CN112572423B - Parking assisting method and device - Google Patents
Parking assisting method and device Download PDFInfo
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- CN112572423B CN112572423B CN202011631746.4A CN202011631746A CN112572423B CN 112572423 B CN112572423 B CN 112572423B CN 202011631746 A CN202011631746 A CN 202011631746A CN 112572423 B CN112572423 B CN 112572423B
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- 238000004590 computer program Methods 0.000 claims description 17
- 230000007613 environmental effect Effects 0.000 claims 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
Abstract
The embodiment of the invention provides a method and a device for assisting parking, wherein the method comprises the following steps: the method comprises the steps of determining odometer information of a vehicle in the parking process, acquiring acquired environment information, generating an obstacle map according to the environment information, converting the obstacle map into an odometer coordinate system according to the odometer information, determining position information of the vehicle, and performing auxiliary parking according to the position information of the vehicle and the obstacle map. According to the embodiment of the invention, the auxiliary parking based on the barrier map is realized, the problem that the surrounding environment is difficult to see when the light of the surrounding environment is insufficient is solved by generating the barrier map, the vehicle is ensured not to collide with the barriers in the surrounding environment in the parking process, and the parking safety is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a device for assisting parking.
Background
At present, when a driver controls a vehicle to park, the driver usually looks up the surrounding environment of the vehicle by using devices such as a reversing camera, a reversing image system, a rearview mirror and the like in the vehicle so as to ensure that the vehicle does not collide with obstacles in the surrounding environment in the parking process.
However, when parking in a dark environment, due to insufficient light of the surrounding environment, even if a driver uses devices such as a reversing camera, a reversing image system, a rearview mirror and the like in the vehicle, the surrounding environment of the vehicle is difficult to see, and the vehicle cannot be guaranteed not to collide with obstacles in the surrounding environment in the parking process, so that potential safety hazards exist.
Disclosure of Invention
In view of the above, it is proposed to provide a method and apparatus for assisting parking, which overcome or at least partially solve the above problems, comprising:
a method of assisting in parking a vehicle, the method comprising:
determining the odometer information of the vehicle in the parking process;
acquiring collected environmental information, and generating a barrier map according to the environmental information;
converting the obstacle map into an odometer coordinate system according to the odometer information;
and determining the position information of the vehicle, and performing auxiliary parking according to the position information of the vehicle and the obstacle map.
Optionally, the generating an obstacle map according to the environment information includes:
determining one or more obstacle objects according to the environment information, and determining position information of the one or more obstacle objects relative to the vehicle;
generating an obstacle map in conjunction with position information of the one or more obstacle objects relative to the vehicle.
Optionally, the parking assistance according to the position information of the vehicle and the obstacle map includes:
generating an auxiliary parking picture according to the position information of the vehicle and the obstacle map;
and displaying the auxiliary parking picture in an on-board screen to perform auxiliary parking.
Optionally, the determining odometry information for the vehicle comprises:
acquiring attitude information and wheel pulse information of the vehicle;
and generating odometer information of the vehicle according to the attitude information and the wheel pulse information.
Optionally, the method further comprises:
and generating alarm information when the distance between the vehicle and the obstacle object in the obstacle map is smaller than a preset distance.
Optionally, before the determining the odometry information of the vehicle, further comprising:
judging whether the brightness of the current parking scene is smaller than a preset brightness;
and when the brightness of the current parking scene is smaller than the preset brightness, executing the odometer information of the determined vehicle.
Optionally, the environmental information is information collected by a vehicle-mounted laser radar.
An apparatus for assisting parking, the apparatus comprising:
the system comprises an odometer information determining module, a vehicle monitoring module and a vehicle monitoring module, wherein the odometer information determining module is used for determining the odometer information of a vehicle in the parking process;
the system comprises an environment information acquisition model, a barrier map generation model and a barrier map generation model, wherein the environment information acquisition model is used for acquiring acquired environment information and generating the barrier map according to the environment information;
the odometer coordinate system conversion module is used for converting the barrier map into an odometer coordinate system according to the odometer information;
and the auxiliary parking module is used for determining the position information of the vehicle and carrying out auxiliary parking according to the position information of the vehicle and the obstacle map.
Optionally, the environment information obtaining module includes:
an obstacle object determination submodule for determining one or more obstacle objects from the environmental information and determining position information of the one or more obstacle objects relative to the vehicle;
and the obstacle map generation submodule is used for combining the position information of the one or more obstacle objects relative to the vehicle to generate an obstacle map.
Optionally, the parking assist module includes:
the auxiliary parking picture generation submodule is used for generating an auxiliary parking picture according to the position information of the vehicle and the obstacle map;
and the auxiliary parking picture generation submodule is used for displaying the auxiliary parking picture in an on-board screen so as to perform auxiliary parking.
A vehicle comprising a processor, a memory and a computer program stored on and executable on the memory, the computer program, when executed by the processor, implementing a method of assisting parking as described above.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of assisting parking as described above.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, the odometer information of the vehicle is determined in the parking process, the acquired environment information is acquired, the barrier map is generated according to the environment information, the barrier map is converted into an odometer coordinate system according to the odometer information, the position information of the vehicle is determined, and the auxiliary parking is carried out according to the position information of the vehicle and the barrier map, so that the auxiliary parking based on the barrier map is realized, the problem that the surrounding environment is difficult to see when the light of the surrounding environment is insufficient is solved by generating the barrier map, the vehicle is prevented from colliding with the barriers in the surrounding environment in the parking process, and the parking safety is improved.
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 flowchart illustrating steps of a method for assisting in parking according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps in another method for assisting in parking a vehicle, according to an embodiment of the present invention;
fig. 3 is a schematic view of an auxiliary parking screen according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a method for assisting in parking according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a parking assistance device 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 obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Referring to fig. 1, a flowchart illustrating steps of a method for assisting parking according to an embodiment of the present invention may specifically include the following steps:
the odometer information may include odometer coordinate information and mileage information, the odometer coordinate information may be coordinate information calculated based on the mileage information, and the mileage information may be acquired by an odometer in the vehicle.
In the parking process, the number value of the mileage meter in the vehicle can be obtained in real time, so that the mileage information of the vehicle at each moment in the parking process can be determined, and the mileage information of the vehicle at each moment can be calculated according to the mileage information at each moment.
In an embodiment of the present invention, after the odometry information of the vehicle is determined, a map based on coordinate information in the odometry information may be established based on the odometry information.
102, acquiring collected environment information, and generating an obstacle map according to the environment information;
the environment information can be information collected by a vehicle-mounted laser radar, the environment information can be environment information in an area where a current vehicle is located, one or more obstacle objects can be arranged in the area where the current vehicle is located, the obstacle objects can be objects where the vehicle cannot span the domain, the environment information can include two-dimensional information and three-dimensional information of the obstacle objects in the area where the current vehicle is located, and the three-dimensional information can include height information.
After the odometer information of the vehicle is determined, the environment information of the area where the current vehicle is located can be collected in real time through the vehicle-mounted laser radar, and then the obstacle object in the area where the current vehicle is located can be determined according to the collected environment information, so that an obstacle map is generated.
In an embodiment of the present invention, step 102 may include the following sub-steps:
substep 11, determining one or more obstacle objects according to the environment information, and determining position information of the one or more obstacle objects relative to the vehicle;
after the odometer information of the vehicle is determined, the environment information of the area where the current vehicle is located can be collected in real time through the vehicle-mounted laser radar, then the three-dimensional information corresponding to one or more objects in the area where the current vehicle is located can be determined according to the environment information, and the obstacle object can be determined according to the three-dimensional information of the one or more objects.
In practical application, the chassis height information corresponding to the current vehicle may be stored in advance, and then the height information in the three-dimensional information of one or more objects in the area where the current vehicle is located may be compared with the chassis height information of the vehicle, so as to determine that the object whose height information is greater than the chassis height information of the vehicle is an object that the vehicle cannot cross, that is, an obstacle object.
After the obstacle objects are determined, two-dimensional information corresponding to the obstacle objects may be determined, and position information of each obstacle object with respect to the vehicle may be determined based on the two-dimensional information of each obstacle object.
A substep 12 of generating an obstacle map in combination with position information of said one or more obstacle objects relative to said vehicle.
After determining the position information of the one or more obstacle objects relative to the vehicle, an obstacle map may be generated based on the position information of the one or more obstacle objects relative to the vehicle.
In practical application, during parking, a parking available position where a vehicle is currently located in an area can be determined, position information of the parking available position can be collected through a vehicle-mounted laser radar, and then position information of the parking available position relative to the vehicle can be determined according to the position information of the parking available position, so that an obstacle map can be generated based on one or more obstacle objects and the position information of the parking available position relative to the vehicle.
In an embodiment of the present invention, an obstacle map including three-dimensional information may also be generated according to the three-dimensional information of one or more obstacle objects.
the odometer coordinate system may be a coordinate system corresponding to a map established based on odometer information.
After the obstacle map is generated, the coordinate information of each obstacle object in the obstacle map can be determined according to the position information of one or more obstacle objects relative to the vehicle, the coordinate information of each obstacle object in the obstacle map can be converted into the coordinate information in the odometer coordinate system according to the mileage information in the odometer information, and then the obstacle object in the obstacle map can be converted into the odometer coordinate system, namely, the obstacle map is projected into the odometer coordinate system.
In practical application, the coordinate information of the parking available position in the obstacle map can be determined according to the position information of the parking available position relative to the vehicle, and the parking available position in the obstacle map can be projected into the odometer coordinate system.
In an embodiment of the present invention, the map created based on the mileage information may be a three-dimensional map, the odometer coordinate system may include a three-dimensional coordinate system, and the obstacle map including the three-dimensional information may be converted into the three-dimensional odometer coordinate system to obtain the odometer coordinate system including the three-dimensional information.
And step 104, determining the position information of the vehicle, and performing auxiliary parking according to the position information of the vehicle and the obstacle map.
After the odometer coordinate system is obtained, the mileage information of the vehicle can be obtained in real time, the real-time odometer coordinate information of the vehicle in the odometer coordinate system, namely the real-time position information of the vehicle, can be further determined according to the real-time odometer coordinate system, and the auxiliary parking can be further performed according to the real-time coordinate information of the vehicle and the coordinate information of each obstacle object in the obstacle map converted into the odometer coordinate system.
In practical application, the relative position relationship between the vehicle and each obstacle in the odometer coordinate system can be determined according to the current odometer coordinate information of the vehicle and the coordinate information of each obstacle object in the obstacle map converted into the odometer coordinate system, and the vehicle can be controlled to park according to the relative position relationship.
In the embodiment of the invention, the odometer information of the vehicle is determined in the parking process, the acquired environment information is acquired, the barrier map is generated according to the environment information, the barrier map is converted into an odometer coordinate system according to the odometer information, the position information of the vehicle is determined, and the auxiliary parking is carried out according to the position information of the vehicle and the barrier map, so that the auxiliary parking based on the barrier map is realized, the problem that the surrounding environment is difficult to see when the light of the surrounding environment is insufficient is solved by generating the barrier map, the vehicle is prevented from colliding with the barriers in the surrounding environment in the parking process, and the parking safety is improved.
Referring to fig. 2, a flowchart illustrating steps of another method for assisting parking 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 step of determining odometry information of the vehicle may comprise the sub-steps of:
a substep 21 of acquiring attitude information and wheel pulse information of the vehicle;
the attitude information may include angle information, angular velocity information, and acceleration information of the vehicle, and the wheel pulse information may be the number of pulses generated when the wheel rotates.
In practical application, the three-axis attitude angle information of the vehicle and the acceleration information of the vehicle can be detected in real time through an Inertial Measurement Unit (IMU) in the vehicle, so that the current attitude of the vehicle can be calculated according to the three-axis attitude angle information and the acceleration information of the vehicle, and pulse signals generated by the rotation of the wheels when the vehicle is running can be collected through a wheel pulse counter in the vehicle, for example, two pulse signals can be generated every time the wheels rotate, and then the pulse signals can be counted to obtain the number of pulses generated by the rotation of the wheels when the vehicle is running.
And a substep 22 of generating odometry information for the vehicle based on the attitude information and the wheel pulse information.
After the current attitude information and the current wheel pulse information of the vehicle are obtained, the current driving distance of the vehicle can be determined according to the current wheel pulse information of the vehicle, and the odometer information of the vehicle can be generated according to the current driving distance of the vehicle, the current attitude information of the vehicle and the current mileage information of the vehicle.
In practical application, the wheel pulse information of each moment of the vehicle can be determined, the speed of each moment of the vehicle can be determined, the number of turns of the wheel can be determined, the current running distance of the vehicle can be determined according to the number of turns of the wheel and the speed of each moment, the longitudinal coordinate of the vehicle in the odometer coordinate system can be determined according to the mileage information and the current running distance of the vehicle, the transverse coordinate of the vehicle in the odometer coordinate system can be determined according to the mileage information and the current posture information of the vehicle, and the odometer information including the odometer coordinate of the vehicle can be generated according to the determined longitudinal coordinate and the transverse coordinate.
In an embodiment of the present invention, before the step of determining the odometry information of the vehicle, the following steps may be further included:
judging whether the brightness of the current parking scene is smaller than a preset brightness; and when the brightness of the current parking scene is smaller than the preset brightness, executing the odometer information of the determined vehicle.
The brightness of the current parking scene can be the illumination intensity of the current parking scene, and the current parking scene can be a parking lot and a temporary parking space without a street lamp.
In practical application, when a vehicle needs to be parked, the brightness of the current parking scene can be detected by using an illumination meter or a camera and other devices preset in the vehicle, and then the brightness of the current parking scene can be compared with the preset brightness to determine whether the current parking scene is a scene needing parking assistance.
When the brightness of the current parking scene is greater than the preset brightness, the brightness of the current parking scene can be considered to be large, the light is sufficient, a driver can clearly see the surrounding environment of the vehicle through equipment such as a reversing camera, a reversing image system and a rearview mirror in the vehicle, and then the current parking scene can be judged to be a scene without parking assistance.
the parking assistance screen may be an image including environmental information of an area where the vehicle is located.
After the real-time position information of the vehicle is determined, the relative position relationship between each obstacle object and the vehicle in the odometer coordinate system can be determined according to the coordinate information of each obstacle object in the obstacle map converted into the odometer coordinate system, and then the auxiliary parking picture can be generated by taking the current position information of the vehicle as a reference and the relative position relationship between each obstacle object and the vehicle in the odometer coordinate system.
As shown in fig. 3, the rectangular box a may represent a vehicle, the solid line box ABCDEF may represent a parkable location, and the solid dots a, b, c may represent obstacle objects within the area where the vehicle is currently located.
In an embodiment of the present invention, the obstacle map converted into the odometer coordinate system may include three-dimensional information, such as height, of the obstacle object, and may further determine height information of the vehicle, and determine relative height information between the vehicle and each obstacle object, so as to generate an auxiliary parking screen including the three-dimensional information according to the relative position relationship and the relative height information of each obstacle object and the vehicle in the odometer coordinate system, that is, the auxiliary parking screen may be a three-dimensional image.
And step 206, displaying the auxiliary parking picture in an on-board screen to assist in parking.
The vehicle-mounted screen can comprise a central control screen of a vehicle, an intelligent rearview mirror in the vehicle and an instrument panel.
After the auxiliary parking picture is obtained, the auxiliary parking picture can be displayed in the vehicle-mounted screen, so that the driver can be assisted to park.
In practical application, the driver can determine the relative position relationship between the vehicle and the obstacle object according to the parking assistance picture, and further can assist the driver to determine the parking route which does not interfere with the obstacle object according to the relative position relationship.
The auxiliary parking picture is generated based on the odometer coordinate system and the environment information collected by the laser radar and is not influenced by the brightness of the current parking scene of the vehicle, so that the driver can be assisted to park when the brightness of the current parking scene is low, and the parking safety is improved.
In an embodiment of the present invention, the method may further include the following steps:
and generating alarm information when the distance between the vehicle and the obstacle object in the obstacle map is smaller than the preset distance.
The warning information may include visual warning information and sound warning information.
During parking, distance information between the vehicle and each obstacle object in the obstacle map converted to the odometer coordinate system may be determined based on the real-time position information of the vehicle and the coordinate information of each obstacle object in the obstacle map converted to the odometer coordinate system, and the distance information may be compared with a preset distance.
When the distance information between the vehicle and each barrier object in the barrier map converted into the odometer coordinate system is larger than the preset distance, the fact that the distance between the vehicle and each barrier object is larger and the risk of collision with the barrier object is smaller can be judged, and then no alarm information can be generated.
In practical application, when the risk of collision with the obstacle object exists, the warning information can be displayed through the vehicle-mounted screen, and warning audio corresponding to the warning information can also be played through the vehicle-mounted audio equipment.
In the embodiment of the invention, the method comprises the steps of determining the odometer information of a vehicle in the parking process, acquiring the acquired environment information, generating an obstacle map according to the environment information, converting the obstacle map into an odometer coordinate system according to the odometer information, determining the position information of the vehicle, generating an auxiliary parking picture according to the position information of the vehicle and the obstacle map, displaying the auxiliary parking picture in a vehicle-mounted screen for auxiliary parking, realizing the auxiliary parking based on the obstacle map, optimizing the auxiliary parking by generating and displaying the auxiliary parking picture, solving the problem that the surrounding environment is difficult to see when the light of the surrounding environment is insufficient by generating the obstacle map, ensuring that the vehicle does not collide with the obstacles in the surrounding environment in the parking process, the parking safety is improved.
The following describes an exemplary parking assistance procedure according to an embodiment of the present invention with reference to fig. 4:
1. during parking, the attitude information of the vehicle can be detected in real time through an IMU in the vehicle, the wheel pulse information can be obtained through a wheel pulse counter in the vehicle, the current driving distance of the vehicle can be determined according to the current wheel pulse information of the vehicle, and the odometer information of the vehicle can be generated according to the current driving distance of the vehicle, the current attitude information of the vehicle and the current mileage information of the vehicle.
2. After the odometer information of the vehicle is determined, the environmental information of the area where the current vehicle is located can be collected in real time through the vehicle-mounted laser radar.
3. After the environmental information of the area where the current vehicle is located is obtained, a set of obstacle objects in the area where the current vehicle is located, namely, laser radar 3D point cloud, can be determined according to the collected environmental information to generate an obstacle map, and the obstacle map is converted into a odometer coordinate system according to the odometer information, namely, the obstacle map is projected into the odometer coordinate system.
4. After the obstacle map is converted into the odometer coordinate system, the position information of the vehicle can be determined, an auxiliary parking picture can be generated according to the position information of the vehicle and the converted obstacle map, and then the auxiliary parking picture can be projected to a display system in the vehicle, such as an on-board screen, so that the auxiliary parking picture can be displayed in the on-board screen for auxiliary parking.
5. During parking, the driver can determine the relative position relationship between the vehicle and the obstacle object according to the parking assistance picture, namely the position of the vehicle in the converted obstacle map, and further can assist the driver to determine the parking route which does not interfere with the obstacle object according to the relative position relationship.
6. During parking, distance information between the vehicle and each obstacle object in the obstacle map converted to the odometer coordinate system may be determined based on real-time position information of the vehicle and coordinate information of each obstacle object in the obstacle map converted to the odometer coordinate system, and the distance information may be compared with a preset distance to determine whether there is a risk of collision with the obstacle object.
When the distance information between the vehicle and each obstacle object in the obstacle map converted into the odometer coordinate system is greater than the preset distance, it can be determined that the risk of collision between the vehicle and the obstacle object is small, and further no warning information is generated.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. 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. 5, a schematic structural diagram of a device for assisting parking according to an embodiment of the present invention is shown, and may specifically include the following modules:
an apparatus for assisting parking, the apparatus comprising:
the odometer information determining module 501 is configured to determine odometer information of a vehicle during a parking process;
an environment information obtaining module 502, configured to obtain collected environment information, and generate an obstacle map according to the environment information;
an odometer coordinate system conversion module 503, configured to convert the obstacle map into an odometer coordinate system according to the odometer information;
and the auxiliary parking module 504 is configured to determine the position information of the vehicle, and perform auxiliary parking according to the position information of the vehicle and the obstacle map.
In an embodiment of the present invention, the environment information obtaining module 502 includes:
an obstacle object determination submodule for determining one or more obstacle objects from the environmental information and determining position information of the one or more obstacle objects relative to the vehicle;
and the obstacle map generation submodule is used for combining the position information of the one or more obstacle objects relative to the vehicle to generate an obstacle map.
In an embodiment of the present invention, the parking assist module 504 includes:
the auxiliary parking picture generation submodule is used for generating an auxiliary parking picture according to the position information of the vehicle and the obstacle map;
and the auxiliary parking picture display sub-module is used for displaying the auxiliary parking picture in an on-board screen so as to carry out auxiliary parking.
In an embodiment of the present invention, the odometer information determining module 501 includes:
the attitude information and wheel pulse information acquisition submodule is used for acquiring attitude information and wheel pulse information of the vehicle;
and the odometer information generating submodule is used for generating the odometer information of the vehicle according to the attitude information and the wheel pulse information.
In an embodiment of the present invention, the apparatus further includes:
and the warning information generating module is used for generating warning information when the distance between the vehicle and the obstacle object in the obstacle map is smaller than a preset distance.
In an embodiment of the present invention, the apparatus further includes:
the judging module is used for judging whether the brightness of the current parking scene is smaller than a preset brightness;
and the execution module is used for executing the determination of the odometer information of the vehicle when the brightness of the current parking scene is less than the preset brightness.
In an embodiment of the present invention, the environment information is information collected by a vehicle-mounted laser radar.
In the embodiment of the invention, the odometer information of the vehicle is determined in the parking process, the acquired environment information is acquired, the barrier map is generated according to the environment information, the barrier map is converted into an odometer coordinate system according to the odometer information, the position information of the vehicle is determined, and the auxiliary parking is carried out according to the position information of the vehicle and the barrier map, so that the auxiliary parking based on the barrier map is realized, the problem that the surrounding environment is difficult to see when the light of the surrounding environment is insufficient is solved by generating the barrier map, the vehicle is prevented from colliding with the barriers in the surrounding environment in the parking process, and the parking safety is improved.
An embodiment of the present invention further provides a vehicle, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the method for assisting parking is implemented.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for assisting parking.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
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, 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 terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. 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 the device for assisting parking provided by the invention are described in detail above, and the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the examples is only used for helping understanding 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.
Claims (9)
1. A method for assisting in parking a vehicle, the method comprising:
in the parking process, judging whether the brightness of the current parking scene is smaller than a preset brightness;
when the brightness of the current parking scene is smaller than the preset brightness, determining the odometer information of the vehicle;
acquiring environmental information acquired by a laser radar, and generating an obstacle map according to the environmental information;
converting the obstacle map into an odometer coordinate system according to the odometer information;
determining the position information of the vehicle, and performing auxiliary parking according to the position information of the vehicle and the obstacle map;
wherein the determining odometry information for the vehicle comprises:
acquiring attitude information and wheel pulse information of the vehicle;
and generating odometer information of the vehicle according to the attitude information and the wheel pulse information.
2. The method of claim 1, wherein generating an obstacle map based on the environmental information comprises:
determining one or more obstacle objects according to the environment information, and determining position information of the one or more obstacle objects relative to the vehicle;
generating an obstacle map in conjunction with position information of the one or more obstacle objects relative to the vehicle.
3. The method according to claim 1 or 2, wherein the parking assist according to the position information of the vehicle and the obstacle map includes:
generating an auxiliary parking picture according to the position information of the vehicle and the obstacle map;
and displaying the auxiliary parking picture in an on-board screen to perform auxiliary parking.
4. The method of claim 3, further comprising:
and generating alarm information when the distance between the vehicle and the obstacle object in the obstacle map is smaller than a preset distance.
5. An apparatus for assisting parking, comprising:
the system comprises an odometer information determining module, a vehicle monitoring module and a vehicle monitoring module, wherein the odometer information determining module is used for determining the odometer information of a vehicle in the parking process;
the system comprises an environment information acquisition model, a barrier map generation model and a barrier map generation model, wherein the environment information acquisition model is used for acquiring environment information acquired by a laser radar and generating the barrier map according to the environment information;
the odometer coordinate system conversion module is used for converting the barrier map into an odometer coordinate system according to the odometer information;
the auxiliary parking module is used for determining the position information of the vehicle and carrying out auxiliary parking according to the position information of the vehicle and the obstacle map;
wherein the apparatus further comprises:
the judging module is used for judging whether the brightness of the current parking scene is smaller than the preset brightness;
the execution module is used for executing the determination of the odometer information of the vehicle when the brightness of the current parking scene is smaller than the preset brightness;
wherein the odometer information determining module comprises:
the attitude information and wheel pulse information acquisition submodule is used for acquiring attitude information and wheel pulse information of the vehicle;
and the odometer information generating submodule is used for generating the odometer information of the vehicle according to the attitude information and the wheel pulse information.
6. The apparatus of claim 5, wherein the environment information obtaining module comprises:
the barrier object determining submodule is used for determining one or more barrier objects according to the environment information and determining the position information of the one or more barrier objects relative to the vehicle;
and the obstacle map generation submodule is used for combining the position information of the one or more obstacle objects relative to the vehicle to generate an obstacle map.
7. The apparatus of claim 6, wherein the auxiliary parking module comprises:
the auxiliary parking picture generation submodule is used for generating an auxiliary parking picture according to the position information of the vehicle and the obstacle map;
and the auxiliary parking picture generation sub-module is used for displaying the auxiliary parking picture in an on-board screen so as to carry out auxiliary parking.
8. A vehicle comprising a processor, a memory and a computer program stored on and executable on the memory, the computer program, when executed by the processor, implementing a method for assisting in parking of a vehicle as claimed in any one of claims 1 to 4.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method for assisting parking according to any one of claims 1 to 4.
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| CN202011631746.4A CN112572423B (en) | 2020-12-30 | 2020-12-30 | Parking assisting method and device |
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| CN113492841B (en) * | 2021-07-22 | 2022-09-06 | 上汽通用五菱汽车股份有限公司 | Parking control method and device and computer readable storage medium |
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| CN103253263A (en) * | 2012-02-17 | 2013-08-21 | 现代摩比斯株式会社 | Apparatus and method detectinc obstacle and alerting collision |
| CN110962843A (en) * | 2018-09-30 | 2020-04-07 | 上海汽车集团股份有限公司 | Automatic parking control decision method and system |
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Effective date of registration: 20240229 Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 46, room 406, No. 1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou, Guangdong 510725 Patentee before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Country or region before: China |