CN112277933B - Data processing method and device - Google Patents
Data processing method and device Download PDFInfo
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- CN112277933B CN112277933B CN202011158458.1A CN202011158458A CN112277933B CN 112277933 B CN112277933 B CN 112277933B CN 202011158458 A CN202011158458 A CN 202011158458A CN 112277933 B CN112277933 B CN 112277933B
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- 238000000034 method Methods 0.000 claims abstract description 71
- 230000008569 process Effects 0.000 claims abstract description 33
- 238000004590 computer program Methods 0.000 claims description 16
- 230000004927 fusion Effects 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 12
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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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
Abstract
The embodiment of the invention provides a data processing method and a data processing device, wherein the method comprises the following steps: the method comprises the steps of obtaining parking space information and first obstacle information which are collected aiming at a parking available area; in the parking process aiming at the parking available area, updating the parking space information and acquiring second obstacle information acquired aiming at the parking available area; adjusting the first obstacle information according to the updated parking space information; and fusing the adjusted first obstacle information and the second obstacle information. The embodiment of the invention realizes the updating of the obstacle information in the parking process, can adjust the first obstacle information to avoid the parking obstacle from exiting, and can fuse the adjusted first obstacle information and the second obstacle information, thereby obtaining more accurate obstacle information by combining the obstacle information obtained in advance and effectively ensuring the parking safety.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method and an apparatus for processing data.
Background
At present, in the parking process, if an obstacle exists near a parking space, a vehicle is easy to collide with the obstacle in the parking process, so that the chassis of the vehicle is likely to be scratched, the vehicle is damaged, the safety and the stability of parking are reduced, and the driving experience of a user is influenced.
In the prior art, the parking safety can be ensured by starting the detection of the obstacle in the environment in real time, but in the process of finding the parking space, because the speed of the vehicle is too high, the obstacle judgment is not accurate enough, so that the parking space which can be actually used for parking is missed by triggering an obstacle avoidance module of the vehicle, or the collision between the vehicle and the obstacle is caused by not detecting the obstacle.
Disclosure of Invention
In view of the above, it is proposed to provide a method and apparatus for data processing that overcomes or at least partially solves the above mentioned problems, comprising:
a method of data processing, the method comprising:
the method comprises the steps of obtaining parking space information and first obstacle information which are collected aiming at a parking available area;
in the parking process aiming at the parking available area, updating the parking space information and acquiring second obstacle information acquired aiming at the parking available area;
adjusting the first obstacle information according to the updated parking space information;
and fusing the adjusted first obstacle information and the second obstacle information.
Optionally, the adjusting the first obstacle information according to the updated parking space information includes:
determining overlapping part information according to the updated parking space information and the first obstacle information;
and adjusting the first obstacle information according to the overlapping part information.
Optionally, the adjusting the first obstacle information according to the overlapping part information includes:
in the first obstacle information, the obstacle information that matches the overlap portion information is deleted.
Optionally, the fusing the adjusted first obstacle information and the second obstacle information includes:
determining the inclusion relationship between the adjusted first obstacle information and the adjusted second obstacle information;
and when the second obstacle information completely contains the adjusted first obstacle information, deleting the adjusted first obstacle information and reserving the second obstacle information.
Optionally, the method further comprises:
determining relative position information when the second obstacle information does not completely contain the adjusted first obstacle information;
and fusing the adjusted first obstacle information and the adjusted second obstacle information according to the relative position information.
Optionally, the parking space information corresponds to a parking space frame, and the first obstacle information and the second obstacle information correspond to an obstacle line segment respectively.
Optionally, the first obstacle information, the second obstacle information, and the parking space information are information collected by a vehicle-mounted radar.
An apparatus for data processing, the apparatus comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring parking space information and first obstacle information which are acquired aiming at a parking available area;
the parking space information updating module is used for updating the parking space information in the parking process aiming at the parking available area and acquiring second obstacle information acquired aiming at the parking available area;
the adjusting module is used for adjusting the first obstacle information according to the updated parking space information;
and the fusion module is used for fusing the adjusted first obstacle information and the second obstacle information.
A vehicle comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, the computer program, when executed by the processor, implementing a method of data processing as described above.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of data processing as described above.
The embodiment of the invention has the following advantages:
according to the embodiment of the invention, the parking space information and the first obstacle information acquired aiming at the parking available area are acquired, the parking space information is updated in the parking process aiming at the parking available area, the second obstacle information acquired aiming at the parking available area is acquired, the first obstacle information is adjusted according to the updated parking space information, and the adjusted first obstacle information and the adjusted second obstacle information are fused, so that the updating of the obstacle information in the parking process is realized, the first obstacle information can be adjusted, the parking obstacle avoidance exit can be avoided, the adjusted first obstacle information and the adjusted second obstacle information can be fused, the more accurate obstacle information can be obtained by combining the obstacle information acquired earlier, and the parking safety can be effectively ensured.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flow chart illustrating steps of a method for data processing according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating steps of another method for data processing according to an embodiment of the present invention;
FIG. 3a is a first schematic diagram of a parking available area according to an embodiment of the present invention;
FIG. 3b is a schematic diagram of a parking available area according to an embodiment of the present invention;
FIG. 4 is a flow chart illustrating steps of a method for processing data according to another embodiment of the present invention;
FIG. 5a is a first schematic view of another alternative parking area provided by an embodiment of the present invention;
FIG. 5b is a second schematic illustration of another alternative parking area provided in accordance with an embodiment of the present invention;
FIG. 5c is a schematic illustration of a first alternative parking area according to an embodiment of the present invention;
FIG. 5d is a second schematic illustration of yet another alternative parking area provided in accordance with an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a data processing apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all 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.
Referring to fig. 1, a flowchart illustrating steps of a data processing method according to an embodiment of the present invention is shown, which may specifically include the following steps:
in an embodiment of the present invention, the parking space information corresponds to a parking space frame, and the first obstacle information corresponds to an obstacle line segment.
The parking space information can be represented by a parking space frame, the obstacle information can be represented by an obstacle line segment, and the parking space information or the obstacle information can be formed by one or more coordinate points or coordinate points.
In an embodiment of the present invention, the first obstacle information and the parking space information are information collected by a vehicle-mounted radar.
In a vehicle, a vehicle-mounted radar may be mounted, for example: ultrasonic radar, vehicle radar can be at the vehicle in-process of traveling, gather parking stall information and barrier information in real time, and first barrier information and parking stall information can be gathered through vehicle radar.
In an embodiment of the present invention, the parking available area may be an area where the parking space information is located corresponding to the target parking space when no obstacle exists in the target parking space.
When the parking space information is collected through the vehicle-mounted radar or other equipment, the parking space information can correspond to a parking space frame, each parking space is provided with a corresponding target parking position, and when an obstacle is not detected in a certain target parking position, the space formed by the parking space frames of the parking spaces where the target parking positions are located is a parking available area.
After a vehicle enters a parking lot, parking space information in the whole parking lot environment and obstacle information (such as road edges, gear rods and the like) in the parking lot can be collected in real time in the process of searching for the parking space, so that the obstacle distribution situation in the parking lot environment can be determined, and the parking space information and the first obstacle information in a parking available area can be acquired. In an example, after the vehicle enters the parking lot, the vehicle-mounted radar may collect the parking space information and the obstacle distribution information of the entire environment, and may further determine a Region of Interest (ROI), where the ROI may be a predetermined Region or a Region obtained by setting a certain preset condition, for example: the ROI may be a parking available region.
After the ROI is determined, parking space information and obstacle information in the ROI can be acquired, parking space information and obstacle information outside the ROI can be deleted, and therefore the obstacle information in the ROI can be updated.
When the vehicle enters the parking lot, the acquired data volume of the obstacle information or parking space information in the whole environment is large, the occupied storage space is large, and the parking space information and the obstacle information which are not related to the ROI and are except the ROI are deleted, so that the storage volume can be saved.
102, updating the parking space information in the parking process aiming at the parking available area, and acquiring second obstacle information acquired aiming at the parking available area;
in an embodiment of the invention, the second obstacle information corresponds to an obstacle line segment.
The second obstacle information may correspond to an obstacle line segment, which may be formed of a plurality of coordinate points, as in the first obstacle information.
In an embodiment of the present invention, the second obstacle information is information collected by a vehicle-mounted radar.
The second obstacle information can also be acquired by a vehicle-mounted radar in the same manner as the first obstacle information.
After the first obstacle information is obtained, in the process that the vehicle parks in the parking available area, the vehicle speed is low, the distance from the vehicle to the target parking space is short, the obtained parking space information is more accurate, the parking space information can be updated, second obstacle information collected in the parking available area can be further obtained, and at the moment, the precision of the obtained second obstacle information is higher than that of the first obstacle information.
103, adjusting the first obstacle information according to the updated parking space information;
after the parking space information is updated, for the updated parking space information, no obstacle exists in the target parking space in the parking available area, the first obstacle information may not affect the vehicle to park in the target parking position, but may trigger the obstacle avoidance logic of the vehicle obstacle avoidance module, so as to cause the parking obstacle avoidance to exit.
The first obstacle information can be adjusted and updated according to the updated parking space information, accurate obstacle information of a parking available area can be obtained, and parking, obstacle avoidance and exit are avoided.
And step 104, fusing the adjusted first obstacle information and the second obstacle information.
After the first obstacle information is adjusted, the adjusted first obstacle information and the second obstacle information may have coincident information, or new obstacle information exists in the second obstacle information, the adjusted first obstacle information and the second obstacle information can be further fused, repeated obstacle information can be removed by fusing the first obstacle information and the second obstacle information, more accurate obstacle information can be reserved, or the first obstacle information and the second obstacle information are integrated, obstacle information in the environment and the like can be further improved, so that more accurate target obstacle information can be obtained, parking can be performed according to the target obstacle information after fusion, and the parking safety can be effectively ensured.
In the embodiment of the invention, the parking space information is updated in the parking process of the parking available area by acquiring the parking space information and the first obstacle information acquired by aiming at the parking available area, the first obstacle information is adjusted according to the updated parking space information, and the adjusted first obstacle information and the adjusted second obstacle information are fused, so that the updating of the obstacle information in the parking process is realized, the first obstacle information can be adjusted, the parking obstacle avoidance exit is avoided, the adjusted first obstacle information and the adjusted second obstacle information can be fused, the more accurate obstacle information can be obtained on the basis of the previous obstacle information, and the parking safety is effectively ensured.
Referring to fig. 2, a flowchart illustrating steps of another data processing method according to an embodiment of the present invention is shown, which may specifically include the following steps:
in an embodiment of the present invention, the parking space information corresponds to a parking space frame, and the first obstacle information corresponds to an obstacle line segment.
The parking space information can be represented by a parking space frame, the obstacle information can be represented by an obstacle line segment, and the parking space information or the obstacle information can be formed by one or more coordinate points or coordinate points.
In an embodiment of the present invention, the first obstacle information and the parking space information are information collected by a vehicle-mounted radar.
In a vehicle, a vehicle-mounted radar may be mounted, for example: ultrasonic radar, vehicle radar can be at the vehicle in-process of traveling, gather parking stall information and barrier information in real time, and first barrier information and parking stall information can be gathered through vehicle radar.
In an embodiment of the present invention, the parking available area may be an area where the parking space information is located corresponding to the target parking space when no obstacle exists in the target parking space.
When the parking space information is collected through the vehicle-mounted radar or other equipment, the parking space information can correspond to a parking space frame, each parking space is provided with a corresponding target parking position, and when an obstacle is not detected in a certain target parking position, the space formed by the parking space frames of the parking spaces where the target parking positions are located is a parking available area.
After a vehicle enters a parking lot, parking space information in the whole parking lot environment and obstacle information (such as a road edge, a gear lever and the like) in the parking lot can be collected in real time in the process of finding the parking space, so that the obstacle distribution condition in the parking lot environment can be determined, and the parking space information and the first obstacle information in a parking available area can be obtained. In an example, after a vehicle enters a parking lot, the vehicle-mounted radar may collect parking space information and obstacle distribution information of the entire environment, and may further determine a Region of Interest (ROI), which may be a predetermined Region or a Region obtained by setting a certain preset condition, for example: the ROI may be a parking available region.
After the ROI is determined, parking space information and obstacle information in the ROI can be acquired, parking space information and obstacle information outside the ROI can be deleted, and therefore the obstacle information in the ROI can be updated.
When the vehicle enters the parking lot, the acquired data volume of the obstacle information or parking space information in the whole environment is large, the occupied storage space is large, and the parking space information and the obstacle information which are not related to the ROI and are except the ROI are deleted, so that the storage volume can be saved.
in an embodiment of the invention, the second obstacle information corresponds to an obstacle line segment.
Like the first obstacle information, the second obstacle information may correspond to an obstacle line segment, and the obstacle line segment may be formed of a plurality of coordinate points.
In an embodiment of the present invention, the second obstacle information is information collected by a vehicle radar.
The second obstacle information can be acquired by the vehicle-mounted radar in the same manner as the first obstacle information.
After the first obstacle information is obtained, in the process that the vehicle parks in the parking available area, the vehicle speed is slow, the distance from the vehicle to the target parking space is short, the obtained parking space information is more accurate, the parking space information can be updated, second obstacle information collected in the parking available area can be further obtained, and at the moment, the precision of the obtained second obstacle information is higher than that of the first obstacle information.
in an example, the overlap portion information may be formed by a coordinate point of the updated parking space information having the same coordinate as the first obstacle information.
After the parking space information is updated and the second obstacle information is acquired, the updated parking space information and the first obstacle information may have overlapping part information, and the overlapping part information may be determined according to coordinate points constituting the parking space information and the first obstacle information or other manners.
For example: in fig. 3a, ABCDEF constitutes a line segment of a parking space frame of parking space information of a parking available area, and a rectangle in the target parking space may indicate a target parking position where no obstacle exists, and the target parking position is actually available for parking.
In the vicinity of the target parking position, there is an obstacle line segment, which is partially located inside the parking space frame line (first obstacle information to the left of the BC frame line) and partially located outside the parking space frame line (first obstacle information to the right of the BC frame line), that is, there is partial overlapping portion information of the parking space information and the first obstacle information, and a portion of the first obstacle line located inside the parking space frame line may be represented as overlapping portion information.
After the information of the overlapping part is determined, even if the information of the overlapping part is in the area formed by the parking space information, the parking is not influenced actually, and therefore the information of the first obstacle can be adjusted according to the information of the overlapping part.
In an embodiment of the present invention, the adjusting the first obstacle information according to the overlapping part information includes:
in the first obstacle information, the obstacle information that matches the overlap portion information is deleted.
After the overlapping part information is determined, although the overlapping part information is part or all of the first obstacle information, the area where parking is actually possible is not affected, so that the first obstacle information can be adjusted and updated by deleting the obstacle information matched with the overlapping part information, and therefore the obstacle avoidance logic of the obstacle avoidance module can be prevented from being triggered.
In an example, when the overlapped part information is part of the first obstacle information, a part of coordinate points of the first obstacle information is the same as a part of coordinate points in the parking space information, as shown in fig. 3a-3b, a part of the obstacle line segment located in the parking space frame line is the overlapped part information, the overlapped part information does not actually affect the target parking position although being located in the parking space frame line, and if the obstacle avoidance module of the vehicle directly performs obstacle avoidance according to the acquired first obstacle information, it is determined that the parking space is not available for parking, and the parking obstacle avoidance exit is triggered, so that the vehicle can be prevented from parking, obstacle avoidance exit by deleting the first obstacle information matched with the overlapped part information in the first obstacle information, that is, deleting the part of the first obstacle line segment located in the parking space frame line (the first obstacle information on the left side of the BC line).
When the overlapped part information is all the first obstacle information, all coordinate points of the first obstacle information are the same as part coordinate points in the parking space information, and in order to avoid parking, obstacle avoidance and exit, the first obstacle information can be deleted.
When the first obstacle information and the parking space information do not have overlapping part information, that is, all coordinate points of the first obstacle information are located outside a vehicle frame line of the parking space information of the parking available area formed by the ABCDEF, the first obstacle information does not trigger obstacle avoidance and exit, and the first obstacle information is not adjusted.
Step 205, fusing the adjusted first obstacle information and the second obstacle information.
After the first obstacle information is adjusted, the adjusted first obstacle information and the adjusted second obstacle information may have coincident information, or new obstacle information exists in the second obstacle information, the adjusted first obstacle information and the adjusted second obstacle information can be further fused, repeated obstacle information can be removed by fusing the first obstacle information and the second obstacle information, more accurate obstacle information can be retained, or the first obstacle information and the second obstacle information are integrated, obstacle information in the environment and the like can be further improved, so that more accurate target obstacle information can be obtained, parking can be performed according to the target obstacle information after fusion, and parking safety can be effectively ensured.
In the embodiment of the invention, by acquiring the parking space information and the first obstacle information acquired aiming at the parking available area, updating the parking space information in the parking process aiming at the parking available area, acquiring the second obstacle information acquired aiming at the parking available area, determining the overlapped part information according to the updated parking space information and the first obstacle information, adjusting the first obstacle information according to the overlapped part information, and fusing the adjusted first obstacle information and the second obstacle information, the adjustment of the first obstacle information according to the overlapped part information is realized, and the exit of parking for avoiding obstacles is avoided.
Referring to fig. 4, a flowchart illustrating steps of another data processing method according to an embodiment of the present invention is shown, which may specifically include the following steps:
step 403, adjusting the first obstacle information according to the updated parking space information;
after the first obstacle information is adjusted, the inclusion relationship between the first obstacle information and the second obstacle information may be determined, and the inclusion relationship may be divided into complete inclusion, partial inclusion, and complete non-inclusion.
For example: in fig. 5a-5b, the second obstacle information completely includes the adjusted first obstacle information, the adjusted first obstacle information and the adjusted second obstacle information are projected onto a coordinate axis, the projection of the second obstacle information may completely cover the projection of the adjusted first obstacle information, and when the distance between the adjusted first obstacle information and the adjusted second obstacle information is smaller than the preset distance, it may be determined that the obstacles represented by the adjusted first obstacle information and the adjusted second obstacle information are the same obstacle.
In fig. 5c to 5d, the second obstacle information portion includes the adjusted first obstacle information, the adjusted first obstacle information and the adjusted second obstacle information are projected onto a coordinate axis, and the projection portion of the second obstacle information covers the projection of the adjusted first obstacle information, so that it can be determined that there is an error in the obstacle represented by the adjusted first obstacle information and the adjusted second obstacle information.
When the second obstacle information does not include the adjusted first obstacle information at all, the adjusted first obstacle information and the adjusted second obstacle information are projected onto a coordinate axis, the projection of the second obstacle information does not cover the projection of the adjusted first obstacle information at all, and it can be determined that the obstacles represented by the adjusted first obstacle information and the adjusted second obstacle information represent completely different obstacles.
Step 405, when the second obstacle information completely includes the adjusted first obstacle information, deleting the adjusted first obstacle information and retaining the second obstacle information.
After the inclusion relation is determined, when the second obstacle information completely contains the adjusted first obstacle information, the adjusted first obstacle information and the second obstacle information represent the same obstacle, the adjusted first obstacle information is obtained in the parking space searching process, the vehicle speed is fast at the moment and far away from the target parking space, the obtained obstacle information is low in precision and not accurate enough, the second obstacle information is obtained in the parking process, the vehicle speed is slow in parking and the distance from the target parking space is short, therefore, the obtained obstacle information is high in precision, and the more accurate obstacle information is obtained, namely the second obstacle information is higher in precision than the adjusted first obstacle information.
The adjusted first obstacle information and the adjusted second obstacle information both represent the same obstacle, and the second obstacle information is high in precision and more accurate, so that the adjusted first obstacle information can be deleted, the second obstacle information is reserved, repeated obstacles are avoided, parking can be conducted according to the second obstacle information, and safety in the parking process is guaranteed.
In an embodiment of the present invention, the method may further include:
determining relative position information when the second obstacle information does not completely contain the adjusted first obstacle information; and fusing the adjusted first obstacle information and the adjusted second obstacle information according to the relative position information.
After the inclusion relation is determined, when the second obstacle information does not completely contain the adjusted first obstacle information, it can be judged that an error exists between the adjusted first obstacle information and an obstacle represented by the second obstacle information, fusion can be performed according to the relative position relation between the second obstacle information and the first obstacle information, and after the fusion, more accurate obstacle information can be reserved for repeated obstacle information, and then parking can be performed according to the fused target obstacle information, so that the parking safety is effectively ensured.
For example, in fig. 5a-5b, the second obstacle line segment 2 does not completely include the adjusted first obstacle line segment 1, and according to the projection of the second obstacle line segment 2 and the lower end (the end close to the inner side of the target parking space) of the adjusted first obstacle line segment 1 on the coordinate axis, the lower end projection of the second obstacle line segment 2 is located below the lower end projection of the adjusted first obstacle line segment 1 (that is, the lower end projection of the second obstacle line segment is located closer to the rear of the parking space than the lower end projection of the adjusted first obstacle line segment, and the rear position of the parking space is the CD position).
When the parking process is carried out backwards, the sensed information is more complete, the more accurate the environment description is, the more accurate the information behind is than the information in the front, the more accurate the part corresponding to the information behind the parking space is, the more accurate the second obstacle line segment 2 can be determined in the lower part of the intersection point of the second obstacle line segment 2 and the first obstacle line segment 1, the more accurate the second obstacle line segment 2 is, the adjusted first obstacle line segment can be cut off from the intersection point, the part below the intersection point of the adjusted first obstacle line segment 1 is deleted, and the part above the intersection point of the first obstacle line segment 1 and the second obstacle line segment 2 are reserved.
In an example, when the second obstacle information does not include the adjusted first obstacle information at all, it may be determined that the obstacle represented by the adjusted first obstacle information and the second obstacle information represents a completely different obstacle, and the adjusted first obstacle information and the adjusted second obstacle information may be simultaneously retained, so that the environmental obstacle information in the parking available area is more comprehensive.
By acquiring the parking space information and the first obstacle information which are acquired aiming at the parking available area, in the process of parking for the parking available area, updating the parking space information, acquiring second obstacle information acquired for the parking available area, and according to the updated parking space information, adjusting the first obstacle information, determining the inclusion relationship between the adjusted first obstacle information and the second obstacle information, when the second obstacle information completely contains the adjusted first obstacle information, the adjusted first obstacle information is deleted, and the second obstacle information is retained, so that fusion updating according to the inclusion relation is realized, the method and the device can be used for removing the same obstacle and removing the obstacle information with high error and small precision, thereby obtaining more accurate obstacle information.
It should be noted that for simplicity of description, the method embodiments are shown as a series of combinations of acts, but those skilled in the art will recognize that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those of skill in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the embodiments of the invention.
Referring to fig. 6, a schematic structural diagram of a data processing apparatus according to an embodiment of the present invention is shown, which may specifically include the following modules:
the acquisition module 601 is configured to acquire parking space information and first obstacle information acquired for a parking available area;
a parking space information updating module 602, configured to update the parking space information in a parking process for the parking available area, and acquire second obstacle information acquired for the parking available area;
an adjusting module 603, configured to adjust the first obstacle information according to the updated parking space information;
a fusion module 604, configured to fuse the adjusted first obstacle information and the second obstacle information.
In an embodiment of the present invention, the parking space information corresponds to a parking space frame, and the first obstacle information and the second obstacle information correspond to an obstacle line segment respectively.
In an embodiment of the present invention, the first obstacle information, the second obstacle information, and the parking space information are information collected by a vehicle-mounted radar.
In an embodiment of the present invention, the adjusting module 603 may include:
the overlap part information determining submodule is used for determining overlap part information according to the updated parking space information and the first obstacle information;
and the adjusting submodule is used for adjusting the first obstacle information according to the overlapping part information.
In an embodiment of the present invention, the adjusting sub-module may include:
a deleting unit configured to delete obstacle information matching the overlap portion information from the first obstacle information.
In an embodiment of the present invention, the fusion module 604 may include:
an inclusion relation determining submodule for determining an inclusion relation between the adjusted first obstacle information and the second obstacle information;
and the complete-inclusion processing submodule is used for deleting the adjusted first obstacle information and reserving the second obstacle information when the second obstacle information completely contains the adjusted first obstacle information.
In an embodiment of the present invention, the fusion module 604 may further include:
a relative position information determination submodule for determining relative position information when the second obstacle information does not completely contain the adjusted first obstacle information;
and the fusion submodule is used for fusing the adjusted first obstacle information and the second obstacle information according to the relative position information.
According to the embodiment of the invention, the parking space information and the first obstacle information acquired aiming at the parking available area are acquired, the parking space information is updated in the parking process aiming at the parking available area, the second obstacle information acquired aiming at the parking available area is acquired, the first obstacle information is adjusted according to the updated parking space information, and the adjusted first obstacle information and the adjusted second obstacle information are fused, so that the updating of the obstacle information in the parking process is realized, the first obstacle information can be adjusted, the parking obstacle avoidance exit can be avoided, the adjusted first obstacle information and the adjusted second obstacle information can be fused, the more accurate obstacle information can be obtained by combining the obstacle information acquired earlier, and the parking safety can be effectively ensured. Therefore, more accurate obstacle information is obtained, and the parking safety is effectively ensured.
An embodiment of the present invention also provides a vehicle, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method of data processing as above.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the above data processing method.
For the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are 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 "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The method and apparatus for data processing provided above are described in detail, and a specific example is applied herein to illustrate the principles and embodiments of the present invention, and the above description of the embodiment is only used to help understand the method and core ideas of the present 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.
Claims (9)
1. A method of data processing, the method comprising:
the method comprises the steps of obtaining parking space information and first obstacle information which are collected aiming at a parking available area; wherein no obstacle is present in a target parking position of the parkable area;
in the parking process aiming at the parking available area, updating the parking space information and acquiring second obstacle information acquired aiming at the parking available area;
adjusting the first obstacle information according to the updated parking space information to avoid parking and obstacle avoidance exit;
fusing the adjusted first obstacle information and the adjusted second obstacle information;
wherein, according to the parking stall information after the update, to first barrier information adjusts, include:
determining overlapping part information according to the updated parking space information and the first obstacle information;
and adjusting the first obstacle information according to the overlapping part information.
2. The method of claim 1, wherein said adjusting the first obstacle information according to the overlap portion information comprises:
in the first obstacle information, the obstacle information that matches the overlap portion information is deleted.
3. The method according to claim 1 or 2, wherein the fusing the adjusted first obstacle information and the second obstacle information comprises:
determining the inclusion relationship between the adjusted first obstacle information and the adjusted second obstacle information;
and when the second obstacle information completely contains the adjusted first obstacle information, deleting the adjusted first obstacle information and reserving the second obstacle information.
4. The method of claim 3, further comprising:
determining relative position information when the second obstacle information does not completely contain the adjusted first obstacle information;
and fusing the adjusted first obstacle information and the adjusted second obstacle information according to the relative position information.
5. The method of claim 1, wherein the parking space information corresponds to a parking space frame, and the first obstacle information and the second obstacle information each correspond to an obstacle line segment.
6. The method of claim 1, wherein the first obstacle information, the second obstacle information, and the parking space information are information collected by a vehicle radar.
7. An apparatus for data processing, the apparatus comprising:
the parking space information acquisition module is used for acquiring parking space information and first obstacle information which are acquired aiming at a parking available area; wherein no obstacle is present in a target parking position of the parkable area;
the parking space information updating module is used for updating the parking space information in the parking process aiming at the parking available area and acquiring second obstacle information acquired aiming at the parking available area;
the adjusting module is used for adjusting the first obstacle information according to the updated parking space information so as to avoid parking, obstacle avoidance and exit;
the fusion module is used for fusing the adjusted first obstacle information and the second obstacle information;
wherein, the adjustment module includes:
the overlap part information determining submodule is used for determining overlap part information according to the updated parking space information and the first obstacle information;
and the adjusting submodule is used for adjusting the first obstacle information according to the overlapping part information.
8. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing a method of data processing according to any one of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of data processing according to any one of claims 1 to 6.
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| CN113920735B (en) * | 2021-10-21 | 2022-11-15 | 中国第一汽车股份有限公司 | Information fusion method and device, electronic equipment and storage medium |
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| CN103754219A (en) * | 2014-02-21 | 2014-04-30 | 重庆邮电大学 | Automatic parking system of information fusion of multiple sensors |
| US20190371175A1 (en) * | 2018-06-04 | 2019-12-05 | Valeo Schalter Und Sensoren Gmbh | Server, method, and computer-readable storage medium for automated parking |
| CN109532821A (en) * | 2018-11-09 | 2019-03-29 | 重庆长安汽车股份有限公司 | Merge parking system |
| CN111762152B (en) * | 2019-03-30 | 2022-05-24 | 上海欧菲智能车联科技有限公司 | Parking method, parking device, parking equipment, vehicle and computer-readable storage medium |
| CN110606071A (en) * | 2019-09-06 | 2019-12-24 | 中国第一汽车股份有限公司 | Parking method, parking device, vehicle and storage medium |
| CN110861639B (en) * | 2019-11-28 | 2021-06-15 | 安徽江淮汽车集团股份有限公司 | Parking information fusion method and device, electronic equipment and storage medium |
| CN111391823A (en) * | 2019-12-27 | 2020-07-10 | 湖北亿咖通科技有限公司 | Multilayer map making method for automatic parking scene |
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