司 | parking control method, system, electronic device and storage medium |
| CN110794970A (en) * | 2019-11-07 | 2020-02-14 | 广州小鹏汽车科技有限公司 | Three-dimensional display method and system of automatic parking interface and vehicle |
| CN110861639A (en) * | 2019-11-28 | 2020-03-06 | 安徽江淮汽车集团股份有限公司 | Parking information fusion method and device, electronic equipment and storage medium |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112863234A (en) * | 2021-01-05 | 2021-05-28 | 广州小鹏自动驾驶科技有限公司 | Parking space display method and device, electronic equipment and storage medium |
| CN112863234B (en) * | 2021-01-05 | 2022-07-01 | 广州小鹏自动驾驶科技有限公司 | Parking space display method and device, electronic equipment and storage medium |
| CN113392662A (en) * | 2021-05-24 | 2021-09-14 | 北京京东乾石科技有限公司 | Vehicle position information display method and device, electronic equipment and readable medium |
| CN115482668A (en) * | 2022-09-22 | 2022-12-16 | 安徽江淮汽车集团股份有限公司 | Visual parking space management method and system, electronic equipment and computer readable storage medium |
| CN115482668B (en) * | 2022-09-22 | 2023-09-19 | 安徽江淮汽车集团股份有限公司 | Visual parking space management method and system |
| CN115767439A (en) * | 2022-12-02 | 2023-03-07 | 东土科技(宜昌)有限公司 | Object position display method and device, storage medium and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111824261B (en) | 2022-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111824261B (en) | Parking control display method, device and equipment | |
| EP4049908A1 (en) | Automatic parking interaction method and device | |
| CN110775052B (en) | Automatic parking method based on fusion of vision and ultrasonic perception | |
| EP3620926B1 (en) | Method and apparatus for testing autonomous vehicle, and storage medium | |
| US7936283B2 (en) | Method for detecting parking area by using range sensor | |
| CN110706506B (en) | Parking method, system, electronic device and storage medium | |
| CN103796904A (en) | Method for classifying parking scenarios for system for parking motor vehicle | |
| JP5699670B2 (en) | Travel route generation device and travel route generation method | |
| CN101513062A (en) | On-vehicle image processor and viewpoint change information generating method | |
| CN112561841A (en) | Point cloud data fusion method and device for laser radar and camera | |
| CN106462314A (en) | Dynamic camera view to aid with trailer attachment | |
| CN109213363B (en) | System and method for predicting pointer touch position or determining pointing in 3D space | |
| US20130155190A1 (en) | Driving assistance device and method | |
| CN109738900A (en) | It is a kind of can parking stall detection method and device | |
| US11150096B2 (en) | Method and device for the localization of a vehicle based on a degree of robustness of the localization | |
| CN105116886A (en) | Robot autonomous walking method | |
| CN112630786A (en) | AGV buffer area inventory method, device and equipment based on 2D laser | |
| CN110210361B (en) | Test scene creating method and device and vehicle-mounted terminal | |
| JP2002120677A (en) | Parking support system and control method for the same | |
| CN113938834A (en) | Road spectrum acquisition method and device and storage medium | |
| CN116086429A (en) | Map updating method, device, equipment and computer readable storage medium | |
| CN115547096A (en) | Method and device for planning guide route of vehicle | |
| CN110099273B (en) | Augmented reality content display method and device | |
| CN114103933A (en) | Obstacle positioning method, parking control method and device and vehicle | |
| JP2001334897A (en) | Parking assisting device and its control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |