CN112693451B - High-precision backing track line generation method and system and parking method and system - Google Patents
High-precision backing track line generation method and system and parking method and system Download PDFInfo
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Abstract
The invention relates to a high-precision backing track line generation method, a high-precision backing track line generation system, a parking method and a parking system. The high-precision backing track line generation method comprises the following steps: controlling a target vehicle to travel forwards for a preset distance, controlling calibration equipment arranged on two sides of the target vehicle to draw a forward track line in the forward process of the target vehicle, and acquiring the forward track line to form a static track live-action picture; controlling a steering wheel of a target vehicle to rotate to a preset angle position and backing a car, forming an actual backing track line of the target vehicle, and acquiring the actual backing track line to form a dynamic backing track live-action picture; and obtaining a plurality of dynamic backing track line pictures of any left and right steering angles according to the static track live-action pictures and the dynamic backing track live-action pictures. The method can quickly generate the backing track line with high precision without complex simulation calculation, time-consuming manual calibration or expensive calibration equipment.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a high-precision reversing trajectory line generating method and system and an automatic parking method and system.
Background
The backing track line is used as a reference line of backing rearview in a vehicle audio entertainment host (hereinafter referred to as a host), and the accuracy of the backing track line is directly related to the backing safety and the safety of surrounding vehicles. At present, a method for generating a reversing trajectory line of a main flow vehicle enterprise comprises the following steps: firstly, vehicle body parameters (wheel base, steering wheel corner, front wheel corner, steering wheel corner proportion value and the like) are obtained, and then a reversing track line is directly generated by establishing a motion model mode or generated by pasting a reversing track line on the ground after the vehicle turning radius is calculated and then mapping the reversing track line to a host. The motion model and the turning radius map do not consider the influence of centrifugal offset (the outward tire friction component perpendicular to the vehicle) when the vehicle turns, and micro factors such as vehicle tire pressure and gravity center distribution, and the centrifugal offset component of the vehicle is dynamically changed, so that time-consuming and labor-consuming model learning and track line calibration are required to be continuously carried out on the basis of the initial version of the backing track line.
Disclosure of Invention
The invention provides a high-precision backing track line generation method, a generation system, an automatic parking method and a system, which can quickly generate a backing track line with high precision without complex simulation calculation, time-consuming manual calibration or expensive calibration equipment.
In a first aspect, the invention provides a high-precision reversing trajectory line generating method, which comprises the following steps:
controlling a target vehicle to travel forwards for a preset distance, controlling calibration equipment arranged on two sides of the target vehicle to draw a forward track line in the forward process of the target vehicle, and acquiring the forward track line to form a static track live-action picture;
controlling a steering wheel of a target vehicle to rotate to a preset angle position and backing a car, forming an actual backing track line of the target vehicle, and acquiring the actual backing track line to form a dynamic backing track live-action picture;
and obtaining a plurality of dynamic backing track line pictures of any left and right steering angles according to the static track live-action pictures and the dynamic backing track live-action pictures.
In some embodiments, the step of controlling the steering wheel of the target vehicle to turn to a preset angle position and backing up to form an actual backing up trajectory line of the target vehicle, and acquiring the actual backing up trajectory line to form a dynamic backing up trajectory live-action picture specifically includes the following steps:
controlling a steering wheel of the target vehicle to rotate to a left limit steering angle position or a right limit steering angle position, and backing to form a left limit actual backing track line of the target vehicle or a right limit actual backing track line of the target vehicle;
and acquiring the left limit actual backing track line or the right limit actual backing track line to form a left limit dynamic backing track live-action picture or a right limit dynamic backing track live-action picture.
In some embodiments, the step of controlling the steering wheel of the target vehicle to rotate to the left limit steering angle position or to rotate to the right limit steering angle position, and reversing to form the left limit actual reversing trajectory line of the target vehicle or form the right limit actual reversing trajectory line of the target vehicle includes the following steps:
controlling a steering wheel of a target vehicle to rotate to a left limit steering angle position or a right limit steering angle position, and backing twice;
respectively controlling calibration equipment arranged on two sides of a target vehicle to respectively draw a first left limit real-time backing track line and a second left limit real-time backing track line or respectively draw a first right limit real-time backing track line and a second right limit real-time backing track line in the two backing processes of the target vehicle;
acquiring a left limit track interval between the first left limit real-time backing track line and the second left limit real-time backing track line, and offsetting the second left limit real-time backing track line to a direction far away from the first left limit real-time backing track line according to the left limit track interval to form a left limit actual backing track line of the target vehicle;
or acquiring a right limit track interval between the first right limit real-time backing track line and the second right limit real-time backing track line, and offsetting the second right limit real-time backing track line to a direction far away from the first right limit real-time backing track line according to the right limit track interval to acquire a right limit actual backing track line of the target vehicle.
In some embodiments, the step of "obtaining the left limit actual backing track line or obtaining the right limit actual backing track line to form a left limit dynamic backing track live-action picture or a right limit dynamic backing track live-action picture" specifically includes the following steps:
shooting the left limit actual backing track line drawn by the calibration equipment through camera equipment, and converting the left limit actual backing track line into a left limit dynamic backing track live-action picture;
or shooting the right limit actual backing track line drawn by the calibration equipment through camera equipment, and converting the right limit actual backing track line into a right limit dynamic backing track live-action picture.
In some embodiments, the step of obtaining a plurality of dynamic reverse trajectory line pictures of any left and right steering angles according to the static trajectory live-action picture and the dynamic reverse trajectory live-action picture specifically includes the following steps:
forming a corresponding vector source file according to the static track live-action picture, the left limit dynamic reversing track live-action picture and the right limit dynamic reversing track live-action picture;
according to the vector source file, uniformly generating a plurality of actual turning backing track lines between the left limit actual backing track line and the right limit actual backing track line;
and obtaining a plurality of dynamic reversing track line pictures of any left and right steering angle according to the plurality of actual reversing track lines.
In some embodiments, the step of "uniformly generating a plurality of actual reverse trajectory lines between the left limit actual reverse trajectory line and the right limit actual reverse trajectory line according to the vector source file" includes the following steps:
according to the vector source file, uniformly generating a plurality of left-turning actual backing track lines between the left limit actual backing track line and the forward track line;
the number N of the left steering actual backing track linesLThe formula of (1) is as follows:
according to the vector source file, uniformly generating a plurality of right steering actual backing track lines between the right limit actual backing track line and the forward track line;
the number N of the right steering actual backing track linesRThe formula (c) is as follows:
In some embodiments, after the step of controlling the calibration devices arranged on both sides of the target vehicle to draw the forward trajectory line during the forward movement of the target vehicle, the method specifically includes the following steps:
when the target vehicle travels forward for a preset distance to a stop line, sequentially acquiring an alarm line, a warning line and a prompt line of the target vehicle;
the alarm line is 0.5m away from the stop line, the warning line is 1.5m away from the stop line, and the prompt line is 3m away from the stop line.
In a second aspect, the present invention provides a high-precision backing track line generating system, including:
the static track acquisition module is used for controlling the target vehicle to travel forward for a preset distance, controlling calibration equipment arranged on two sides of the target vehicle to draw a forward track line in the forward process of the target vehicle, and acquiring the forward track line to form a static track live-action picture;
the dynamic backing track acquisition module is used for controlling a steering wheel of a target vehicle to rotate to a preset angle position and backing a car to form an actual backing track line of the target vehicle and acquiring the actual backing track line to form a dynamic backing track live-action picture; and the number of the first and second groups,
and the dynamic reversing track generating module is in communication connection with the static track acquiring module and the dynamic reversing track acquiring module and is used for acquiring a plurality of dynamic reversing track line pictures of any left and right steering angles according to the static track real-scene pictures and the dynamic reversing track real-scene pictures.
In a third aspect, the present invention provides an automatic parking method, including the steps of:
receiving a parking instruction and acquiring a real-time corner angle of a steering wheel;
and calling and displaying corresponding dynamic reversing track line pictures in the plurality of dynamic reversing track line pictures generated according to the method according to the real-time corner angle.
In a fourth aspect, the present invention provides a parking system comprising:
the steering wheel corner acquisition module is used for receiving a parking instruction and acquiring a real-time corner angle of a steering wheel;
the reversing track picture calling module is in communication connection with the steering wheel corner acquiring module and is used for calling a dynamic reversing track picture corresponding to the real-time corner angle of the steering wheel; and the number of the first and second groups,
and the display module is in communication connection with the backing track picture calling module and is used for displaying the dynamic backing track picture.
The technical scheme provided by the invention has the beneficial effects that:
the embodiment of the invention provides a high-precision backing track line generation method, which is based on a vehicle, uses a calibration device installed on a vehicle body to quickly and precisely generate a backing track line on the ground through a driving track, then converts a shot backing track line picture into a PNG source file through a camera device, and generates a plurality of dynamic backing track line pictures according to the PNG source file for reference use when the vehicle backs, so that the backing safety and the safety of surrounding vehicles can be ensured. By the method, the backing trajectory line can be generated quickly with high precision without complex simulation calculation, time-consuming manual calibration or expensive calibration equipment.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments 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 creative efforts.
FIG. 1 is a schematic flow chart illustrating steps of a high-precision backing track line generation method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a target vehicle when calibration equipment is installed according to the high-precision backing track line generation method of the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a target vehicle generating a forward trajectory according to the method for generating a high-precision backing trajectory according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a target vehicle related to the high-precision backing track line generation method according to the embodiment of the present invention when generating an actual backing track line;
FIG. 5 is a schematic block diagram of a high-precision backing track line generating system according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating steps of an automatic parking method according to an embodiment of the present invention;
fig. 7 is a schematic block diagram of the structure of the automatic parking system according to the embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the embodiments described. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement, and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
Note that: the example to be described next is only a specific example, and does not limit the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, orders, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
In the traditional technology, a method for generating a reversing trajectory line of a main flow vehicle enterprise comprises the following steps: firstly, vehicle body parameters (wheel base, steering wheel corner, front wheel corner, steering wheel corner proportion value and the like) are obtained, and then a reversing track line is directly generated by establishing a motion model mode or generated by pasting a reversing track line on the ground after the vehicle turning radius is calculated and then mapping the reversing track line to a host. The motion model and the turning radius map do not consider the influence of centrifugal offset (the outward tire friction component perpendicular to the vehicle) when the vehicle turns, and micro factors such as vehicle tire pressure and gravity center distribution, and the centrifugal offset component of the vehicle is dynamically changed, so that time-consuming and labor-consuming model learning and track line calibration are required to be continuously carried out on the basis of the initial version of the backing track line. In order to solve the technical problems, the invention provides a high-precision reversing trajectory line generating method, a high-precision reversing trajectory line generating system, a parking method and a parking system.
Specifically, as shown in fig. 1, the method for generating a high-precision reversing trajectory line provided by the present invention includes the following steps:
s100, controlling a target vehicle to travel forwards for a preset distance, controlling calibration equipment arranged on two sides of the target vehicle to draw a forward track line in the forward process of the target vehicle, and acquiring the forward track line to form a static track live-action picture;
s200, controlling a steering wheel of a target vehicle to rotate to a preset angle position and backing up the vehicle to form an actual backing-up track line of the target vehicle, and acquiring the actual backing-up track line to form a dynamic backing-up track live-action picture;
s300, obtaining a plurality of dynamic reversing track line pictures of any left and right steering angle according to the static track live-action picture and the dynamic reversing track live-action picture.
The high-precision reversing track line generating method provided by the embodiment of the invention is characterized in that a static track live-action picture is formed by static reversing track line calibration on the basis of a vehicle, a dynamic reversing track live-action picture is formed by dynamic reversing track line calibration, and a plurality of dynamic reversing track line pictures for reversing are formed by the static track live-action picture and the dynamic reversing track live-action picture. The method can be used for quickly and accurately generating a backing track line (comprising a forward track line (namely the static track line) and an actual backing track line (namely the dynamic track line)) on the ground by using calibration equipment arranged on a vehicle body through a driving track (comprising the static track line and the dynamic track line), converting a shot backing track line picture into a PNG source file through camera equipment, and generating a plurality of dynamic backing track line pictures according to the PNG source file for reference use when the vehicle backs, so that the backing safety and the safety of surrounding vehicles can be ensured. By the method, the reversing trajectory line can be generated quickly with high precision without complex simulation calculation, time-consuming manual calibration or expensive calibration equipment.
Further, as shown in fig. 2, before the static track live-action picture, a target vehicle needs to be acquired first, so as to perform subsequent dynamic reverse track line picture generation. Moreover, the obtained target vehicle can be in a mass production state, so that the uniqueness and consistency of the target vehicle representing the calibrated vehicle type can be ensured. Further, the acquired target vehicle may be brought into a non-mass production state, for example, a test state, as necessary.
In addition, after the target vehicle is obtained, preparation needs to be made for subsequent track line calibration, namely, calibration tools need to be installed on two sides of the vehicle body of the target vehicle, so that the vertical distance between the calibration point of the calibration tool and the outermost edges of the left and right external rearview mirrors of the target vehicle is 10cm, and the calibration tool can conveniently slide out of the backing track line on the ground in the backing process of the target vehicle. After the preparation work is finished, the static backing track line calibration and the dynamic backing track line calibration can be carried out.
Further, in the step of "the control target vehicle travels forward by a predetermined distance" in the above step S100, specifically, the steps of:
and the steering wheel of the control target vehicle is righted, and the control target vehicle travels forwards for a preset distance in a state that the steering wheel is completely righted, and stops after reaching a stop line preset on the ground.
In this embodiment, the rotation angle of the steering wheel CAN be read in real time by a CAN (Controller Area Network) device, and when the rotation angle of the steering wheel is made to be 0 (i.e. the steering wheel is not biased to the left or the right, but is in the middle), it indicates that the steering wheel is completely aligned. Further, the control target vehicle stops traveling forward when the vehicle rear is aligned with the stop line after traveling forward a predetermined distance with the steering wheel kept at the turning angle of 0. Also, in the present embodiment, the predetermined distance may be set to 3m, which is closer to the reversing distance of the general vehicle. In addition, the predetermined distance may be set to other lengths, such as 2.5m, or 3.5m, or 4m, etc., according to the length of the vehicle and the reversing distance.
Therefore, in the process that the target vehicle travels forwards for the preset distance, the calibration equipment arranged on the two sides of the target vehicle can be controlled to draw the forward track line with the preset distance on the ground, so that a static track live-action picture can be generated subsequently according to the forward track line, and the generation of a left-right backing track line can be performed subsequently by taking the forward track line as a standard.
As shown in fig. 3, after the step of "controlling the calibration devices disposed on both sides of the target vehicle to respectively draw the forward trajectory lines during the traveling of the target vehicle" in the step S100, the method specifically includes the following steps:
when the target vehicle travels forward for a preset distance to a stop line, sequentially acquiring an alarm line, a warning line and a prompt line of the target vehicle; the alarm line is 0.5m away from the stop line, the warning line is 1.5m away from the stop line, and the prompt line is 3m away from the stop line.
When the static backing track line is calibrated, the alarm line, the warning line and the prompt line are set simultaneously, reference and prompt can be provided in the backing process, and backing safety is guaranteed. Moreover, in this embodiment always, but the warning line sign is yellow, but the warning line sign is red, and the warning line sign is green, can provide striking suggestion at the in-process of backing a car, further guarantees the safety of backing a car. In addition, in this embodiment, the forward track line, the warning line and the prompt line can be obtained by the camera device, and converted into the static track live-action picture. In addition, according to actual need, the distance of foretell alarm line, warning line and warning line can be adjusted to satisfy different user demands.
In addition, the step S200 of controlling the steering wheel of the target vehicle to turn to the preset angle position and backing up the vehicle to form the actual backing up trajectory line of the target vehicle and obtaining the actual backing up trajectory line to form the dynamic backing up trajectory live-action picture includes the following steps:
s210, controlling a steering wheel of the target vehicle to rotate to a left limit steering angle position or a right limit steering angle position, and backing to form a left limit actual backing track line of the target vehicle or a right limit actual backing track line of the target vehicle;
and S220, acquiring the left limit actual backing track line or the right limit actual backing track line to form a left limit dynamic backing track live-action picture or a right limit dynamic backing track live-action picture.
In the embodiment, the steering wheel of the target vehicle can be controlled to rotate to the left limit steering angle position, and the vehicle is backed to form a left limit actual backing track line of the target vehicle; then, a left limit dynamic backing track real scene graph of the left limit actual backing track line can be obtained through the camera equipment. Or the steering wheel of the target vehicle can be controlled to rotate to the right limit steering angle position, and the vehicle is backed to form a right limit actual backing track line of the target vehicle; then, a right limit dynamic backing track live-action picture of the right limit actual backing track line can be obtained through the camera equipment. That is, in this embodiment, the preset angle position of the steering wheel rotation may be set as the left limit steering angle position or set as the right limit steering angle position, so as to conveniently obtain the left limit dynamic backing track real image and the right limit dynamic backing track real image, and also facilitate subsequently generating other dynamic backing track real images between the left limit dynamic backing track real image and the right limit dynamic backing track real image to correspond to different steering wheel rotation angles.
Besides, in addition to setting the preset angle position as the left limit steering angle position or the right limit steering angle position, other steering angles between the left limit steering angle position and the return angle position or between the right limit steering angle position and the return angle position may also be set, and a dynamic reverse track live-action picture of other steering angles may be correspondingly generated.
Further, the step S210 of controlling the steering wheel of the target vehicle to rotate to the left limit steering angle position or to rotate to the right limit steering angle position and reversing to form the left limit actual reversing trajectory line of the target vehicle or form the right limit actual reversing trajectory line of the target vehicle includes the following steps:
s211, controlling a steering wheel of the target vehicle to rotate to a left limit steering angle position, and backing up twice;
s212, respectively controlling calibration equipment arranged on two sides of the target vehicle to respectively draw a first left limit real-time backing track line and a second left limit real-time backing track line in the two backing processes of the target vehicle;
s213, acquiring a left limit track interval between the first left limit real-time backing track line and the second left limit real-time backing track line, and offsetting the second left limit real-time backing track line to a direction far away from the first left limit real-time backing track line according to the left limit track interval to form a left limit actual backing track line of the target vehicle.
Specifically, as shown in fig. 4, the steering wheel of the target vehicle is turned to a left-limit turning angle position (the steering wheel can be fixed by using a clamp), the vehicle is backed for the first time by taking the stop line as a starting point, and when the target vehicle travels to a 3m prompt line, the calibration device generates a first left-limit real-time backing trajectory line (a first backing trajectory line) on the ground; then, the steering wheel of the target vehicle is kept still and is turned back to the stop line; turning the steering wheel of the target vehicle to the left limit steering angle position again (the steering wheel can be fixed by using the clamp), backing for the second time by taking the stop line as a starting point, and generating a second left limit real-time backing trajectory line (a second backing trajectory line) by the calibration equipment on the ground when the vehicle runs to a 3m prompt line; keeping the steering wheel of the target vehicle still again, and turning the steering wheel back to the stop line again; and then, drawing a third left limit real-time backing track line (actual backing track line) of the target vehicle on the ground in an equidistant mode by using calibration equipment, wherein the third left limit real-time backing track line is the predicted left limit actual backing track line of the current stop position of the target vehicle.
In addition, the step S210 further includes the following specific steps:
s214, controlling the steering wheel of the target vehicle to rotate to the right limit steering angle position, and backing up twice;
s215, respectively controlling calibration equipment arranged on two sides of the target vehicle to respectively draw a first right limit real-time backing track line and a second right limit real-time backing track line in the two backing processes of the target vehicle;
s216, acquiring a right limit track interval between the first right limit real-time backing track line and the second right limit real-time backing track line, and offsetting the second right limit real-time backing track line to a direction far away from the first right limit real-time backing track line according to the right limit track interval to acquire a right limit actual backing track line of the target vehicle.
The right limit actual backing track line and the left limit actual backing track line have the same generation mode, and are not described herein again.
In addition, in the above step S220, that is, the step of obtaining the left limit actual backing track line or obtaining the right limit actual backing track line to form a left limit dynamic backing track live-action picture or a right limit dynamic backing track live-action picture includes the following steps:
s222, shooting the left limit actual backing track line drawn by the calibration equipment through the camera equipment, and converting the left limit actual backing track line into a left limit dynamic backing track live-action picture.
The image of the left limit actual backing track line drawn on the ground by the calibration equipment can be shot by the camera equipment (such as a rear-view camera arranged on the target vehicle or an external camera), so that a left limit dynamic backing track live-action image is formed, and the left limit dynamic backing track live-action image can be transmitted to the host computer end of the target vehicle.
S224, shooting the right limit actual backing track line drawn by the calibration equipment through the camera equipment, and converting the right limit actual backing track line into a right limit dynamic backing track live-action picture.
Similarly, a picture of a right limit actual backing track line drawn on the ground by the calibration device can be shot by the camera device (such as a rear view camera arranged on the target vehicle or an external camera), so as to form a right limit dynamic backing track live-action picture, and the right limit dynamic backing track live-action picture can be transmitted to the vehicle terminal of the target vehicle.
In addition, the step S300 of obtaining a plurality of dynamic reverse trajectory line pictures of any left and right steering angles according to the static trajectory live-action picture and the dynamic reverse trajectory live-action picture includes the following steps:
s310, forming a corresponding vector source file according to the static track live-action picture, the left limit dynamic reversing track live-action picture and the right limit dynamic reversing track live-action picture;
s320, uniformly generating a plurality of actual turning backing track lines between the left limit actual backing track line and the right limit actual backing track line according to the vector source file;
s330, obtaining a plurality of dynamic reversing track line pictures of any left and right steering angle according to the actual reversing track lines.
The left limit dynamic reversing track real-scene picture, the right limit dynamic reversing track real-scene picture and the static track real-scene picture in the vehicle terminal can be converted into a vector source file through drawing software, then a plurality of dynamic reversing track lines with intermediate angles (any steering angle between a left limit steering angle and a right limit steering angle) are uniformly generated on the basis, and finally a plurality of dynamic reversing track line pictures are output.
Further, the step S320 of generating a plurality of actual reversing trajectory lines uniformly between the left limit actual reversing trajectory line and the right limit actual reversing trajectory line according to the vector source file includes the following steps:
s322, according to the vector source file, uniformly generating a plurality of left-turning actual backing track lines between the left limit actual backing track line and the forward track line;
the number N of the left steering actual backing track linesLThe formula of (1) is as follows:
s324, according to the vector source file, uniformly generating a plurality of right-turning actual backing track lines between the right-limit actual backing track line and the forward track line;
the number N of the right steering actual backing track linesRThe formula of (1) is as follows:
In the present embodiment, the maximum turning angle of the front wheels of the subject vehicle is generally around 36 °, i.e., the left limit steering angle X of the steering wheelLAnd the right extreme steering angle of the steering wheel may be set to 36 °; while a preset minimum distinguishing angle WminThe actual reversing trajectory can be set to 1 degree, namely, a left-turning actual reversing trajectory line or a right-turning actual reversing trajectory line can be generated when the steering wheel rotates by 1 degree. Thus, the number N of left-hand actual reverse trajectory lines can be obtainedLIs 36 (including the left limit actual reverse trajectory line), and the number N of right steering actual reverse trajectory lines can be obtained similarlyRAnd 36 (including the right limit actual reverse trajectory line) plus one forward trajectory line, for a total of 73 reverse trajectory lines. Correspondingly, 73 dynamic reverse trajectory line pictures can be generated by using the 73 reverse trajectory lines. In addition, rootThe above-mentioned preset minimum dividing angle W can be set according to practical requirementsminSet at 0.5 deg. or other angles.
In addition, as shown in fig. 5, the present invention provides a high-precision backing track line generating system corresponding to the above-mentioned high-precision backing track line generating method, including:
the system comprises a static track acquisition module 100, a dynamic track acquisition module and a dynamic track display module, wherein the static track acquisition module is used for controlling a target vehicle to travel forward for a preset distance, controlling calibration equipment arranged on two sides of the target vehicle to draw a forward track line in the forward process of the target vehicle, and acquiring the forward track line to form a static track live-action picture;
the dynamic backing track acquisition module 200 is configured to control a steering wheel of a target vehicle to turn to a preset angle position and back to form an actual backing track line of the target vehicle, and acquire the actual backing track line to form a dynamic backing track live-action picture; and the number of the first and second groups,
and the dynamic reversing track generating module 300 is in communication connection with both the static track acquiring module 100 and the dynamic reversing track acquiring module 200, and is configured to obtain multiple dynamic reversing track line pictures of any left and right steering angles according to the static track live-action picture and the dynamic reversing track live-action picture.
The high-precision backing track line generation system described in this embodiment corresponds to the high-precision backing track line generation method described above, and functions of each module in the high-precision backing track line generation system in this embodiment are explained in detail in the corresponding method embodiment, which is not described one by one here.
In addition, based on the same inventive concept, embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements all or part of the method steps of the above-mentioned high-precision reverse trajectory line generation method.
In addition, as shown in fig. 6, the invention provides an automatic parking method corresponding to the above-mentioned high-precision backing track line generation method, which includes the following steps:
s10, receiving a parking instruction and acquiring a real-time steering angle of a steering wheel;
and S20, calling and displaying corresponding dynamic reversing trajectory line pictures in the plurality of dynamic reversing trajectory line pictures generated according to the high-precision reversing trajectory line generating method according to the real-time corner angle.
In the process of parking of the target vehicle, according to a received parking instruction (mainly referring to a backing parking instruction), an image library formed by a plurality of dynamic backing trajectory images generated by the high-precision backing trajectory generation method is called out, and meanwhile, the CAN equipment of the target vehicle CAN acquire corner information (namely a real-time corner angle) of a steering wheel; and then, according to the real-time corner angle of the steering wheel, calling out a corresponding dynamic backing track line picture from the plurality of dynamic backing track line pictures, and displaying the dynamic backing track line picture for reference during parking, thereby ensuring the parking safety. Furthermore, referring to the specific step of step S320, the method for calling the dynamic reverse trajectory line picture may be that the steering wheel rotates from the return state to the left or right by the preset minimum distinguishing angle WminAnd then the dynamic backing track line picture of the corresponding angle is called. For example, when the steering wheel rotates leftwards by an angle of 1 degree from the return-to-positive state, a corresponding dynamic backing track line picture is called when the left steering angle is 1 degree; when the steering wheel rotates leftwards by an angle of 2 degrees from the return state, a corresponding dynamic backing track line picture when the left steering angle is 2 degrees is called out; and so on.
Further, as shown in fig. 7, the present invention provides an automatic parking system corresponding to the above-described automatic parking method, including:
the steering wheel corner obtaining module 10 is used for receiving a parking instruction and obtaining a real-time steering angle of a steering wheel;
the backing track picture calling module 20 is in communication connection with the steering wheel corner obtaining module 10 and is used for calling a dynamic backing track line picture corresponding to the real-time corner angle of the steering wheel; and the number of the first and second groups,
and the display module 30 is in communication connection with the backing track picture calling module 20 and is used for displaying the dynamic backing track picture.
The automatic parking system according to this embodiment corresponds to the automatic parking method described above, and the functions of the modules in the automatic parking system according to this embodiment are explained in detail in the corresponding method embodiment, and are not described one by one here.
Based on the same inventive concept, embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements all or part of the method steps of the automatic parking method.
The present invention can implement all or part of the processes of the above methods, and can also be implemented by using a computer program to instruct related hardware, where the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program running on the processor, and the processor executes the computer program to implement all or part of the method steps in the method.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or models, and the processor may implement various functions of the computer device by executing or otherwise executing the computer programs and/or models stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the cellular phone. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, 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, 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, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers 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 apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, 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 apparatus 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 apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. A high-precision reversing trajectory line generation method is characterized by comprising the following steps:
controlling a target vehicle to travel forwards for a preset distance, controlling calibration equipment arranged on two sides of the target vehicle to draw a forward track line in the forward process of the target vehicle, and acquiring the forward track line to form a static track live-action picture;
controlling a steering wheel of a target vehicle to rotate to a left limit steering angle position or a right limit steering angle position, and backing twice;
respectively controlling calibration equipment arranged on two sides of a target vehicle to respectively draw a first left limit real-time backing track line and a second left limit real-time backing track line or respectively draw a first right limit real-time backing track line and a second right limit real-time backing track line in the two backing processes of the target vehicle;
acquiring a left limit track interval between the first left limit real-time backing track line and the second left limit real-time backing track line, and offsetting the second left limit real-time backing track line to a direction far away from the first left limit real-time backing track line according to the left limit track interval to form a left limit actual backing track line of the target vehicle;
or acquiring a right limit track interval between the first right limit real-time backing track line and the second right limit real-time backing track line, and offsetting the second right limit real-time backing track line to a direction far away from the first right limit real-time backing track line according to the right limit track interval to acquire a right limit actual backing track line of the target vehicle;
acquiring the left limit actual backing track line or the right limit actual backing track line to form a left limit dynamic backing track live-action picture or a right limit dynamic backing track live-action picture;
and obtaining a plurality of dynamic backing track line pictures of any left and right steering angles according to the static track live-action pictures and the dynamic backing track live-action pictures.
2. The high-precision backing track line generating method according to claim 1, wherein the step of obtaining the left-limit actual backing track line or obtaining the right-limit actual backing track line to form a left-limit dynamic backing track live-action picture or a right-limit dynamic backing track live-action picture specifically comprises the steps of:
shooting the left limit actual backing track line drawn by the calibration equipment through camera equipment, and converting the left limit actual backing track line into a left limit dynamic backing track live-action picture;
or shooting the right limit actual backing track line drawn by the calibration equipment through camera equipment, and converting the right limit actual backing track line into a right limit dynamic backing track live-action picture.
3. The method for generating the high-precision reversing trajectory line according to claim 1, wherein the step of obtaining a plurality of dynamic reversing trajectory line pictures at any one of left and right steering angles according to the static trajectory live-action picture and the dynamic reversing trajectory live-action picture specifically comprises the following steps:
forming a corresponding vector source file according to the static track live-action picture, the left limit dynamic reversing track live-action picture and the right limit dynamic reversing track live-action picture;
according to the vector source file, uniformly generating a plurality of actual turning backing track lines between the left limit actual backing track line and the right limit actual backing track line;
and obtaining a plurality of dynamic reversing track line pictures of any left and right steering angle according to the plurality of actual reversing track lines.
4. The method for generating the high-precision reversing trajectory line according to claim 3, wherein the step of uniformly generating a plurality of actual reversing trajectory lines between the left-limit actual reversing trajectory line and the right-limit actual reversing trajectory line according to the vector source file comprises the following steps:
according to the vector source file, uniformly generating a plurality of left-turning actual backing track lines between the left limit actual backing track line and the forward track line;
the left steering actual backing trackNumber of lines NLThe formula of (1) is as follows:
according to the vector source file, uniformly generating a plurality of right steering actual backing track lines between the right limit actual backing track line and the forward track line;
the number N of the right steering actual backing track linesRThe formula of (1) is as follows:
5. The method for generating the high-precision backing track line according to claim 1, wherein after the step of controlling calibration devices arranged on two sides of the target vehicle to draw a forward track line in the forward process of the target vehicle, the method specifically comprises the following steps:
when the target vehicle travels forward for a preset distance to a stop line, sequentially acquiring an alarm line, a warning line and a prompt line of the target vehicle;
the alarm line is 0.5m away from the stop line, the warning line is 1.5m away from the stop line, and the prompt line is 3m away from the stop line.
6. A high-precision backing trajectory line generation system, comprising:
the system comprises a static track acquisition module, a dynamic track acquisition module and a dynamic track generation module, wherein the static track acquisition module is used for controlling a target vehicle to travel forwards for a preset distance, controlling calibration equipment arranged on two sides of the target vehicle to draw a forward track line in the forward process of the target vehicle, and acquiring the forward track line to form a static track live-action picture;
the dynamic backing track acquisition module is used for controlling a steering wheel of the target vehicle to rotate to a left limit steering angle position or a right limit steering angle position and backing twice;
respectively controlling calibration equipment arranged on two sides of a target vehicle to respectively draw a first left limit real-time backing track line and a second left limit real-time backing track line or respectively draw a first right limit real-time backing track line and a second right limit real-time backing track line in the two backing processes of the target vehicle;
acquiring a left limit track interval between the first left limit real-time backing track line and the second left limit real-time backing track line, and offsetting the second left limit real-time backing track line to a direction far away from the first left limit real-time backing track line according to the left limit track interval to form a left limit actual backing track line of the target vehicle;
or acquiring a right limit track distance between the first right limit real-time backing track line and the second right limit real-time backing track line, and offsetting the second right limit real-time backing track line to a direction far away from the first right limit real-time backing track line according to the right limit track distance to acquire a right limit actual backing track line of the target vehicle;
acquiring the left limit actual backing track line or the right limit actual backing track line to form a left limit dynamic backing track live-action picture or a right limit dynamic backing track live-action picture; and the number of the first and second groups,
and the dynamic reversing track generating module is in communication connection with the static track acquiring module and the dynamic reversing track acquiring module and is used for acquiring a plurality of dynamic reversing track line pictures of any left and right steering angles according to the static track real-scene pictures and the dynamic reversing track real-scene pictures.
7. An automatic parking method, characterized by comprising the steps of:
receiving a parking instruction and acquiring a real-time corner angle of a steering wheel;
calling and displaying a corresponding dynamic reversing trajectory line picture in a plurality of dynamic reversing trajectory line pictures generated according to the method of any one of claims 1 to 5 according to the real-time corner angle.
8. An automatic parking system, comprising:
the steering wheel corner acquisition module is used for receiving a parking instruction and acquiring a real-time corner angle of a steering wheel;
the reversing track picture calling module is in communication connection with the steering wheel corner acquiring module and is used for calling a dynamic reversing track picture corresponding to the real-time corner angle of the steering wheel, wherein the target vehicle is controlled to travel forwards for a preset distance, and in the process of advancing the target vehicle, calibration equipment arranged on two sides of the target vehicle is controlled to draw a forward track line and the forward track line is acquired to form a static track live-action picture;
controlling a steering wheel of a target vehicle to rotate to a left limit steering angle position or a right limit steering angle position, and backing up twice;
respectively controlling calibration equipment arranged on two sides of a target vehicle to respectively draw a first left limit real-time backing track line and a second left limit real-time backing track line or respectively draw a first right limit real-time backing track line and a second right limit real-time backing track line in the two backing processes of the target vehicle;
acquiring a left limit track interval between the first left limit real-time backing track line and the second left limit real-time backing track line, and offsetting the second left limit real-time backing track line to a direction far away from the first left limit real-time backing track line according to the left limit track interval to form a left limit actual backing track line of the target vehicle;
or acquiring a right limit track interval between the first right limit real-time backing track line and the second right limit real-time backing track line, and offsetting the second right limit real-time backing track line to a direction far away from the first right limit real-time backing track line according to the right limit track interval to acquire a right limit actual backing track line of the target vehicle;
acquiring the left limit actual backing track line or the right limit actual backing track line to form a left limit dynamic backing track live-action picture or a right limit dynamic backing track live-action picture;
obtaining a plurality of dynamic reversing track line pictures of any left and right steering angle according to the static track live-action picture and the dynamic reversing track live-action picture; and the number of the first and second groups,
and the display module is in communication connection with the backing track picture calling module and is used for displaying the dynamic backing track picture.
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