CN112896149A - Automatic parking system based on computer vision - Google Patents
Automatic parking system based on computer vision Download PDFInfo
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- CN112896149A CN112896149A CN202110092109.2A CN202110092109A CN112896149A CN 112896149 A CN112896149 A CN 112896149A CN 202110092109 A CN202110092109 A CN 202110092109A CN 112896149 A CN112896149 A CN 112896149A
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- 238000012545 processing Methods 0.000 claims abstract description 48
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 230000008054 signal transmission Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an automatic parking system based on computer vision, which comprises a central processing unit, wherein the input end of the central processing unit is connected with a signal sending module, the output end of the signal sending module is connected with an A/D converter, the input end of the A/D converter is connected with an image processing unit, the input end of the image processing unit is connected with a plurality of camera detection modules, and the output end of the central processing unit is connected with a signal receiving module. According to the invention, the plurality of camera detection modules are arranged around the vehicle body, so that dynamic changes of the vehicle and the surrounding environment can be captured in real time, corresponding adjustment can be made in time, the surrounding environment of the vehicle body can be restored integrally through the camera detection modules, even tiny obstacles can be captured, and therefore, the problem that the automatic parking system based on radar monitoring is scratched and rubbed due to the fact that the tiny obstacles cannot be monitored by radar is solved, the purpose of protecting the vehicle body is achieved, parking is safer, and parking efficiency is improved.
Description
Technical Field
The invention relates to the field of automatic parking, in particular to an automatic parking system based on computer vision.
Background
Computer vision is a science for researching how to make a machine "see", and further, it means that a camera and a computer are used to replace human eyes to perform machine vision such as identification, tracking and measurement on a target, and further image processing is performed, so that the computer processing becomes an image more suitable for human eyes to observe or transmitted to an instrument to detect. As a scientific discipline, computer vision research-related theories and techniques attempt to build artificial intelligence systems that can acquire 'information' from images or multidimensional data. The information referred to herein refers to information defined by Shannon that can be used to help make a "decision". Because perception can be viewed as extracting information from sensory signals, computer vision can also be viewed as the science of how to make an artificial system "perceive" from images or multidimensional data.
For a novice driver, the lateral parking and the backing and warehousing are both a small challenge, and the time is wasted or the congestion of a rear vehicle is caused due to the fact that the vehicle is often carelessly scraped, so that the parking time is saved, and the automatic parking system based on computer vision is provided to improve the parking efficiency.
Disclosure of Invention
The invention mainly solves the technical problems in the prior art and provides an automatic parking system based on computer vision.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an automatic parking system based on computer vision, includes central processing unit, central processing unit's input is connected with the signal transmission module, the output of signal transmission module is connected with the AD converter, the input of AD converter is connected with image processing unit, image processing unit's input is connected with a plurality of detection modules that make a video recording, central processing unit's output is connected with signal reception module, signal reception module's output is connected with signal processing unit, signal processing unit's output is connected with display module, turns to module, driving module, gear module and brake module respectively.
Preferably, the input end of the central processing unit is connected with a power supply module.
Preferably, the image processing unit comprises a distance measuring module, an angle identifying module and a tracking module, and the output ends of the distance measuring module, the angle identifying module and the tracking module are all connected with the input end of the A/D converter.
Preferably, the signal processing unit comprises a decoder and a controller, the input end of the controller is connected with the output end of the signal receiving module, and the output end of the controller is respectively connected with the input ends of the steering module, the driving module, the gear module and the braking module.
Preferably, the input end of the decoder is connected with the output end of the signal receiving module, and the output end of the decoder is connected with the input end of the display module.
Preferably, the input end of the A/D converter is connected with a plurality of radar monitoring modules.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the plurality of camera detection modules are arranged around the vehicle body, so that dynamic changes of the vehicle and the surrounding environment can be captured in real time, corresponding adjustment can be made in time, the surrounding environment of the vehicle body can be restored integrally through the camera detection modules, even tiny obstacles can be captured, and therefore, the problem that some automatic parking systems based on radar monitoring are scratched and rubbed due to the fact that the tiny obstacles cannot be monitored by radar is solved, the purpose of protecting the vehicle body is achieved, parking is safer, parking efficiency is improved, and the problem that drivers with new hands are difficult to park is solved.
2. According to the invention, the plurality of radar monitoring modules are arranged around the vehicle body, so that the distance and the angle between the vehicle body and surrounding obstacles can be accurately measured, the radar monitoring modules are used for assisting the camera detection modules, more accurate distance and angle data are provided, the steering angle is more accurately calculated, and the parking safety is improved.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an automatic parking system based on computer vision includes a central processing unit, an input end of the central processing unit is connected with a signal sending module, an output end of the signal sending module is connected with an a/D converter, an input end of the a/D converter is connected with an image processing unit, an input end of the image processing unit is connected with a plurality of camera detection modules, an output end of the central processing unit is connected with a signal receiving module, an output end of the signal receiving module is connected with a signal processing unit, and an output end of the signal processing unit is respectively connected with a display module, a steering module, a driving module, a gear module and a braking module.
When a proper parking space is found, an automatic parking button is pressed, a camera detection module around the vehicle body transmits image information around the vehicle body to an image processing unit, the image processing unit measures the distance and the angle between the vehicle body and surrounding obstacles according to a real-time image monitored by the camera detection module, the image processing unit transmits a processed analog signal to an A/D converter, the A/D converter converts the analog signal into a digital signal and transmits the digital signal to a signal sending module, the signal sending module transmits the signal to a central processing unit, the central processing unit analyzes and processes the signal, the processed signal is transmitted to a signal receiving module, the signal receiving module transmits the signal to a signal processing unit, and the signal processing unit controls a display module, a steering module, a driving module, a gear module and a braking module of the vehicle according to signal prompts, therefore, the automatic parking of the vehicle is realized, the parking safety of a novice driver is improved, the parking time is saved, and the parking efficiency is improved.
The input end of the central processing unit is connected with a power supply module, and the power supply module provides power for the work of the central processing unit, so that the normal use of the central processing unit is ensured.
The image processing unit comprises a distance measuring module, an angle identifying module and a tracking module, wherein the output ends of the distance measuring module, the angle identifying module and the tracking module are connected with the input end of the A/D converter, the distance measuring module can measure the distance between an obstacle in an image and an automobile body, the angle identifying module can measure the angle between the obstacle in the image and each part of the automobile body, and the tracking module can monitor the change of the distance and the angle between the automobile body and the obstacle in real time and provide a basis for a next instruction.
The signal processing unit includes decoder and controller, the input of controller is connected with signal reception module's output, the output of controller is connected with the input that turns to module, drive module, gear module and braking module respectively, signal reception module gives the controller with the signal transmission that central controller sent, the controller is according to the module that turns to of instruction control vehicle, drive the module, gear module and braking module to realize the control of vehicle steering wheel steering angle, also can carry out the control of vehicle driving mode and gear as required, also can realize the control of vehicle brake, improve the convenience of automatic parking.
The input end of the decoder is connected with the output end of the signal receiving module, the output end of the decoder is connected with the input end of the display module, the decoder decodes and analyzes the signal, and then images around the vehicle body are displayed in real time through the display module, so that a driver can observe the conditions outside the vehicle body.
The input of AD converter is connected with a plurality of radar monitoring module, and radar monitoring module can accurately carry out the measurement of automobile body and surrounding obstacle distance and angle for supplementary detection module that makes a video recording provides more accurate distance and angle data, improves central processing unit analysis and processing's precision, thereby improves control accuracy, improves parking security.
In summary, the following steps: according to the automatic parking system based on the computer vision, the plurality of camera detection modules are arranged around the vehicle body, dynamic changes of the vehicle and the surrounding environment can be captured in real time, so that corresponding adjustment can be made in time, the controller controls the steering module, the driving module, the gear module and the braking module of the vehicle according to instructions, the surrounding environment of the vehicle body can be restored integrally through the camera detection modules, even tiny obstacles can be captured, the problem that the automatic parking system based on radar monitoring is cut and rubbed due to the fact that the radar cannot monitor the tiny obstacles is solved, the purpose of protecting the vehicle body is achieved, parking is safer, parking efficiency is improved, and the problem that a novice driver is difficult to park is solved; through establishing a plurality of radar monitoring module around the automobile body to can carry out the automobile body and peripheral obstacle distance and the measurement of angle accurately, be used for assisting the detection module that makes a video recording, provide more accurate distance and angle data, thereby calculate steering angle more accurately, improve parking security.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a qualifier" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. An automatic parking system based on computer vision, includes central processing unit, its characterized in that: the input of central processing unit is connected with the signal transmission module, the output of signal transmission module is connected with the AD converter, the input of AD converter is connected with image processing unit, image processing unit's input is connected with a plurality of detection module of making a video recording, the output of central processing unit is connected with signal receiving module, signal receiving module's output is connected with signal processing unit, signal processing unit's output is connected with display module, turns to module, drives module, gear module and braking module respectively.
2. The computer vision based automated parking system of claim 1, wherein: the input end of the central processing unit is connected with a power supply module.
3. The computer vision based automated parking system of claim 1, wherein: the image processing unit comprises a distance measuring module, an angle identifying module and a tracking module, and the output ends of the distance measuring module, the angle identifying module and the tracking module are connected with the input end of the A/D converter.
4. The computer vision based automated parking system of claim 1, wherein: the signal processing unit comprises a decoder and a controller, the input end of the controller is connected with the output end of the signal receiving module, and the output end of the controller is respectively connected with the input ends of the steering module, the driving module, the gear module and the braking module.
5. The computer vision based automated parking system of claim 4, wherein: the input end of the decoder is connected with the output end of the signal receiving module, and the output end of the decoder is connected with the input end of the display module.
6. The computer vision based automated parking system of claim 1, wherein: the input end of the A/D converter is connected with a plurality of radar monitoring modules.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110092109.2A CN112896149A (en) | 2021-01-23 | 2021-01-23 | Automatic parking system based on computer vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110092109.2A CN112896149A (en) | 2021-01-23 | 2021-01-23 | Automatic parking system based on computer vision |
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| CN112896149A true CN112896149A (en) | 2021-06-04 |
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