CN112208517B - Target parking space selection method and system based on automatic parking system - Google Patents
Target parking space selection method and system based on automatic parking system Download PDFInfo
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- CN112208517B CN112208517B CN202010917156.1A CN202010917156A CN112208517B CN 112208517 B CN112208517 B CN 112208517B CN 202010917156 A CN202010917156 A CN 202010917156A CN 112208517 B CN112208517 B CN 112208517B
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- 230000003993 interaction Effects 0.000 claims description 14
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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Abstract
The invention discloses a target parking space selection method based on an automatic parking system. According to the invention, on the basis of the existing panoramic image interface, an electronic map interface is additionally added for displaying other alternative parking spaces beyond the panoramic image range, so that the parking space selection range is expanded, and the user experience is improved.
Description
Technical Field
The invention relates to an intelligent parking auxiliary system for a passenger car, in particular to a man-machine interaction interface of the intelligent parking auxiliary system, which adopts the fusion of a look-around camera and an ultrasonic radar sensor.
Background
Early intelligent parking assist systems typically used an ultrasonic radar sensor that only identified boundary spaces surrounded by vehicles or obstacles.
In order to improve the scene coverage and user experience, a new generation of intelligent parking auxiliary system can simultaneously fuse two sensors, namely a panoramic image camera and an ultrasonic radar, and can identify a boundary parking space by the ultrasonic radar and identify a marking parking space determined by a ground mark (a paint line and the like) by the panoramic image camera.
The principle that the panorama image camera discerned the marking parking stall does: four fisheye cameras arranged on the front, the rear, the left and the right of the vehicle capture images of the ground around the vehicle and are spliced to form a panoramic image. The system identifies the ground mark from the panoramic image by using a visual identification algorithm, and identifies the ground mark as a marked parking space when the ground mark meets the parking space condition. The marking parking space recognition principle determines that the parking spaces can be recognized in real time and synchronously displayed on the panoramic image interface as long as available alternative parking spaces exist in the panoramic image range.
The principle of recognizing boundary parking spaces by ultrasonic radar is as follows: the vehicle must completely travel forward through the boundary parking spaces and the vehicles/obstacles constituting the parking spaces, so that the long-range ultrasonic radar installed on the side of the vehicle body detects the parking spaces and the vehicles/obstacles in front of and behind the parking spaces, and confirms that the parking spaces and the vehicles/obstacles satisfy the conditions, and then confirms that the vehicles/obstacles are available as the alternative parking spaces. The principle that the boundary parking spaces are identified by the ultrasonic radar means that the parking spaces can be identified only by the system after the vehicle has to drive forwards for a certain distance. Because the display range of the panoramic image is limited, the display range is usually smaller than the distance which the vehicle must move forward when identifying the boundary parking space, so that the boundary parking space can not be displayed on the panoramic image when the boundary parking space is identified by the system.
Theoretically, the intelligent parking assist system should display all the parking spaces recognized and kept in memory by the system on a human-computer interaction interface so that a user can select a target parking space by himself. However, when the system adopts a fusion scheme of a panoramic image camera and an ultrasonic radar, the existing human-computer interaction interface usually only displays a panoramic image interface and a marking parking space within a panoramic image range, but cannot display marking parking spaces and boundary parking spaces beyond the panoramic image range. The man-machine interaction interface greatly reduces the range of alternative parking places, is not beneficial to exerting the advantage of wide scene coverage of the fusion scheme of the intelligent parking auxiliary system, and reduces the user experience.
Disclosure of Invention
The invention aims to solve the problems that the existing man-machine interaction interface of the fusion parking scheme can only display alternative marked line parking spaces within a panoramic image range in real time and cannot display alternative marked line parking spaces and alternative boundary parking spaces outside the panoramic image range, and provides a brand-new man-machine interaction interface design method which can simultaneously display the alternative parking spaces recognized and kept in memory by all systems, expand the parking space selection range and improve the user experience.
In order to achieve the purpose, the invention adopts the technical scheme that: a target parking space selection method based on an automatic parking system is characterized in that when the parking system runs, an environment sensing unit obtains information around a vehicle and forms a panoramic image interface, a positioning system obtains vehicle position information and forms an electronic map interface in a position setting area where the vehicle is located, and the panoramic image interface and the electronic map interface are displayed on a vehicle-mounted screen in a superposition mode to serve as an automatic parking image.
The automatic parking image is overlapped in a mode that all panoramic image interfaces are displayed, and an electronic map interface is displayed in an area, which cannot be displayed by the panoramic image interfaces, in the automatic parking image.
When the alternative parking space does not exceed the panoramic image range, the real scene of the alternative parking space and the parking space mark are displayed on the panoramic image interface, and when the alternative parking space exceeds the panoramic image range, the system displays the alternative parking space mark on the electronic map interface according to the memorized parking space coordinates.
The environment sensing unit acquires surrounding information of the vehicle, wherein the surrounding information of the vehicle comprises boundary information identified by an ultrasonic radar and image information identified by a panoramic camera, and boundary parking spaces identified by the boundary information and marking parking spaces identified by the image information are displayed on an automatic parking image in different marking modes.
When the parking system is operated, only the panoramic image interface is displayed, when a vehicle runs the parking system, boundary parking spaces are found in the running process, the panoramic image interface extends to the direction where the boundary parking spaces are found to form an automatic parking image, and all the found boundary parking spaces are marked.
When the user selects the alternative parking space of the marked line, the system takes the selected alternative parking space as a target parking space and executes an automatic parking program.
After the target parking space is selected, a virtual parking trajectory line is displayed on the human-computer interaction interface, and a route where the vehicle is to be parked is marked.
An automatic parking system is characterized in that a vehicle is provided with an environment sensing unit and a positioning unit, the environment sensing unit comprises a radar unit for collecting information of obstacles around the vehicle and a camera unit for collecting image information around the vehicle, the positioning unit and the environment sensing unit output signals to a processor of the automatic parking system, the processor is communicated with a vehicle-mounted screen, and the automatic parking system executes a target parking space selection method.
According to the invention, on the basis of the existing panoramic image interface, an electronic map interface is additionally added for displaying other alternative parking spaces beyond the panoramic image range, so that the parking space selection range is expanded, and the user experience is improved.
Drawings
The following is a brief description of the contents of each figure in the description of the present invention:
FIG. 1(a) is a schematic view of a boundary parking space;
FIG. 1(b) is a schematic view of a reticle parking space;
FIG. 2 is a schematic diagram of boundary parking space positions and panoramic image areas;
FIG. 3 is a schematic diagram of a human-machine interface.
Detailed Description
The following description of the embodiments with reference to the drawings is provided to describe the embodiments of the present invention, and the embodiments of the present invention, such as the shapes and configurations of the components, the mutual positions and connection relationships of the components, the functions and working principles of the components, the manufacturing processes and the operation and use methods, etc., will be further described in detail to help those skilled in the art to more completely, accurately and deeply understand the inventive concept and technical solutions of the present invention.
The automatic parking system mainly comprises an environment sensing unit and a positioning unit, wherein the environment sensing unit comprises a radar unit for collecting information of obstacles around a vehicle and a camera unit for collecting image information around the vehicle, the camera unit is used for sensing state information around the vehicle, the positioning unit obtains the current coordinate of the vehicle and calls an electronic map of the position of the automobile according to the current coordinate of the vehicle, the positioning unit and the environment sensing unit output signals to a processor of the automatic parking system, and the processor is communicated with a vehicle-mounted screen.
The man-machine interaction interface covers various different media for interaction between a person and a vehicle, and comprises a large sound entertainment host screen, a mobile phone, a tablet personal computer and the like in the vehicle. And adding an electronic map interface on the man-machine interaction interface to form double-interface splicing display of the panoramic image interface and the electronic map interface. When the alternative parking space does not exceed the panoramic image range, the panoramic image interface displays the alternative parking space real scene and the parking space mark; when the alternative parking spaces exceed the panoramic image range, the system displays parking space marks on the electronic map according to the memorized parking space coordinates, the memory distance of the system to the parking spaces is equivalent to the area of the electronic map, and the fact that all the memory parking spaces of the system can be displayed is guaranteed. When the double-interface splicing display is carried out, all panoramic image interfaces are displayed, because the panoramic image interfaces are the truest, a user can conveniently observe surrounding obstacle information, an electronic map interface is displayed in an area which cannot be displayed by the panoramic image interfaces in the automatic parking images, the electronic map interface is used as standby picture information, only the area which cannot be displayed by the panoramic image interfaces is displayed, namely the panoramic image interface is deleted from the middle area of the electronic map interface, and if the current position of a vehicle does not have the electronic map interfaces or is located in an underground parking lot and other areas which cannot obtain the electronic map interfaces, the vehicle can be replaced by a pure-color background.
As shown in fig. 1(a), a space surrounded by a vehicle or an obstacle is called a boundary space, and as shown in fig. 1(b), a space determined by a ground mark (paint line, etc.) is called a marking space. Early intelligent parking assist systems were generally configured with only one sensor, ultrasonic radar, to identify boundary parking spaces. A new generation of intelligent parking auxiliary system can be simultaneously provided with two sensors, namely a panoramic image camera and an ultrasonic radar, and can simultaneously identify two parking stall types, namely a boundary parking stall and a marked line parking stall.
As shown in fig. 2, when the intelligent parking assist system uses the principle that the ultrasonic radar recognizes boundary parking spaces, and requires to search for a parking space, the vehicle must travel a distance ahead of the available boundary parking space, so that the radar can completely detect the size (width + depth) of the parking space and the size of the boundary vehicle/obstacle before and after the parking space, and then the system confirms that the boundary parking space is recognized after the system confirms that the boundary parking space is satisfied with the design definition. Due to the fact that the panoramic image area is limited, when the intelligent parking assisting system identifies the boundary parking space, the parking space is often not located in the panoramic image area. At the moment, the intelligent parking auxiliary system can only prompt the user to find the parking space, but cannot directly mark the position of the parking space on the panoramic image interface. If the system identifies a plurality of boundary parking spaces simultaneously, the human-computer interaction interface can not provide all available parking spaces for the user to be selected at the same time. Therefore, the parking system only displays the panoramic image interface when starting to operate, boundary parking spaces are found in the driving process when the vehicle operates the parking system, the panoramic image interface extends towards the direction in which the boundary parking spaces are found to form an automatic parking image, all the found boundary parking spaces are marked, and the parking system can also start to operate for a user to select whether to start the automatic parking image.
As shown in fig. 3, the human-computer interaction interface of the intelligent parking assistance system is divided into two areas, one area is an original panoramic image interface, the other area is an electronic map interface, the panoramic image interface and the electronic map interface are directly spliced, and the two spliced interfaces are regarded as a complete view under the same coordinate system. After the intelligent parking auxiliary system identifies available alternative parking spaces by using the panoramic image camera and the ultrasonic radar, the coordinates of the alternative parking spaces are memorized, and the maximum memory distance of the parking spaces is equivalent to the display area of the electronic map, so that all the alternative parking spaces identified by the system can be displayed on a panoramic image interface or an electronic map interface.
If the parking space coordinates memorized by the system are in the panoramic image area range, displaying corresponding alternative parking space marks on the panoramic image interface; and if the parking space coordinates are outside the panoramic image area range, directly displaying parking space marks on an electronic map interface. The marked parking spaces and the boundary parking spaces are distinguished by applying different types of parking space marks on the electronic map interface, so that a user can be ensured to correctly identify.
And all the alternative parking spaces marked on the panoramic image interface and the electronic map interface can be selected by the user as target parking spaces for parking. After the user selects the target parking space, a virtual parking trajectory line is displayed on the human-computer interaction interface, and a route where the vehicle is to be parked is marked.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (4)
1. A target parking space selection method based on an automatic parking system is characterized by comprising the following steps: when the parking system operates, the environment sensing unit acquires information around the vehicle and forms a panoramic image interface, the positioning system acquires vehicle position information and forms an electronic map interface in a position setting area where the vehicle is located, and the panoramic image interface and the electronic map interface are displayed on a vehicle-mounted screen in a superposition mode to serve as an automatic parking image;
the automatic parking image is superposed in a mode that all panoramic image interfaces are displayed, and an electronic map interface is displayed in an area, which cannot be displayed by the panoramic image interfaces, in the automatic parking image;
when the alternative parking space does not exceed the panoramic image range, displaying an alternative parking space real scene and a parking space mark on a panoramic image interface, and when the alternative parking space exceeds the panoramic image range, displaying the alternative parking space mark on an electronic map interface by the system according to the memorized parking space coordinates;
the method comprises the steps that an environment sensing unit acquires surrounding information of a vehicle, wherein the surrounding information of the vehicle comprises boundary information identified by an ultrasonic radar and image information identified by a panoramic camera, and boundary parking spaces identified by the boundary information and marking parking spaces identified by the image information are displayed on an automatic parking image in different marking modes;
when the parking system is operated, only the panoramic image interface is displayed, when a vehicle runs the parking system, boundary parking spaces are found in the running process, the panoramic image interface extends to the direction where the boundary parking spaces are found to form an automatic parking image, and all the found boundary parking spaces are marked.
2. The method for selecting the target parking space based on the automatic parking system according to claim 1, wherein: when the user selects the alternative parking space of the marked line, the system takes the selected alternative parking space as a target parking space and executes an automatic parking program.
3. The automatic parking system-based target parking space selection method according to claim 2, wherein: after the target parking space is selected, a virtual parking trajectory line is displayed on the human-computer interaction interface, and a route where the vehicle is to be parked is marked.
4. An automatic parking system, characterized in that: the vehicle is provided with an environment sensing unit and a positioning system, the environment sensing unit comprises a radar unit for collecting information of obstacles around the vehicle and a camera unit for collecting image information around the vehicle, the positioning system and the environment sensing unit output signals to an automatic parking system processor, the processor is communicated with a vehicle-mounted screen, and the automatic parking system executes the target parking space selection method according to any one of claims 1 to 3.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114572194B (en) * | 2022-02-25 | 2024-07-12 | 智己汽车科技有限公司 | Parking space synchronous display method and device for remote control parking and vehicle |
| CN115273525B (en) * | 2022-05-17 | 2023-11-10 | 岚图汽车科技有限公司 | Parking space mapping display method and system |
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| JPH09245296A (en) * | 1996-03-06 | 1997-09-19 | Canon Electron Inc | Parking control system |
| CN107610503A (en) * | 2013-11-27 | 2018-01-19 | 高路生 | A kind of parking car searching method based on gps satellite positioning |
| CN107633700A (en) * | 2017-10-30 | 2018-01-26 | 四川道勤信业科技有限公司 | A kind of accurate parking lot free time parking space positioning system |
| CN107656962A (en) * | 2017-08-09 | 2018-02-02 | 百度在线网络技术（北京）有限公司 | Panorama display methods, server and computer-readable medium in electronic map |
| CN111516675A (en) * | 2020-04-08 | 2020-08-11 | 奇瑞汽车股份有限公司 | Remote control parking method and device for automobile and storage medium |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012023706A1 (en) * | 2012-12-05 | 2014-06-05 | Daimler Ag | Vehicle-side method and vehicle-side device for detecting and displaying parking spaces for a vehicle |
| KR102173522B1 (en) * | 2018-12-07 | 2020-11-04 | (주)하나텍시스템 | Parking location and path providing system using KIOSK |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09245296A (en) * | 1996-03-06 | 1997-09-19 | Canon Electron Inc | Parking control system |
| CN107610503A (en) * | 2013-11-27 | 2018-01-19 | 高路生 | A kind of parking car searching method based on gps satellite positioning |
| CN107656962A (en) * | 2017-08-09 | 2018-02-02 | 百度在线网络技术（北京）有限公司 | Panorama display methods, server and computer-readable medium in electronic map |
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| CN111516675A (en) * | 2020-04-08 | 2020-08-11 | 奇瑞汽车股份有限公司 | Remote control parking method and device for automobile and storage medium |
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