CN111832340B

CN111832340B - Parking and warehousing method, device and system

Info

Publication number: CN111832340B
Application number: CN201910304924.3A
Authority: CN
Inventors: 王晶
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikvision Digital Technology Co Ltd
Priority date: 2019-04-16
Filing date: 2019-04-16
Publication date: 2023-08-29
Anticipated expiration: 2039-04-16
Also published as: CN111832340A

Abstract

The application provides a parking and warehousing method, a device and a system, which comprise the following steps: acquiring a video image acquired by a vehicle-mounted camera, wherein the video image comprises a graphic code arranged on a target parking space; according to the video image, acquiring graphic code identification information of the graphic code, wherein the graphic code identification information at least comprises characteristic information of the graphic code and position information of the graphic code relative to the target parking space; and determining driving control information for driving the automobile into the parking space according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, and controlling the automobile to drive into the parking space based on the driving control information. The method provided by the application can realize automatic parking and warehousing.

Description

Parking and warehousing method, device and system

Technical Field

The present application relates to the field of image processing, and in particular, to a parking method, apparatus, and system.

Background

With the rapid development of automobile technology and intelligent technology, automobile automatic driving technology has also been developed rapidly. Automatic parking and warehousing is a part of the automatic driving technology of automobiles, so how to realize automatic parking and warehousing is a continuous discussion problem in the industry.

Disclosure of Invention

In view of the above, the present application provides a parking and warehousing method, device and system for implementing automatic parking and warehousing.

Specifically, the application is realized by the following technical scheme:

according to a first aspect of the present application there is provided a parking garage method, the method comprising:

acquiring a video image acquired by a vehicle-mounted camera, wherein the video image comprises a graphic code arranged on a target parking space;

according to the video image, acquiring graphic code identification information of the graphic code, wherein the graphic code identification information at least comprises characteristic information of the graphic code and position information of the graphic code relative to the target parking space;

and determining driving control information for driving the automobile into the parking space according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, and controlling the automobile to drive into the parking space based on the driving control information.

According to a second aspect of the present application, there is provided a parking garage apparatus, the apparatus comprising:

the first acquisition unit is used for acquiring a video image acquired by the vehicle-mounted camera, wherein the video image comprises a graphic code arranged on a target parking space;

The second acquisition unit is used for acquiring the graphic code identification information of the graphic code according to the video image, wherein the graphic code identification information at least comprises characteristic information of the graphic code and position information of the graphic code relative to the target parking space;

and the determining unit is used for determining driving control information for driving the automobile into the parking space according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, and controlling the automobile to enter the parking space based on the driving control information.

According to a third aspect of the present application there is provided a parking garage system, the system comprising: a vehicle-mounted camera and a server;

the vehicle-mounted camera is used for collecting video images; the video image comprises a graphic code arranged on the target parking space;

the server is used for acquiring video images acquired by the vehicle-mounted camera; according to the video image, acquiring graphic code identification information of the graphic code, wherein the graphic code identification information at least comprises characteristic information of the graphic code and position information of the graphic code relative to the target parking space; and determining driving control information for driving the automobile into the parking space according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, and controlling the automobile to drive into the parking space based on the driving control information.

As can be seen from the above description, since the relative positions of the vehicle and the parking space are different, the graphic code identification information of the graphic code on the parking space collected by the vehicle-mounted camera on the vehicle is different, so in the present application, the electronic device can determine the driving control information based on the identification information of the graphic code and the position information of the vehicle-mounted camera relative to the vehicle, so as to control the vehicle to drive into the parking space based on the driving control information, thereby realizing automatic reversing and warehousing of the vehicle.

In addition, the application only needs to set the graphic code on the parking space, and deploys the vehicle-mounted camera on the automobile, so that the deployment is simple, and the implementation cost of the whole scheme is lower.

Drawings

FIG. 1a is a schematic diagram of an onboard camera deployment on an automobile, according to an exemplary embodiment of the present application;

FIG. 1b is a schematic diagram of another onboard camera deployment on an automobile, shown in accordance with an exemplary embodiment of the present application;

FIG. 2a is a schematic diagram of a graphical code deployment on a parking space, according to an exemplary embodiment of the present application;

FIG. 2b is a schematic diagram of another on-parking-space graphical code deployment, according to an exemplary embodiment of the present application;

FIG. 3 is a schematic diagram of an ideal location shown in an exemplary embodiment of the present application;

FIG. 4 is a schematic illustration of a designated included angle in accordance with an exemplary embodiment of the present application;

FIG. 5 is a schematic diagram of a target angle according to an exemplary embodiment of the present application;

FIG. 6 is a flow chart of a parking garage method according to an exemplary embodiment of the present application;

FIG. 7a is a schematic view of a parking garage method according to an exemplary embodiment of the present application;

FIG. 7b is a schematic view of a parking garage method according to another exemplary embodiment of the present application;

FIG. 8a is a schematic view of a parking garage method according to another exemplary embodiment of the present application;

FIG. 8b is a schematic view of a parking garage method according to another exemplary embodiment of the present application;

FIG. 8c is a schematic view of a scenario illustrating another parking method according to an exemplary embodiment of the present application;

FIG. 9 is a schematic illustration of a travel path for controlling translation of an automobile in accordance with an exemplary embodiment of the present application;

FIG. 10a is a schematic view of a scene of another parking method according to an exemplary embodiment of the present application;

FIG. 10b is a schematic view of a scene of another parking method according to an exemplary embodiment of the present application;

FIG. 11 is a flow chart illustrating another parking garage method according to an exemplary embodiment of the present application;

FIG. 12a is a schematic view of a scene of another parking method according to an exemplary embodiment of the present application;

FIG. 12b is a schematic view of a scene of another parking method according to an exemplary embodiment of the present application;

FIG. 12c is a schematic view of a scene illustrating another parking method according to an exemplary embodiment of the present application;

FIG. 12d is a schematic view of a scene of another parking method according to an exemplary embodiment of the present application;

FIG. 13a is a schematic view of a scene of another parking method according to an exemplary embodiment of the present application;

FIG. 13b is a schematic view of a scene of another parking method according to an exemplary embodiment of the present application;

FIG. 13c is a schematic view of a scenario illustrating another parking method according to an exemplary embodiment of the present application;

FIG. 13d is a schematic view of a scenario illustrating another parking method according to an exemplary embodiment of the present application;

FIG. 14 is a hardware configuration diagram of an electronic device according to an exemplary embodiment of the present application;

FIG. 15 is a block diagram of a parking garage according to an exemplary embodiment of the present application;

fig. 16 is a schematic diagram of a parking garage system according to an exemplary embodiment of the present application.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

The application aims to determine driving control information for controlling an automobile to drive into a parking space based on at least one graphic code deployed on the parking space acquired by at least one vehicle-mounted camera deployed on the automobile, and the driving control information is used for controlling the automobile to drive into the parking space through different forms generated when the relative positions of the automobile and the parking space are different. Of course, the application can also output the driving control information to the user so that the user can drive the automobile to reverse and put in storage based on the driving control information.

Therefore, before introducing the method for automatically parking and warehousing provided by the application, the vehicle-mounted camera deployed on the automobile and a plurality of graphic codes deployed on the parking space are introduced.

1) Vehicle-mounted camera

A plurality of onboard cameras may be disposed on the automobile. For example, the application can deploy one vehicle-mounted camera near the left and right rear wheels of the automobile respectively (2 vehicle-mounted cameras are deployed in total). The two vehicle-mounted cameras have different orientations, and the orientations of the two vehicle-mounted cameras comprise left and right information and front and rear information.

Wherein, the front direction is defined as the front direction, the rear direction is defined as the rear direction, the left side is positioned at the left side of the front direction, and the right side is positioned at the right side of the front direction.

As shown in fig. 1a, the present application can deploy the in-vehicle camera 1 near the left rear wheel (the position of the in-vehicle camera 1 on the automobile will be referred to herein as the first camera position), and the in-vehicle camera 2 near the right rear wheel (the position of the in-vehicle camera 1 on the automobile will be referred to herein as the second camera position). The first camera position corresponding to the vehicle-mounted camera 1 is the left rear of the automobile, and the second camera position corresponding to the vehicle-mounted camera 2 is the right rear of the automobile.

Of course, as shown in fig. 1b, one in-vehicle camera may be disposed near each of the four wheels of the automobile (4 in-vehicle cameras may be disposed in total). The number of in-vehicle cameras disposed on the automobile is merely exemplarily described and is not particularly limited.

In addition, it should be noted that the vehicle-mounted camera deployed on the automobile can acquire a video image on the ground where the automobile is located.

The vehicle-mounted camera can be a camera, a vehicle-mounted camera, a video camera and other equipment with an image acquisition function. The in-vehicle camera is only exemplified here, and is not particularly limited.

2) Graphic code

The application sets the graphic code in a plurality of directions of the parking space. For example, the present application sets one graphic code (2 graphic codes are set in total) near the left front corner and near the right front corner of the parking space, respectively. The orientations of the two graphics codes are different, and the orientations of the two graphics codes also include: left-right information and front-back information. For convenience of description, the vicinity of the left front corner of the parking space is referred to as a first graphic code position, and the vicinity of the right front corner of the parking space is referred to as a second graphic code position.

Wherein the front, rear, left and right directions of the parking space are defined by the following directions.

The application defines the direction of the head of a car as the front of a parking space when the car is parked in the parking space, the direction of the tail of the car as the rear of the parking space, the left of the direction of the head of the car as the left of the parking space and the right of the direction of the head of the car as the right of the parking space.

As shown in fig. 2a, the present application may provide a graphic code 1 at the left front corner and a graphic code 2 at the right front corner of a parking space. The orientation of the image code 1 is the left front, and the orientation of the image code 2 is the right front. For example, the position of the graphic code 1 in the parking space is a first graphic code position, and the position of the graphic code 2 in the parking space is a second graphic code position.

Of course, as shown in fig. 2b, one graphic code may be disposed at each of the 4 corners of the parking space, and the number of the graphic codes disposed on the parking space is merely exemplarily illustrated, and not specifically limited.

The graphic code may be a bar code or a two-dimensional code, and the type of the graphic code is merely exemplary and not particularly limited.

Several concepts to which the present application relates are described below.

1) Ideal position outside parking space

The ideal position outside the parking space is: when the automobile is driven into the ideal position, the automobile can be parked and put in storage only by simply driving (such as backing a preset distance). The ideal position may be preset by a developer. As shown in fig. 3, the a position in fig. 3 is the ideal position.

2) Designated included angle on graphic code

The designated included angle on the graphic code is an included angle predefined by a developer.

For example, as shown in fig. 4, when the graphic code is a two-dimensional code, the specified included angle is an included angle between the connection line of the loop mark a and the loop mark b and the connection line of the loop mark a and the loop mark c.

The specific angles are described herein by way of example only and are not particularly limiting.

3) Target angle

And the target included angle is a designated included angle on a graphic code acquired by a vehicle-mounted camera on the automobile when the automobile is at an ideal position outside the parking space.

The target included angle corresponds to the graphic code arranged on the parking space one by one.

For example, as shown in fig. 5, it is assumed that one graphic code a is provided near the left front corner of the parking space and one graphic code B is provided near the right front corner of the parking space.

When the automobile runs into the ideal position, the form of the image code A acquired by the onboard camera 1 (namely, the circle 1 in fig. 5) on the automobile is shown as a dotted line frame in the box A of fig. 5, and the included angle of the angular bisector in the dotted line frame is the target included angle corresponding to the image code A.

The form of the image code B acquired by the image acquisition device 2 (i.e. the circle 2 in fig. 5) on the automobile is shown by a dashed box in the box B in fig. 5, and the included angle of the angular bisector in the dashed box is the target included angle corresponding to the image code B.

Referring to fig. 6, fig. 6 is a flowchart illustrating a parking method according to an exemplary embodiment of the present application, which is applicable to an electronic device, and may include the following steps.

Step 601: and acquiring a video image acquired by the vehicle-mounted camera, wherein the video image comprises a graphic code arranged on the target parking space.

The electronic device may be a central processor mounted on an automobile, or may be a server, a server cluster, or the like, and the electronic device is described only by way of example and is not particularly limited.

At least one vehicle-mounted camera carried on the automobile can periodically report the acquired images to the electronic equipment, and the electronic equipment can acquire the images acquired by each vehicle-mounted camera. The reporting period can be set by a developer according to actual demands, and when the reporting period is very short, the vehicle-mounted camera can report the acquired images to the electronic equipment in a near real-time mode.

The electronic device can acquire a video image acquired by the vehicle-mounted camera, wherein the video image comprises a graphic code arranged on the target parking space.

Step 602: and the electronic equipment acquires the graphic code identification information of the graphic code according to the video image, wherein the graphic code identification information at least comprises characteristic information of the graphic code and position information of the graphic code relative to the target parking space.

Since the relative positions of the car and the parking space are different, the image code information in the video image collected by the onboard camera mounted on the car is also different. Therefore, the image captured by the onboard camera mounted on the automobile may or may not include the graphics code.

In implementation, for each video image, the electronic device may identify graphics code identification information for the graphics code in the video image.

The graphic code identification information includes: the graphic code characteristic information and the position information of the graphic code relative to the target parking space.

Wherein the graphic code characteristic information may include: the number of the graphic codes and the angular bisector of the designated included angle on the graphic codes. Of course, the graphic code characteristic information may also include other information, which is only exemplary and not specifically limited herein.

The location information of the graphic code with respect to the target parking space may include: a first graphic code position and a second graphic code position. The first graphic code position represents that the graphic code is deployed on a first appointed position of the target parking space; the second graphic code position indicates that the graphic code is disposed at a second designated location on the target parking space. For example, the first designated location may be a left front corner on the target parking space and the second designated location may be a right front corner on the target parking space, which is illustrated by way of example only and not specifically limited thereto.

When the graphic code identification information is acquired, the electronic equipment can perform graphic code identification on the video graphic to acquire the number of graphic codes. The electronic equipment can also perform image recognition on the graphic code, and extract the frame of the graphic code and the angular bisector of the appointed included angle on the graphic code.

Of course, the electronic device may also scan the graphics code and extract the position information of the graphics code relative to the target parking space.

Step 603: the electronic device may determine traveling control information for driving the automobile into the parking space according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, and control the automobile to enter the parking space based on the traveling control information.

In the embodiment of the application, because the relative positions of the automobile and the parking space are different, the image code identification information of the image codes on the parking space acquired by the vehicle-mounted camera on the automobile is different, so that in the application, the electronic equipment can determine the running control information based on the number of the identified image codes, the angular bisector of the appointed included angle on the image codes, the position information of the image codes relative to the target parking space and the position information of the vehicle-mounted camera acquiring the image codes relative to the automobile, so as to control the automobile to run into the parking space based on the running control information.

In an alternative implementation, the travel control information may include first travel control information and second travel control information. The electronic device may drive the automobile to an ideal position outside the parking space based on the first driving control information, and drive the automobile to the parking space from the ideal position based on the preset second driving control information, which may be achieved in steps 6031 to 6033.

Step 6031: the electronic device may determine whether the car is in a desired location outside the parking space based on the graphic code identification information of the graphic code.

Step 6031 will be described in detail below by taking, as an example, a vehicle-mounted camera disposed near a left rear wheel and a right rear wheel of the vehicle (i.e., two vehicle-mounted cameras disposed on the vehicle), and a graphic code disposed near a left front corner and a right front corner of the parking space (i.e., two graphic codes disposed on the parking space).

It is assumed that when the in-vehicle camera is disposed at the left rear wheel of the automobile, the positional information of the in-vehicle camera with respect to the automobile is the first camera position.

When the vehicle-mounted camera is arranged on the right rear wheel of the automobile, the position information of the vehicle-mounted camera relative to the automobile is a second camera position.

When the graphic code is near the left front corner on the target parking space, the position information of the graphic code relative to the target parking space is the first graphic code position.

When the graphic code is near the right front corner on the target parking space, the position information of the graphic code relative to the target parking space is the second graphic code position.

In the implementation process, if the electronic equipment determines that the number of the identified graphic codes is two, and the designated included angle bisectors on the two graphic codes are overlapped with the preset target included angle bisectors corresponding to the two graphic codes, the automobile is determined to be in the ideal position.

If the electronic device determines that the number of the identified graphic codes is one, the electronic device determines that the automobile is not in the ideal position. Or if the electronic equipment determines that the number of the identified graphic codes is two and the designated included angle bisectors on the two graphic codes are not coincident with the preset target included angle bisectors corresponding to the two graphic codes, determining that the automobile is not in the ideal position.

Step 6032: and if the electronic equipment determines that the automobile is at the ideal position, controlling the automobile to travel into a parking space based on preset second traveling control information.

Wherein the second travel control information may be: and controlling the automobile to travel backwards for a preset distance. The second travel control information is only exemplarily described here, and is not particularly limited.

Step 6033: and if the electronic equipment determines that the automobile is not in the ideal position, determining first driving control information according to the position information of the vehicle-mounted camera relative to the automobile and the graphic code identification information.

The method is realized by the following steps:

1. the number of recognized graphic codes is 1

When the number of recognized graphic codes is 1, the electronic device may determine a graphic code position of the graphic code and a camera position of a target in-vehicle camera that collects the graphic code.

Case one: and the position of the graphic code and the position of the camera determined by the electronic equipment accord with the first condition.

Wherein the first condition includes any one of:

the graphic code position of the graphic code is a first graphic code position, and the camera position of the target vehicle-mounted camera is a first camera position;

The graphics code position of the graphics code is a second graphics code position and the camera position of the target vehicle-mounted camera is a second camera position.

If the position of the graphic code and the position of the camera determined by the electronic equipment accord with the first condition, the electronic equipment can further determine the relative position of the angular bisector of the appointed included angle on the identified graphic code and the angular bisector of the preset target included angle corresponding to the graphic code.

If the angular bisector of the specified included angle is located in the counterclockwise direction of the angular bisector of the target included angle, determining that the first driving control information is: controlling the steering wheel of the automobile to rotate a first preset angle in the direction opposite to the direction indicated by the graphic code position of the graphic code, and controlling the automobile to travel backwards for a first preset distance;

if the angular bisector of the specified included angle is located in the clockwise direction of the angular bisector of the target included angle, determining that the first driving control information is: and controlling the steering wheel of the automobile to rotate a first preset angle in the direction indicated by the graphic code position of the graphic code and controlling the automobile to drive forwards for a first preset distance.

For example, as shown in fig. 7a and 7B, a graphic code a is provided near the left front corner of the parking space, and a graphic code B is provided near the right front corner of the parking space. An in-vehicle camera 1 (i.e., circle 1 in fig. 7 a) is provided near the left rear wheel of the automobile, and an in-vehicle camera 2 (i.e., circle 2 in fig. 7 b) is provided near the right rear wheel of the automobile.

The dashed vehicle boxes in fig. 7a and 7b represent the situation when the car is in the ideal position, and the solid vehicle boxes represent the current position of the car. The third box from left to right in fig. 7a and 7b shows the designated included angle and the angular bisector of the designated included angle (shown by solid lines) of the image code a acquired by the in-vehicle camera 1, and the target included angle and the angular bisector of the target included angle (shown by broken lines) corresponding to the image code a.

When the current position of the car is as shown in fig. 7a or fig. 7b, the vehicle-mounted camera 1 may acquire the image 1 containing the graphic code a, and the image 2 acquired by the vehicle-mounted camera 2 does not contain the graphic code.

The electronic device recognizes a graphic code (i.e., graphic code a) from image 1 and image 2. The electronic device can determine the left front position (i.e., the first graphics code position) of the graphics code a on the parking space, and determine the left rear position (i.e., the first camera position) of the in-vehicle camera 1 that collects the graphics code a on the automobile.

The electronic device may determine the graphics code position of the graphics code a as the first graphics code position, and the camera position of the in-vehicle camera 1 as the first camera position. Then, the electronic device can detect the relative position relationship between the appointed included angle bisector on the identified graphic code A and the target included angle bisector corresponding to the graphic code A in one step.

When the current position of the automobile is shown in fig. 7a, the designated included angle bisector on the graphic code a is in the counterclockwise direction of the target included angle bisector, and the electronic device may determine that the first driving control information is: and controlling the steering wheel of the automobile to rotate a first preset angle in the opposite direction (right) of the direction (left direction) indicated by the graphic code position (left front position) of the graphic code, and controlling the automobile to travel backwards for a first preset distance. Briefly, the first travel control information is: and controlling the steering wheel of the automobile to rotate rightwards by a first preset angle, and controlling the automobile to drive backwards by a first preset distance.

When the current position of the automobile is shown in fig. 7b, the designated included angle bisector of the graphic code a is clockwise to the target included angle bisector, and the electronic device may determine that the first driving control information is: and controlling the steering wheel of the automobile to rotate a first preset angle towards the direction (namely left) indicated by the graphic code position (namely left front position) of the graphic code, and controlling the automobile to drive forwards for a first preset distance. Briefly, the first travel control information is: and controlling the steering wheel of the automobile to rotate leftwards by a first preset angle, and controlling the automobile to drive backwards by a first preset distance.

It should be noted that, when the in-vehicle camera 2 of the automobile (i.e., the in-vehicle camera at the rear right) collects the graphic code B (i.e., the graphic code at the front right), and the in-vehicle camera 1 does not collect the graphic code, the processing manner of the electronic device is shown in the above 1), which is not repeated here.

2) The determined position of the graphic code and the camera position meet the second condition.

The second condition includes any one of:

the graphic code position of the graphic code is a first graphic code position and the camera position of the target vehicle-mounted camera is a second camera position;

the graphics code position of the graphics code is a second graphics code position and the camera position of the target vehicle-mounted camera is a first camera position.

If the determined position of the graphic code and the camera position meet the second condition, the electronic device can determine whether the angular bisector of the appointed included angle of the identified graphic code is coincident with the angular bisector of the preset target included angle corresponding to the graphic code.

Case one: the angular bisector of the appointed included angle of the identified graphic code coincides with the angular bisector of the preset target included angle corresponding to the graphic code

If the angular bisector of the appointed included angle of the identified graphic code coincides with the angular bisector of the preset target included angle corresponding to the graphic code, determining that the first driving control information is: and controlling the automobile to translate a vehicle width in the direction indicated by the camera position of the target vehicle-mounted camera.

One implementation of "controlling the vehicle to translate a vehicle width in a direction indicated by the left-right information of the second direction" is described below.

When the vehicle is realized, the electronic equipment can control the steering wheel of the vehicle to rotate a preset circle number in the direction indicated by the camera position of the target vehicle-mounted camera, forward travel is carried out for a first designated distance until the left translation of the center of gravity of the vehicle by 1/2 vehicle width is detected, and the rotation angle ang_e of the vehicle body in the process is recorded. Then, the electronic device may control the steering wheel of the vehicle to rotate a preset number of turns in a direction opposite to the direction indicated by the camera position of the target onboard camera, and travel forward a second specified distance until it is detected that the vehicle body reversely rotates by an ang_e angle to stop. And then controlling the steering wheel of the automobile to return to the normal position, and controlling the automobile to move backwards by a third designated distance.

Of course, other methods of controlling the vehicle to translate one vehicle width in the direction indicated by the camera position of the target onboard camera may also be employed by the electronic device, which are merely exemplary and not specifically limited herein.

Wherein the first specified distance, the second specified distance, and the third specified distance may be the same or different.

And a second case: the angular bisector of the appointed included angle of the identified graphic code is not coincident with the angular bisector of the preset target included angle corresponding to the graphic code

If the angular bisector of the appointed included angle of the identified graphic code is not coincident with the angular bisector of the preset target included angle corresponding to the graphic code, the electronic equipment can determine the relative position of the appointed included angle and the angular bisector of the target included angle.

If the angular bisector of the specified included angle is in the clockwise direction of the angular bisector of the target included angle, determining that the first driving control information is: and controlling the steering wheel of the automobile to rotate a second preset angle towards the direction indicated by the camera position of the target vehicle-mounted camera, and controlling the automobile to move forwards for a second preset distance.

If the angular bisector of the specified included angle is in the anticlockwise direction of the angular bisector of the target included angle, determining that the first driving control information is: and controlling the steering wheel of the automobile to rotate a second preset angle in the direction indicated by the graphic code position of the graphic code, and controlling the automobile to drive forwards for a second preset distance.

For example, as shown in fig. 8a, 8B and 8c, a graphic code a is provided near the left front corner of the parking space, and a graphic code B is provided near the right front corner of the parking space. An in-vehicle camera 1 (i.e., circle 1 in fig. 8a, 8b, and 8 c) is provided near the left rear wheel of the automobile, and an in-vehicle camera 2 (i.e., circle 2 in fig. 8a, 8b, and 8 c) is provided near the right rear wheel of the automobile.

The dashed boxes of the vehicle in fig. 8a, 8b and 8c represent the situation when the car is in the ideal position, and the solid boxes of the vehicle represent the current position of the car. The third box from left to right in fig. 8a, 8b and 8c shows the designated included angle and the angular bisector of the designated included angle (shown by solid lines) of the image code a acquired by the in-vehicle camera 1, and the target included angle and the angular bisector of the target included angle (shown by broken lines) corresponding to the image code a.

When the current position of the car is as shown in fig. 8a, 8B and 8c, the image 2 collected by the onboard camera 2 does not contain the graphic code, and the onboard camera 1 can collect the image 1 containing the graphic code B.

The electronic device may recognize a graphic code (i.e., graphic code B) from image 1 and image 2. The electronic device can determine the right front position (i.e., the second graphic code position) of the graphic code B on the parking space, and determine the left rear position (i.e., the first camera position) of the in-vehicle camera 1 that collects the graphic code B on the automobile.

The electronic device may determine the graphics code position of the graphics code B as the second graphics code position, and the camera position of the in-vehicle camera 1 as the first camera position. The electronic device may determine whether the identified specified angular bisector of the graphic code B coincides with the target angular bisector corresponding to the graphic code B.

When the current position of the automobile is shown in fig. 8a, the designated included angle bisector of the graphic code B coincides with the target included angle bisector corresponding to the graphic code B. At this time, the electronic device may determine that the first control information is: the control vehicle translates one vehicle width in the direction indicated by the camera position (i.e., rear left) of the in-vehicle camera 1 (i.e., left). Briefly, the first travel control information is: the car is controlled to translate one car width to the left.

Specifically, the electronic device may control the steering wheel of the vehicle to rotate left a preset number of turns, travel forward a first specified distance until it is detected that the center of gravity of the vehicle is shifted left by 1/2 of the vehicle width, and record the angle ang_e at which the vehicle body rotates during the process. Then, the electronic device may control the steering wheel of the automobile to rotate rightward for a preset number of turns, and drive forward for a second designated distance until it is detected that the vehicle body rotates reversely by an ang_e angle to stop. And then controlling the steering wheel of the automobile to return, and controlling the automobile to move backwards by a third designated distance. In this process, the driving route of the automobile is shown in fig. 9, and the dotted arrow in fig. 9 is a driving route map of the automobile shifted leftwards by one vehicle width from the current position.

It should be noted that, when the current position of the automobile is shown in fig. 8b and 8c, the electronic device needs to adjust the position of the automobile to 8a, and then controls the automobile to drive into the ideal position according to the processing flow shown in fig. 8a, which is specifically implemented as follows:

When the current position of the automobile is shown in fig. 8B, the designated included angle bisector of the graphic code B is not coincident with the target included angle bisector corresponding to the graphic code B. At this time, the electronic device may determine the relative position of the specified angular bisector of the graphic code B and the target angular bisector. As shown in fig. 8B, if the designated angular bisector of the graphic code B is clockwise with respect to the target angular bisector, the electronic device may determine that the first driving control information is: the steering wheel of the car is controlled to rotate a second preset angle in a direction (i.e., left) indicated by a camera position (i.e., left rear) of the in-vehicle camera 1, and the car is controlled to move forward a second preset distance. Briefly, the first travel control information is: and controlling the steering wheel of the automobile to rotate leftwards by a second preset angle, and controlling the automobile to drive forwards by a second preset distance.

When the current position of the automobile is shown in fig. 8c, the designated included angle bisector of the graphic code B is not coincident with the target included angle bisector corresponding to the graphic code B. At this time, the electronic device may determine the relative position of the specified angular bisector of the graphic code B and the target angular bisector. As shown in fig. 8c, if the designated angular bisector of the graphic code B is in the counterclockwise direction of the target angular bisector, the electronic device may determine that the first driving control information is: and controlling the steering wheel of the automobile to rotate a second preset angle towards the direction (namely, the right) indicated by the graphic code position of the graphic code B, and controlling the automobile to drive forwards for a second preset distance. Briefly, the first travel control information is: and controlling the steering wheel of the automobile to rotate rightwards by a second preset angle, and controlling the automobile to drive forwards by a second preset distance.

It should be noted that, when the vehicle-mounted camera 2 of the automobile (i.e., the vehicle-mounted camera at the rear right) collects the graphic code a (i.e., the graphic code at the front right), and the vehicle-mounted camera 1 does not collect the graphic code, the processing manner of the electronic device is shown in the above 2), which is not repeated here.

2. Identifying that the number of the graphic codes is 2, and that the designated included angle bisectors on the 2 graphic codes are not coincident with the preset target included angle bisectors respectively corresponding to the two graphic codes

If the number of the identified graphic codes is two and the angular bisectors of the designated included angles on the two graphic codes are not coincident with the preset target angular bisectors corresponding to the two graphic codes respectively, the electronic equipment can determine the relative position relationship between the angular bisectors of each designated included angle in the two designated included angles and the angular bisectors of the target included angles corresponding to the graphic codes where the designated included angles are located, select the designated included angle of the angular bisectors in the clockwise direction of the angular bisectors of the target included angles, and take the graphic code where the designated included angle is located as the target graphic code;

the electronic device may determine a graphic code position of the target graphic code, and determine the first driving control information as: and controlling the steering wheel of the automobile to rotate a third preset angle in the direction indicated by the graphic code position of the target graphic code, and controlling the automobile to drive forwards by a third preset distance.

For example, as shown in fig. 10a and 10B, a graphic code a is provided near the left front corner of the parking space, and a graphic code B is provided near the right front corner of the parking space. An in-vehicle camera 1 is provided near the left rear wheel of the automobile (i.e., circle 1 in fig. 10a, 10 b), and an in-vehicle camera 2 is provided near the right rear wheel of the automobile (i.e., circle 2 in fig. 10a, 10 b).

In fig. 10a and 10b, the dashed vehicle frame indicates the situation when the car is at the ideal position, and the solid vehicle frame indicates the current position of the car. The third frame from left to right in fig. 10a and 10b shows the designated included angle and the angular bisector (shown by solid lines) of the designated included angle of the image code a acquired by the in-vehicle camera 1, and the target included angle and the angular bisector (shown by broken lines) of the target included angle corresponding to the image code a.

When the current position of the car is as shown in fig. 10a and 10B, the image 1 collected by the vehicle-mounted camera 1 contains a graphic code a, and the image 2 collected by the vehicle-mounted camera 2 contains a graphic code B.

When the current position of the automobile is shown in fig. 10a, the electronic device may determine that the designated angular bisector of the graphic code a collected by the vehicle-mounted camera 1 is clockwise of the target angular bisector of the graphic code a, and the designated angular bisector of the graphic code B collected by the vehicle-mounted camera 2 is counterclockwise of the target angular bisector of the graphic code B.

The electronic device may determine that the graphic code a is a target graphic code and determine that the first driving control information is: and controlling the steering wheel of the automobile to rotate a third preset angle towards the direction (namely left) indicated by the graphic code position of the graphic code A, and controlling the automobile to drive forwards by a third preset distance. Briefly, the first travel control information is: and controlling the steering wheel of the automobile to rotate leftwards by a third preset angle and controlling the automobile to drive forwards by a third preset distance.

When the current position of the automobile is shown in fig. 10B, the electronic device may determine that the designated angular bisector of the graphic code a collected by the vehicle-mounted camera 1 is in the counterclockwise direction of the target angular bisector of the graphic code a, and the designated angular bisector of the graphic code B collected by the vehicle-mounted camera 2 is in the clockwise direction of the target angular bisector of the graphic code B.

The electronic device may determine the graphic code B as the target graphic code and determine the first driving control information as: and controlling the steering wheel of the automobile to rotate a third preset angle towards the direction (namely, the right) indicated by the graphic code position of the graphic code B, and controlling the automobile to drive forwards by a third preset distance. Briefly, the first travel control information is: and controlling the steering wheel of the automobile to rotate rightwards by a third preset angle and controlling the automobile to drive forwards by a third preset distance.

The first preset angle, the second preset angle, and the third preset angle may be the same or different, and are not particularly limited here. The first preset distance, the second preset distance, and the third preset distance may be the same or different, and are not particularly limited herein.

The method for parking and warehousing provided by the application is described in detail below by taking an example of disposing one vehicle-mounted camera near the left rear wheel and the right rear wheel of the automobile respectively (disposing two vehicle-mounted cameras on the automobile in total) and disposing one graphic code near the left front corner and the right front corner of the parking space respectively (disposing two graphic codes on the parking space in total).

Referring to fig. 11, fig. 11 is a flowchart illustrating another parking garage entering method according to an exemplary embodiment of the present application. The method can be applied to the electronic equipment and can comprise the following steps.

Step 1101. The electronic device may acquire images acquired by two onboard cameras disposed on the automobile.

Step 1102: and carrying out graphic code recognition on the images acquired by the two vehicle-mounted cameras, determining the number of the recognized graphic codes and the angular bisector of the designated included angle on the graphic codes, and acquiring the camera position of the target vehicle-mounted camera of the recognized image codes relative to the vehicle.

If a graphic code is identified, go to steps 1103-1111. If two graphics codes are identified, then steps 1112 through 1114 are performed.

Step 1103: if a graphic code is identified, the electronic device may determine a graphic code location of the identified graphic code and a camera location of the target onboard camera.

If the determined position of the graphics code and the camera position meet the first condition (i.e., the position of the graphics code is the first position of the graphics code and the camera position of the target vehicle-mounted camera is the first position of the camera), steps 1104 to 1106 are executed.

If the determined position of the graphics code and the camera position meet the second condition (i.e., the position of the graphics code is the first position of the graphics code and the camera position of the target vehicle-mounted camera is the second position of the camera), step 1107 to step 1111 are executed.

Step 1104: and if the determined position of the graphic code and the camera position meet the first condition, determining the relative position of the angular bisector of the appointed included angle on the identified graphic code and the angular bisector of the preset target included angle corresponding to the graphic code.

Step 1105: and if the designated included angle bisector is in the anticlockwise direction of the target included angle bisector, controlling the automobile steering wheel to rotate a first preset angle in the opposite direction of the direction indicated by the graphic code position of the graphic code and controlling the automobile to travel backwards for a first preset distance.

Step 1106: and if the specified included angle angular bisector is in the clockwise direction of the target included angle angular bisector, controlling the steering wheel of the automobile to rotate a first preset angle towards the direction indicated by the graphic code position of the graphic code and controlling the automobile to drive forwards by a first preset distance.

Step 1107: and if the determined position of the graphic code and the camera position meet the second condition, determining whether the angular bisector of the appointed included angle of the identified graphic code is coincident with the angular bisector of the preset target included angle corresponding to the graphic code.

Step 1108: and if so, controlling the automobile to translate one vehicle width in the direction indicated by the camera position of the target vehicle-mounted camera.

Step 1109: if not, determining the relative position of the angular bisector of the designated included angle and the target included angle.

Step 1110: and if the angular bisector of the specified included angle is in the clockwise direction of the angular bisector of the target included angle, controlling the steering wheel of the automobile to rotate a second preset angle towards the direction indicated by the camera position of the target vehicle-mounted camera and controlling the automobile to move forwards for a second preset distance.

Step 1111: and if the angular bisector of the specified included angle is in the anticlockwise direction of the angular bisector of the target included angle, controlling the steering wheel of the automobile to rotate a second preset angle towards the direction indicated by the graphic code position of the graphic code, and controlling the automobile to drive forwards for a second preset distance.

Step 1112: if two graphic codes are identified, determining whether the designated included angle bisector on the two graphic codes is coincident with the preset target included angle bisector corresponding to the two graphic codes respectively.

Step 1113: and if the angular bisector of the designated included angle on the two graphic codes is overlapped with the angular bisector of the preset target included angle corresponding to the two graphic codes respectively, controlling the automobile to travel backwards for a fourth preset distance so as to enable the automobile to enter the parking space.

Step 1114: if the angular bisector of the designated included angle on the two graphic codes is not coincident with the angular bisector of the preset target included angle corresponding to the two graphic codes respectively, determining the relative position relationship between the angular bisector of each designated included angle in the two designated included angles and the angular bisector of the target included angle corresponding to the graphic code in which the designated included angle is positioned, selecting the designated included angle of the angular bisector in the clockwise direction of the angular bisector of the target included angle, and taking the graphic code in which the selected designated included angle is positioned as the target graphic code; determining a graphic code position of a target graphic code; the first driving control information is determined as follows: and controlling the steering wheel of the automobile to rotate a third preset angle in the direction indicated by the graphic code position of the target graphic code, and controlling the automobile to drive forwards by a third preset distance.

The parking and warehousing method provided by the application is described in detail below through two specific scenes.

Scene one: please refer to fig. 12a to 12d.

As shown in fig. 12a to 12d, a graphic code a is provided near the left front corner of the parking space, and a graphic code B is provided near the right front corner of the parking space. An in-vehicle camera 1 is provided near the left rear wheel of the automobile (i.e., circle 1 in fig. 12a to 12 d), and an in-vehicle camera 2 is provided near the right rear wheel of the automobile (i.e., circle 2 in fig. 12a to 12 d).

The dashed vehicle boxes in fig. 12a to 12b represent the situation when the car is in the ideal position, and the solid vehicle boxes in fig. 12a to 12d represent the actual position of the car. The box 1 (B) in fig. 12a to 12B indicates the designated included angle and the angular bisector (indicated by solid lines) of the designated included angle of the image code B acquired by the in-vehicle camera 1, and the target included angle and the angular bisector (indicated by broken lines) of the target included angle corresponding to the image code B. The 1 (a) box in fig. 12c represents the specified angle and the angular bisector of the specified angle of the image code a (shown by solid lines) acquired by the vehicle-mounted camera 1, and the target angle and the angular bisector of the target angle (shown by broken lines) corresponding to the image code a, and the 2 (B) box represents the specified angle and the angular bisector of the specified angle of the image code B (shown by solid lines) acquired by the vehicle-mounted camera 2, and the angular bisector of the target angle and the target angle corresponding to the image code B (shown by broken lines).

Assume that the current position of the car is shown as a solid frame of the car in fig. 12 a. In this case, the onboard camera 1 on the car will capture the image 1 containing the graphic code B and send the image to the electronic device. The image 2 captured by the onboard camera 2 does not contain a graphics code.

The electronic device, upon receiving image 1 and image 2, may identify the graphics codes in image 1 and image 2. The electronic device recognizes one graphic code (i.e., graphic code B), and determines the position of the graphic code B as the right front position, and the camera position of the in-vehicle camera 1 that collects the graphic code B as the left rear position. Therefore, the electronic device can detect whether the angular bisector of the designated included angle on the graphic code B coincides with the angular bisector of the target included angle corresponding to the graphic code B.

In fig. 12a, the angular bisector of the specified included angle on the graphic code B does not coincide with the angular bisector of the target included angle corresponding to the graphic code B, and the angular bisector of the specified included angle on the graphic code B is clockwise of the angular bisector of the target included angle corresponding to the graphic code B, so the electronic device can control the steering wheel of the automobile to rotate left by a preset angle and travel forward by a preset distance, so that the automobile is adjusted to the position shown in fig. 12B.

It should be noted that, when the electronic device receives the image 1 sent by the vehicle-mounted camera 1 and the image 2 sent by the vehicle-mounted camera again, only the graphic code B is still identified in the image 1, and the angular bisector of the specified included angle on the graphic code B is not coincident with the angular bisector of the target included angle corresponding to the graphic code B, and the processing logic of fig. 12a is repeated.

When the current position of the car is as shown in fig. 12B, the onboard camera 1 of the car will acquire the image 1 containing the graphic code B and send the image 1 to the electronic device. The image 2 acquired by the in-vehicle camera 2 does not contain a graphic code, and the image 2 is transmitted to the electronic device.

The electronic device, upon receiving image 1 and image 2, may identify the graphics codes in image 1 and image 2. The electronic device recognizes one graphic code (i.e., graphic code B), and determines the position of the graphic code B as the right front position, and the camera position of the in-vehicle camera 1 that collects the graphic code B as the left rear position. And the electronic equipment detects that the angular bisector of the designated included angle on the graphic code B coincides with the angular bisector of the target included angle corresponding to the graphic code B, and at the moment, the electronic equipment can control the automobile to translate leftwards by one automobile width.

When the current position of the car is as shown in fig. 12c, the onboard camera 1 of the car will acquire the image 1 containing the graphic code a and send the image 1 to the electronic device. The in-vehicle camera 2 captures an image 2 containing the graphic code B and transmits the image 2 to the electronic device.

The electronic device, upon receiving image 1 and image 2, may identify the graphics codes in image 1 and image 2. The electronic device identifies two graphic codes (namely graphic code A and graphic code B), and the electronic device determines that the angular bisector of the designated included angle of the graphic code A coincides with the angular bisector of the target included angle corresponding to the graphic code A, and that the angular bisector of the designated included angle on the graphic code B coincides with the angular bisector of the target included angle corresponding to the graphic code B, at which time the electronic device can determine that the automobile is at an ideal position outside the parking space. At this time, the electronic device may control the automobile to travel backward by a preset distance. When the car travels a predetermined distance rearward, the car is positioned as shown at 12d and the car has traveled into the parking space.

Scene II:

as shown in fig. 13a to 13d, a graphic code a is provided near the left front corner of the parking space, and a graphic code B is provided near the right front corner of the parking space. An in-vehicle camera 1 is provided near the left rear wheel of the automobile (i.e., circle 1 in fig. 13a to 13 d), and an in-vehicle camera 2 is provided near the right rear wheel of the automobile (i.e., circle 2 in fig. 13a to 13 d).

The dashed vehicle boxes in fig. 13a to 13b represent the situation when the car is in the ideal position, and the solid vehicle boxes in fig. 13a to 13d represent the actual position of the car. The box 1 (a) in fig. 13a shows the designated included angle and the angular bisector of the designated included angle (shown by solid lines) of the image code a acquired by the onboard camera 1, and the target included angle and the angular bisector of the target included angle (shown by broken lines) corresponding to the image code a. The 1 (a) box in fig. 13B to 13c indicates the specified angle and the angular bisector of the specified angle of the graphic code a (shown by solid lines) acquired by the in-vehicle camera 1, and the target angle and the angular bisector of the target angle (shown by broken lines) corresponding to the image code a, and the 2 (B) box indicates the specified angle and the angular bisector of the specified angle of the graphic code B (shown by solid lines) acquired by the in-vehicle camera 2, and the angular bisector of the target angle and the target angle corresponding to the image code B (shown by broken lines).

Assume that the current position of the car is shown as a solid frame of the car in fig. 13 a. In this case, the onboard camera 1 on the car will capture the image 1 containing the graphic code a and send the image to the electronic device. The image 2 captured by the onboard camera 2 does not contain a graphics code.

The electronic device, upon receiving image 1 and image 2, may identify the graphics codes in image 1 and image 2. The electronic equipment identifies a graphic code (namely graphic code A), determines the position of the graphic code A as the left front position, acquires the position of the camera of the vehicle-mounted camera 1 of the graphic code A as the left rear position, and determines the anticlockwise direction of the angular bisector of the target included angle corresponding to the graphic code B, so that the electronic equipment can control the steering wheel of the automobile to rotate rightwards by a preset angle and drive backwards by a preset distance.

It should be noted that, when the electronic device receives the image 1 sent by the in-vehicle camera 1 and the image 2 sent by the in-vehicle camera again, only the graphic code a is still identified in the image 1, the processing logic of fig. 13a is repeated.

When the current position of the car is as shown in fig. 13b, the onboard camera 1 of the car will acquire the image 1 containing the graphic code a and send the image 1 to the electronic device. The in-vehicle camera 2 captures an image 2 containing the graphic code B and transmits the image 2 to the electronic device.

The electronic device, upon receiving image 1 and image 2, may identify the graphics codes in image 1 and image 2. The electronic device identifies two graphics codes (i.e., graphics code a and graphics code B), and the electronic device determines that the angular bisector of the specified included angle of graphics code a does not coincide with the angular bisector of the target included angle corresponding to graphics code a, and that the angular bisector of the specified included angle on graphics code B does not coincide with the angular bisector of the target included angle corresponding to graphics code B. And the electronic equipment determines that the angular bisector of the designated included angle of the graphic code A is in the anticlockwise direction of the angular bisector of the target included angle corresponding to the graphic code A, and the angular bisector of the designated included angle of the graphic code B is in the clockwise direction of the angular bisector of the target included angle corresponding to the image B, so that the electronic equipment can control the steering wheel of the automobile to rotate rightwards by a preset angle and control the automobile to drive forwards by a preset distance.

It should be noted that, when the electronic device receives the image 1 sent by the vehicle-mounted camera 1 and the image 2 sent by the vehicle-mounted camera, the graphic code a is still identified in the image 1, the graphic code B is identified in the image 2, the angular bisector of the specified included angle of the graphic code a does not coincide with the angular bisector of the target included angle corresponding to the graphic code a, and the angular bisector of the specified included angle on the graphic code B does not coincide with the angular bisector of the target included angle corresponding to the graphic code B, the processing logic of fig. 13B is repeated.

When the current position of the car is as shown in fig. 13c, the onboard camera 1 of the car will acquire the image 1 containing the graphic code a and send the image 1 to the electronic device. The in-vehicle camera 2 captures an image 2 containing the graphic code B and transmits the image 2 to the electronic device.

The electronic device, upon receiving image 1 and image 2, may identify the graphics codes in image 1 and image 2. The electronic device identifies two graphic codes (namely graphic code A and graphic code B), and the electronic device determines that the angular bisector of the designated included angle of the graphic code A coincides with the angular bisector of the target included angle corresponding to the graphic code A, and that the angular bisector of the designated included angle on the graphic code B coincides with the angular bisector of the target included angle corresponding to the graphic code B, at which time the electronic device can determine that the automobile is at an ideal position outside the parking space. At this time, the electronic device may control the automobile to travel backward by a preset distance. When the car travels a preset distance backward, the position of the car is shown as 13d, and the car is already traveling into the parking space.

Referring to fig. 14, fig. 14 is a hardware configuration diagram of an electronic device according to an exemplary embodiment of the present application.

The electronic device includes: a communication interface 1401, a processor 1402, a machine-readable storage medium 1403 and a bus 1404; wherein the communication interface 1401, the processor 1402 and the machine-readable storage medium 1403 communicate with each other via the bus 1404. The processor 1402 may perform the parking garage method described above by reading and executing machine-executable instructions in the machine-readable storage medium 1403 corresponding to the control logic for parking garage.

The machine-readable storage medium 1403 referred to herein may be any electronic, magnetic, optical, or other physical storage device that may contain or store information, such as executable instructions, data, or the like. For example, a machine-readable storage medium may be: volatile memory, nonvolatile memory, or similar storage medium. In particular, the machine-readable storage medium 1403 may be RAM (Radom Access Memory, random access memory), flash memory, a storage drive (e.g., hard drive), a solid state drive, any type of storage disk (e.g., optical disk, DVD, etc.), or a similar storage medium, or a combination thereof.

Referring to fig. 15, fig. 15 is a block diagram of a parking garage according to an exemplary embodiment of the present application, and the method may be applied to the electronic device shown in fig. 14, and may include the following units.

A first obtaining unit 1501, configured to obtain a video image collected by a vehicle-mounted camera, where the video image includes a graphic code set on a target parking space;

a second obtaining unit 1502, configured to obtain, according to the video image, graphics code identification information of the graphics code, where the graphics code identification information includes at least feature information of the graphics code and location information of the graphics code relative to the target parking space;

A determining unit 1503 for determining driving control information for driving the vehicle into the parking space according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, and controlling the vehicle to be driven into the parking space based on the driving control information.

Optionally, the running control information includes: first driving control information for controlling the vehicle to drive into an ideal position outside the parking space;

the determining unit 1503 is specifically configured to determine, when determining driving control information for driving a car into a parking space based on position information of the vehicle-mounted camera with respect to the vehicle and the graphic code identification information, whether the car is at an ideal position outside the parking space based on the graphic code identification information of the graphic code; if not, determining the first driving control information according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, and controlling the automobile to enter the ideal position based on the first driving control information.

Optionally, the running control information further includes: second travel control information for controlling the vehicle to travel from the ideal position into the parking space;

The determining unit 1503 is further specifically configured to, when determining the driving control information for driving the vehicle into the parking space according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, control the vehicle to drive into the parking space based on the preset second driving control information if the driving control information is positive.

Optionally, 2 vehicle-mounted cameras deployed on the automobile, and 2 graphic codes arranged on the parking space;

the feature information of the graphic code includes: the number of the acquired graphic codes and the angular bisectors of the designated included angles on the graphic codes;

the determining unit 1503 is specifically configured to determine, when determining, based on the graphic code identification information of the graphic codes, whether the automobile is located at an ideal position outside the parking space, if the number of the identified graphic codes is two, and the specified angular bisectors of the two graphic codes coincide with the preset target angular bisectors corresponding to the two graphic codes, and determine that the automobile is running at the ideal position;

if the number of the identified graphic codes is one, determining that the automobile is not in the ideal position; or alternatively, the process may be performed,

if the number of the identified graphic codes is two and the designated included angle bisectors on the two graphic codes are not coincident with the preset target included angle bisectors corresponding to the two graphic codes, determining that the automobile is not in the ideal position;

Wherein, the preset target included angle is: when the automobile runs to an ideal position outside the parking space, a plurality of vehicle-mounted cameras on the automobile respectively collect specified included angles on the graphic codes.

Optionally, 2 vehicle-mounted cameras are deployed on the automobile, and 2 graphic codes are arranged on the parking space;

the position information of the graphic code relative to the target parking space comprises: a first graphic code position and a second graphic code position; the first graphic code position represents that the graphic code is deployed on a first designated position of the target parking space; the second graphic code position represents that the graphic code is deployed on a second designated position of the target parking space;

the position information of the in-vehicle camera relative to the vehicle includes: a first camera position and a second camera position; the first camera position is a first appointed position of the vehicle-mounted camera on the automobile; the second camera position is a second appointed position of the vehicle-mounted camera on the automobile;

the determining unit 1503 is specifically configured to, when determining the first travel control information based on the position information of the in-vehicle camera with respect to the vehicle and the graphics code identification information, if the number of the identified graphics codes is one

Determining a graphic code position of the graphic code and acquiring a camera position of a target vehicle-mounted camera of the graphic code;

if the determined position of the graphic code and the camera position meet the first condition, determining the relative position of an angular bisector of a designated included angle on the identified graphic code and an angular bisector of a preset target included angle corresponding to the graphic code;

the first condition includes any one of:

Optionally, when determining the first driving control information according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, the determining unit 1503 is further specifically configured to determine that the first driving control information is: and controlling the steering wheel of the automobile to rotate a first preset angle in the direction indicated by the graphic code position of the graphic code and controlling the automobile to drive forwards for a first preset distance.

Optionally, the determining unit 1503 is further specifically configured to determine, when determining the first driving control information according to the position information of the vehicle-mounted camera relative to the vehicle and the graphics code identification information, whether an angular bisector of a specified included angle of the identified graphics code coincides with an angular bisector of a preset target included angle corresponding to the graphics code if the determined graphics code position and camera position meet the second condition;

if the first driving control information is overlapped, determining that the first driving control information is: controlling the automobile to translate a vehicle width in a direction indicated by a camera position of the target vehicle-mounted camera;

the second condition includes any one of:

Optionally, the determining unit 1503 is further specifically configured to determine, when determining the first driving control information according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, if the first driving control information does not overlap with the graphic code identification information, a relative position of the angular bisector of the specified included angle and the target included angle;

If the angular bisector of the specified included angle is in the clockwise direction of the angular bisector of the target included angle, determining that the first driving control information is: controlling a steering wheel of the automobile to rotate a second preset angle towards a direction indicated by a camera position of the target vehicle-mounted camera, and controlling the automobile to move forwards for a second preset distance;

Optionally, the determining unit 1503 is further specifically configured to, when determining the first driving control information according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, if the number of the identified graphic codes is two and the designated angular bisectors on the two graphic codes do not coincide with the preset target angular bisectors corresponding to the two graphic codes respectively

Determining the relative position relation between the angular bisector of each appointed included angle and the angular bisector of the target included angle corresponding to the graphic code of the appointed included angle, selecting the appointed included angle of the angular bisector in the clockwise direction of the angular bisector of the target included angle, and taking the graphic code of the selected appointed included angle as the target graphic code;

Determining a graphic code position of a target graphic code;

the first driving control information is determined as follows: and controlling the steering wheel of the automobile to rotate a third preset angle in the direction indicated by the graphic code position of the target graphic code, and controlling the automobile to drive forwards by a third preset distance.

Further, referring to fig. 16, fig. 16 is a schematic view of a parking garage system according to an exemplary embodiment of the present application.

The parking garage system may include an onboard camera and an electronic device.

The electronic device may be a central processor of an automobile, or may be a server, a server cluster, or the like, and the electronic device is not particularly limited herein.

the electronic equipment is used for acquiring video images acquired by the vehicle-mounted camera; according to the video image, acquiring graphic code identification information of the graphic code, wherein the graphic code identification information at least comprises characteristic information of the graphic code and position information of the graphic code relative to the target parking space; and determining driving control information for driving the automobile into the parking space according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, and controlling the automobile to drive into the parking space based on the driving control information.

the electronic device is specifically configured to determine whether the automobile is at an ideal position outside the parking space based on the graphic code identification information of the graphic code when determining travel control information for driving the automobile into the parking space according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information; if not, determining the first driving control information according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, and controlling the automobile to enter the ideal position based on the first driving control information.

the electronic device is further specifically configured to, when determining driving control information for driving the vehicle into the parking space according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, control the vehicle to drive into the parking space based on preset second driving control information if the driving control information is positive.

the electronic device is specifically configured to determine, when determining, based on the graphic code identification information of the graphic codes, whether the automobile is located at an ideal position outside the parking space, that the automobile is running at the ideal position if the number of the identified graphic codes is two and the specified angular bisectors of the two graphic codes coincide with the preset target angular bisectors corresponding to the two graphic codes;

the electronic device is specifically configured to, when determining the first travel control information based on the position information of the in-vehicle camera with respect to the vehicle and the graphics code identification information, if the number of the identified graphics codes is one

the first condition includes any one of:

Optionally, when determining the first driving control information according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, the electronic device is further specifically configured to determine that the first driving control information is: and controlling the steering wheel of the automobile to rotate a first preset angle in the direction indicated by the graphic code position of the graphic code and controlling the automobile to drive forwards for a first preset distance.

Optionally, when determining the first driving control information according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, the electronic device is further specifically configured to determine whether an angular bisector of a specified included angle of the identified graphic code coincides with an angular bisector of a preset target included angle corresponding to the graphic code if the determined graphic code position and camera position meet the second condition;

the second condition includes any one of:

Optionally, when determining the first driving control information according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, the electronic device is further specifically configured to determine, if the first driving control information is not coincident with the graphic code identification information, a relative position of an angular bisector of the specified included angle and the target included angle;

Optionally, when determining the first driving control information according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, the electronic device is further specifically configured to, if the number of the identified graphic codes is two and the designated angular bisectors on the two graphic codes do not coincide with the preset target angular bisectors corresponding to the two graphic codes respectively

Determining a graphic code position of a target graphic code;

The implementation process of the functions and roles of each unit in the above device is specifically shown in the implementation process of the corresponding steps in the above method, and will not be described herein again.

For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present application. Those of ordinary skill in the art will understand and implement the present application without undue burden.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the application.

Claims

1. A method of parking a vehicle, the method comprising:

determining driving control information for driving the automobile into the parking space according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, and controlling the automobile to drive into the parking space based on the driving control information;

wherein the travel control information includes: first driving control information for controlling the vehicle to drive into an ideal position outside the parking space;

wherein the determining of the driving control information for driving the vehicle into the parking space according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information includes:

Determining whether the automobile is at an ideal position outside the parking space based on the graphic code identification information of the graphic code;

if not, determining the first driving control information according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, and controlling the automobile to enter the ideal position based on the first driving control information;

the vehicle-mounted camera comprises 2 vehicle-mounted cameras deployed on the automobile, and 2 graphic codes arranged on the parking space;

wherein the determining whether the car is at an ideal position outside the parking space based on the graphic code identification information of the graphic code comprises:

if the number of the identified graphic codes is two, and the designated included angle bisectors on the two graphic codes are overlapped with the preset target included angle bisectors corresponding to the two graphic codes, determining that the automobile runs on the ideal position;

2. The method of claim 1, wherein the travel control information further comprises: second travel control information for controlling the vehicle to travel from the ideal position into the parking space;

the method further comprises the steps of:

if yes, controlling the automobile to run into the parking space based on preset second running control information.

3. The method of claim 1, wherein the step of determining the position of the substrate comprises,

The determining the first driving control information according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information includes:

if the number of the identified graphic codes is one, then

the first condition includes any one of:

4. A method according to claim 3, characterized in that the method further comprises:

5. A method according to claim 3, characterized in that the method further comprises:

if the determined position of the graphic code and the camera position meet the second condition, determining whether the angular bisector of the appointed included angle of the identified graphic code is coincident with the angular bisector of the preset target included angle corresponding to the graphic code;

the second condition includes any one of:

6. The method of claim 5, wherein the method further comprises:

if not, determining the relative position of the angular bisector of the designated included angle and the target included angle;

7. The method of claim 3, wherein the determining the first travel control information based on the position information of the onboard camera relative to the vehicle and the graphic code identification information comprises:

if the number of the identified graphic codes is two and the designated included angle bisectors on the two graphic codes are not coincident with the preset target included angle bisectors respectively corresponding to the two graphic codes, then

determining a graphic code position of a target graphic code;

8. A parking garage apparatus, said apparatus comprising:

a determining unit configured to determine traveling control information for driving an automobile into a parking space according to position information of the in-vehicle camera with respect to a vehicle and the graphic code identification information, and control the automobile to enter the parking space based on the traveling control information;

the determining unit is specifically configured to, when determining, according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, driving control information for driving the vehicle into the parking space:

the determining unit is specifically configured to, when determining whether the automobile is at an ideal position outside the parking space based on the graphic code identification information of the graphic code:

9. A parking garage system, the system comprising: vehicle-mounted camera, electronic device;

the electronic equipment is used for acquiring video images acquired by the vehicle-mounted camera; according to the video image, acquiring graphic code identification information of the graphic code, wherein the graphic code identification information at least comprises characteristic information of the graphic code and position information of the graphic code relative to the target parking space; determining driving control information for driving the automobile into the parking space according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, and controlling the automobile to drive into the parking space based on the driving control information;

the electronic device is specifically configured to, when determining, according to the position information of the vehicle-mounted camera relative to the vehicle and the graphic code identification information, driving control information for driving the vehicle into a parking space:

the electronic device is specifically configured to, when determining whether the automobile is located at an ideal position outside the parking space based on the graphic code identification information of the graphic code: