CN112115741A - Parking garage position detection method and device - Google Patents
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Abstract
The invention provides a parking garage position detection method and a device, wherein the method comprises the following steps: acquiring the current position coordinates of the vehicle in an ink card tray coordinate system; calling a pre-constructed library position map, wherein the library position map comprises position coordinates of a plurality of library positions under an mercator coordinate system; and selecting a target position matched with the current position coordinate from the plurality of positions, and feeding back the target position coordinate corresponding to the target position. The invention can pre-construct the library position map, and after the library position map is constructed, the target library position matched with the position coordinates can be directly selected when the vehicle parks again, so that the accurate library position can be reliably given, the dependence degree of the visual detection library position on weather and the surrounding environment is obviously reduced, and the robustness of library position identification is greatly improved.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a parking garage position detection method and device.
Background
With the continuous development of unmanned technology, various companies continuously improve the automatic driving function in different scenes, wherein automatic parking is one of the most practical functions in a low-speed scene.
The most important ring in automatic parking is to sense the exact location of the parking space. At present, the sensing of the position of the library position is generally realized by adopting a camera. However, because the camera has a high degree of dependence on weather conditions, the position of the warehouse cannot be accurately positioned in rainy and snowy weather, at night or in sheltering conditions.
Disclosure of Invention
In view of the above, the present invention provides a parking space detection method and apparatus for solving the above problems. The technical scheme is as follows:
a parking garage space detection method, the method comprising:
acquiring the current position coordinates of the vehicle in an ink card tray coordinate system;
calling a pre-constructed library position map, wherein the library position map comprises position coordinates of a plurality of library positions under the mercator coordinate system;
and selecting a target library position with the position coordinate matched with the current position coordinate from the plurality of library positions, and feeding back a target position coordinate corresponding to the target library position.
Preferably, the process of constructing the library map in advance includes:
acquiring live-action images shot by a vehicle-mounted all-around camera, and splicing the live-action images into a vehicle overhead view image;
determining a first position coordinate of a library position to be constructed in the vehicle aerial view image under a pixel coordinate system;
determining a second position coordinate of the library position to be constructed under a vehicle coordinate system based on the first position coordinate;
acquiring a third position coordinate of the vehicle under the ink card support coordinate system, and determining a fourth position coordinate of the library to be constructed under the ink card support coordinate system by using the third position coordinate and the second position coordinate;
and generating a library position map containing the library position to be constructed at least based on the fourth position coordinate.
Preferably, the determining the first position coordinate of the library position to be constructed in the vehicle overhead image under the pixel coordinate system includes:
identifying a depot entrance corner point in the vehicle aerial view image;
identifying a garage type in the vehicle overhead image if the garage entrance corner point is identified;
and determining a first position coordinate of the library position to be constructed under the pixel coordinate system based on the library position entrance corner point and the library position type.
Preferably, before determining the second position coordinate of the library site to be constructed in the vehicle coordinate system based on the first position coordinate, the method further comprises:
acquiring the pose of the vehicle;
adjusting the first position coordinates based on the pose.
Preferably, the method further comprises:
and updating the library position map.
A parking garage space detection apparatus, said apparatus comprising: the map retrieval system comprises a coordinate acquisition module, a map retrieval module and a coordinate matching module, wherein the map retrieval module comprises a map construction unit;
the coordinate acquisition module is used for acquiring the current position coordinates of the vehicle in the ink card tray coordinate system;
the map construction unit is used for constructing a library position map in advance, and the library position map comprises position coordinates of a plurality of library positions under the mercator coordinate system;
the map calling module is used for calling the library position map;
and the coordinate matching module is used for selecting a target library position with position coordinates matched with the current position coordinates from the plurality of library positions and feeding back target position coordinates corresponding to the target library position.
Preferably, the map building unit is specifically configured to:
acquiring live-action images shot by a vehicle-mounted all-around camera, and splicing the live-action images into a vehicle overhead view image; determining a first position coordinate of a library position to be constructed in the vehicle aerial view image under a pixel coordinate system; determining a second position coordinate of the library position to be constructed under a vehicle coordinate system based on the first position coordinate; acquiring a third position coordinate of the vehicle under the ink card support coordinate system, and determining a fourth position coordinate of the library to be constructed under the ink card support coordinate system by using the third position coordinate and the second position coordinate; and generating a library position map containing the library position to be constructed at least based on the fourth position coordinate.
Preferably, the map construction unit configured to determine a first position coordinate of a library to be constructed in the vehicle overhead image in a pixel coordinate system is specifically configured to:
identifying a depot entrance corner point in the vehicle aerial view image; identifying a garage type in the vehicle overhead image if the garage entrance corner point is identified; and determining a first position coordinate of the library position to be constructed under the pixel coordinate system based on the library position entrance corner point and the library position type.
Preferably, the map building unit is further configured to:
acquiring the pose of the vehicle; adjusting the first position coordinates based on the pose.
Preferably, the map building unit is further configured to:
and updating the library position map.
The parking garage position detection method and the parking garage position detection device can pre-construct the garage position map, and can directly select the target garage position matched with the position coordinates when the vehicle parks again after the construction of the garage position map is completed, so that the accurate garage position can be reliably given, the dependence degree of the visual detection garage position on weather and the surrounding environment is obviously reduced, and the robustness of garage position identification is greatly improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flowchart of a method for detecting parking spaces according to an embodiment of the present invention;
FIG. 2 is an example of a library site map;
FIG. 3 is a flowchart of a portion of a parking garage space detection method according to an embodiment of the present invention;
FIG. 4 is a flowchart of another part of the parking lot detection method according to the embodiment of the present invention;
FIG. 5 is an example of a library location;
fig. 6 is a schematic structural diagram of a parking garage space detection device disclosed in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a parking garage position detection method, a flow chart of which is shown in figure 1, and the method comprises the following steps:
and S10, acquiring the current position coordinates of the vehicle in the ink card tray coordinate system.
In this embodiment, the current longitude and latitude of the vehicle may be determined through a GPS signal of the vehicle, and the current longitude and latitude may be converted into a current position coordinate in the mercator coordinate system. The conversion relationship between the longitude and latitude and the position coordinate in the mercator coordinate system may be calibrated in advance, which is not limited in this embodiment.
And S20, calling a pre-constructed library position map, wherein the library position map comprises position coordinates of a plurality of library positions under the mercator coordinate system.
An example of a library bitmap as shown in figure 2. The library position map at least comprises position coordinates of each library position in the plurality of library positions under the mercator coordinate system. Of course, the library position map may further include a library position type, a library position identifier, and the like of each library position, which is not limited in this embodiment.
In a specific implementation process, the process of constructing the library map in advance in step S20 may include the following steps, and a flowchart of the method is shown in fig. 3:
s201, acquiring the live-action images shot by the vehicle-mounted all-around camera, and splicing the live-action images into a vehicle overhead view image.
In the process of step S201, at the same time, the multi-channel vehicle-mounted panoramic camera pre-installed on the vehicle may respectively capture the live-view images, and then the live-view images are mapped on the plane where the calibrated checkerboard is located to complete the stitching to obtain the overhead view image of the vehicle.
Of course, before the stitching process, the live-action image may be subjected to a distortion removal process to improve the usability of the live-action image.
S202, determining a first position coordinate of a library position to be constructed in the vehicle overhead view image under a pixel coordinate system.
In the process of performing step S202, the pixel coordinate system may use the upper left corner of the overhead image of the vehicle as a coordinate origin, the width direction is an X axis, and the height direction is a Y axis. Firstly, whether a to-be-constructed library position is contained in the vehicle overhead view image is identified, and then under the condition that the to-be-constructed library position is identified, the position coordinate of the to-be-constructed library position under a pixel coordinate system is determined as the first position coordinate of the to-be-constructed library position under the pixel coordinate system.
Specifically, in step S202, "determining the first position coordinate of the library to be constructed in the vehicle overhead image under the pixel coordinate system" may adopt the following steps, and a flowchart of the method is shown in fig. 4:
s2021, identifying a library position entrance corner point in the vehicle overhead view image.
In the process of executing step S2021, the garage entrance corner point in the vehicle overhead image may be identified by machine learning or deep learning. Specifically, samples of different bin entrance corner points can be labeled in advance in a large scale, and then the samples are put into the classification model to adjust the weight of the classification model, and the classification model after the weight adjustment has the capacity of identifying the bin entrance corner points.
And S2022, identifying the garage type in the vehicle overhead view image when the garage entrance corner point is identified.
In the process of performing step S2022, the type of the library position (such as a straight library position, an inclined library position, a parallel library position, etc.) in the vehicle overhead image may be identified by machine learning or deep learning. Specifically, samples of different reservoir types can be labeled in advance in a large scale, and then the samples are put into the classification model to adjust the weight of the classification model, and the classification model after the weight adjustment has the capacity of identifying the reservoir entrance corner point.
S2023, determining a first position coordinate of the library position to be constructed under the pixel coordinate system based on the library position entrance corner point and the library position type.
Such as the library bit example shown in fig. 5. The area of the library to be constructed in the vehicle overhead view image can be determined based on the library entry corner point and the library type, and then the first position coordinate of the area corresponding to the library to be constructed is determined based on the pixel coordinate system corresponding to the vehicle overhead view image, for example, the position coordinate of the center position of the library to be constructed can be used as the first position coordinate.
On this basis, in order to solve the problem that the long time consumption of model calculation results in the lag of library position identification and the low update frequency, before executing step S203, the following steps may be further adopted:
acquiring the pose of the vehicle; the first position coordinates are adjusted based on the pose.
In the embodiment, information of angular acceleration, yaw velocity, azimuth angle and the like of the vehicle in X, Y and Z three axes can be obtained through combining an inertial navigation (RTK) signal, the pose of the vehicle is estimated through a motion model, and the first position coordinate is updated and corrected through coordinate transformation, so that accurate positioning of the garage to be constructed in a pixel coordinate system is realized.
S203, determining a second position coordinate of the library position to be constructed in the vehicle coordinate system based on the first position coordinate.
In the process of executing step S203, a certain image area of the vehicle overhead view in the pixel coordinate system corresponds to an actual area fixed in the vehicle coordinate system. Therefore, the first position coordinate in the pixel coordinate system can be converted into the second position coordinate in the vehicle coordinate system through the first position coordinate and the mapping matrix between the pixel coordinate system and the vehicle coordinate system.
And S204, acquiring a third position coordinate of the vehicle in the mercator coordinate system, and determining a fourth position coordinate of the reservoir to be constructed in the mercator coordinate system by using the third position coordinate and the second position coordinate.
In the process of executing step S204, the longitude and latitude of the vehicle may be determined by the GPS signal of the vehicle, and then the longitude and latitude may be converted into the third position coordinate in the mercator coordinate system. And the second position coordinate represents the relative position relation between the reservoir position to be constructed and the vehicle, so that the fourth position coordinate of the reservoir position to be constructed under the mercator coordinate system can be determined by combining the third position coordinate.
S205, a library position map containing library positions to be constructed is generated at least based on the fourth position coordinates.
In performing step S205, the position of the library site to be constructed may be drawn in the library site map based on the fourth position coordinate. Further, if the library position type or the library position identification and the like for the library position to be constructed are obtained, corresponding recording and management can be performed.
And S30, selecting a target library position with the position coordinate matched with the current position coordinate from the multiple library positions, and feeding back the target position coordinate corresponding to the target library position.
In this embodiment, a target library position in which the distance between the position coordinate and the current position coordinate is within a certain range may be selected.
In some other embodiments, in order to adapt to environmental changes, on the basis of the parking lot location detection method shown in fig. 1, the following steps may be further included:
and updating the library position map.
In this embodiment, the library map at least includes position coordinates of each of the plurality of libraries in the mercator coordinate system. Therefore, when the vehicle detects a new library position at a position close to a certain library position again, the position coordinates of the new library position in the ink card holder coordinate system can be replaced with the position coordinates of the library position in the ink card holder coordinate system. In addition, when the information such as the library position type, the library position identification and the like of each library position is also included in the library position map, the information corresponding to the library position is assigned to a new library position again.
In addition, if the position coordinates or the type of the new warehouse position detected at the position of the warehouse position under the mercator coordinate system have larger difference, the warehouse position map can be reconstructed, so that the problems that the warehouse position is newly divided in the parking lot or the warehouse position is physically changed in a large range and the like are solved.
The parking garage position detection method disclosed by the embodiment of the invention can be used for constructing the garage position map in advance, and directly selecting the target garage position matched with the position coordinates when the vehicle parks again after the garage position map is constructed, so that the accurate garage position can be reliably given, the dependence degree of the visual detection garage position on weather and the surrounding environment is obviously reduced, and the robustness of garage position identification is greatly improved.
Based on the parking space detection method disclosed in the above embodiment, the embodiment of the present invention corresponds to a device for executing the parking space detection method, and a schematic structural diagram of the device is shown in fig. 6, and the device includes: the map retrieval system comprises a coordinate acquisition module 10, a map retrieval module 20 and a coordinate matching module 30, wherein the map retrieval module 20 comprises a map construction unit 201;
and the coordinate acquisition module 10 is used for acquiring the current position coordinates of the vehicle in the ink card tray coordinate system.
The map construction unit 201 is configured to pre-construct a library map, where the library map includes position coordinates of a plurality of library positions in the mercator coordinate system.
And the map retrieving module 20 is used for retrieving the library map.
And the coordinate matching module 30 is configured to select a target library location with a position coordinate matched with the current position coordinate from the multiple library locations, and feed back a target position coordinate corresponding to the target library location.
Optionally, the map building unit 201 is specifically configured to:
acquiring live-action images shot by a vehicle-mounted all-around camera, and splicing the live-action images into a vehicle overhead view image; determining a first position coordinate of a library position to be constructed in the vehicle aerial view image under a pixel coordinate system; determining a second position coordinate of the library position to be constructed under the vehicle coordinate system based on the first position coordinate; acquiring a third position coordinate of the vehicle under the ink card support coordinate system, and determining a fourth position coordinate of the library to be constructed under the ink card support coordinate system by using the third position coordinate and the second position coordinate; and generating a library position map containing the library positions to be constructed at least based on the fourth position coordinates.
Optionally, the map construction unit 201 is configured to determine a first position coordinate of a library to be constructed in the vehicle overhead image under the pixel coordinate system, and specifically configured to:
identifying a library position entrance corner point in the vehicle aerial view image; under the condition that a garage entrance corner point is identified, identifying a garage type in the vehicle overhead view image; and determining a first position coordinate of the library position to be constructed under the pixel coordinate system based on the library position entrance corner point and the library position type.
Optionally, the map building unit 201 is further configured to:
acquiring the pose of the vehicle; the first position coordinates are adjusted based on the pose.
Optionally, the map building unit 201 is further configured to:
and the map updating module is used for updating the library map.
The parking garage position detection device disclosed by the embodiment of the invention can be used for constructing the garage position map in advance, and directly selecting the target garage position matched with the position coordinates when the vehicle parks again after the garage position map is constructed, so that the accurate garage position can be reliably given, the dependence degree of the visual detection garage position on weather and the surrounding environment is obviously reduced, and the robustness of garage position identification is greatly improved.
The parking garage space detection method and device provided by the invention are described in detail, specific examples are applied in the method to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include or include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A parking garage space detection method, comprising:
acquiring the current position coordinates of the vehicle in an ink card tray coordinate system;
calling a pre-constructed library position map, wherein the library position map comprises position coordinates of a plurality of library positions under the mercator coordinate system;
and selecting a target library position with the position coordinate matched with the current position coordinate from the plurality of library positions, and feeding back a target position coordinate corresponding to the target library position.
2. The method of claim 1, wherein the process of pre-building a library site map comprises:
acquiring live-action images shot by a vehicle-mounted all-around camera, and splicing the live-action images into a vehicle overhead view image;
determining a first position coordinate of a library position to be constructed in the vehicle aerial view image under a pixel coordinate system;
determining a second position coordinate of the library position to be constructed under a vehicle coordinate system based on the first position coordinate;
acquiring a third position coordinate of the vehicle under the ink card support coordinate system, and determining a fourth position coordinate of the library to be constructed under the ink card support coordinate system by using the third position coordinate and the second position coordinate;
and generating a library position map containing the library position to be constructed at least based on the fourth position coordinate.
3. The method of claim 2, wherein the determining the first position coordinates of the library site to be constructed in the vehicle overhead image in the pixel coordinate system comprises:
identifying a depot entrance corner point in the vehicle aerial view image;
identifying a garage type in the vehicle overhead image if the garage entrance corner point is identified;
and determining a first position coordinate of the library position to be constructed under the pixel coordinate system based on the library position entrance corner point and the library position type.
4. The method of claim 3, wherein prior to determining the second location coordinate of the library site to be built in the vehicle coordinate system based on the first location coordinate, the method further comprises:
acquiring the pose of the vehicle;
adjusting the first position coordinates based on the pose.
5. The method of claim 1, further comprising:
and updating the library position map.
6. A parking garage space detection apparatus, comprising: the map retrieval system comprises a coordinate acquisition module, a map retrieval module and a coordinate matching module, wherein the map retrieval module comprises a map construction unit;
the coordinate acquisition module is used for acquiring the current position coordinates of the vehicle in the ink card tray coordinate system;
the map construction unit is used for constructing a library position map in advance, and the library position map comprises position coordinates of a plurality of library positions under the mercator coordinate system;
the map calling module is used for calling the library position map;
and the coordinate matching module is used for selecting a target library position with position coordinates matched with the current position coordinates from the plurality of library positions and feeding back target position coordinates corresponding to the target library position.
7. The apparatus according to claim 6, wherein the mapping unit is specifically configured to:
acquiring live-action images shot by a vehicle-mounted all-around camera, and splicing the live-action images into a vehicle overhead view image; determining a first position coordinate of a library position to be constructed in the vehicle aerial view image under a pixel coordinate system; determining a second position coordinate of the library position to be constructed under a vehicle coordinate system based on the first position coordinate; acquiring a third position coordinate of the vehicle under the ink card support coordinate system, and determining a fourth position coordinate of the library to be constructed under the ink card support coordinate system by using the third position coordinate and the second position coordinate; and generating a library position map containing the library position to be constructed at least based on the fourth position coordinate.
8. The device according to claim 7, characterized in that the map construction unit for determining a first position coordinate of a library to be constructed in the vehicle overhead image in a pixel coordinate system is specifically configured to:
identifying a depot entrance corner point in the vehicle aerial view image; identifying a garage type in the vehicle overhead image if the garage entrance corner point is identified; and determining a first position coordinate of the library position to be constructed under the pixel coordinate system based on the library position entrance corner point and the library position type.
9. The apparatus of claim 8, wherein the map building unit is further configured to:
acquiring the pose of the vehicle; adjusting the first position coordinates based on the pose.
10. The apparatus of claim 6, wherein the map building unit is further configured to:
and updating the library position map.
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| CN114030463A (en) * | 2021-11-23 | 2022-02-11 | 上海汽车集团股份有限公司 | Path planning method and device of automatic parking system |
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| CN109817018A (en) * | 2019-02-20 | 2019-05-28 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of automatic parking method and relevant apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114030463A (en) * | 2021-11-23 | 2022-02-11 | 上海汽车集团股份有限公司 | Path planning method and device of automatic parking system |
| CN114030463B (en) * | 2021-11-23 | 2024-05-14 | 上海汽车集团股份有限公司 | Path planning method and device for automatic parking system |
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