CN113112846A - Parking navigation method, device, equipment and storage medium - Google Patents
Parking navigation method, device, equipment and storage medium Download PDFInfo
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- CN113112846A CN113112846A CN202110550312.XA CN202110550312A CN113112846A CN 113112846 A CN113112846 A CN 113112846A CN 202110550312 A CN202110550312 A CN 202110550312A CN 113112846 A CN113112846 A CN 113112846A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
Abstract
The embodiment of the invention discloses a parking navigation method, a parking navigation device, parking navigation equipment and a storage medium. The method comprises the following steps: when the vehicle runs to a parking area, establishing an obstacle map corresponding to the parking area; determining attribute information of a target parking space according to the barrier map; the attribute information comprises parking place types and parking place coordinate information; and generating at least one target contour line corresponding to the target parking space according to the obstacle map and the attribute information, and generating parking navigation path information according to the target contour line information. According to the scheme of the embodiment of the invention, the parking navigation path planning of the vehicle is realized, the parking efficiency is improved, and the collision in the parking process is reduced.
Description
Technical Field
The embodiment of the invention relates to navigation technologies, in particular to a parking navigation method, a parking navigation device, parking navigation equipment and a storage medium.
Background
An automatic parking system, which is a technique for providing parking assistance to a driver, has been applied to respective vehicles by a large number of automobile manufacturers; the path planning algorithm is the core of the automatic parking system, and directly determines the parking effect.
At the present stage, the performance of the path planning algorithm mainly depends on the accurate perception of a berthable area around a vehicle to be berthed; specifically, the area around the vehicle can be divided into grids with a plurality of sizes, obstacle information around the vehicle is scanned through an ultrasonic radar, the corresponding grids are marked as obstacles, and finally, the established grid map is collected in a unified mode; however, if the obstacle map is directly used for collision detection in the parking path planning algorithm, the relationship between each obstacle point in the obstacle map and the parking path needs to be detected separately, so that a huge calculation amount not only provides a great test for the calculation power of the controller, but also seriously influences the planning time of the path planning algorithm and influences the effect of parking control.
Therefore, a parking navigation method is needed to reduce the amount of calculation and improve the efficiency and accuracy of the path planning algorithm.
Disclosure of Invention
The embodiment of the invention provides a parking navigation method, a parking navigation device, parking navigation equipment and a storage medium, which are used for planning a parking navigation path of a vehicle, improving parking efficiency and reducing collision in a parking process.
In a first aspect, an embodiment of the present invention provides a parking navigation method, including:
when a vehicle runs to a parking area, establishing an obstacle map corresponding to the parking area;
determining attribute information of a target parking space according to the obstacle map; the attribute information comprises parking place types and parking place coordinate information;
and generating at least one target contour line corresponding to the target parking space according to the obstacle map and the attribute information, and generating parking navigation path information according to the target contour line information.
In a second aspect, an embodiment of the present invention further provides a parking navigation apparatus, including:
the system comprises a barrier map establishing module, a parking area establishing module and a control module, wherein the barrier map establishing module is used for establishing a barrier map corresponding to the parking area when a vehicle runs to the parking area;
the attribute information determining module is used for determining the attribute information of the target parking space according to the obstacle map; the attribute information comprises parking place types and parking place coordinate information;
and the target contour line generating module is used for generating at least one target contour line corresponding to the target parking space according to the obstacle map and the attribute information and generating parking navigation path information according to the target contour line information.
In a third aspect, an embodiment of the present invention further provides a parking navigation apparatus, including:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the parking navigation method according to any one of the embodiments of the present invention.
In a fourth aspect, the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions, when executed by a computer processor, are configured to perform a parking navigation method according to any one of the embodiments of the present invention.
According to the scheme of the embodiment of the invention, when the vehicle runs to the parking area, the obstacle map corresponding to the parking area is established; determining attribute information of a target parking space according to the barrier map; the attribute information comprises parking place types and parking place coordinate information; according to the obstacle map and the attribute information, at least one target contour line corresponding to the target parking space is generated, and the parking navigation path information is generated according to the target contour line information, so that the parking navigation path planning of the vehicle is realized, the parking efficiency is improved, and the collision in the parking process is reduced.
Drawings
Fig. 1 is a flowchart of a parking guidance method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a parking guidance method according to a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a global coordinate system established in the second embodiment of the present invention;
fig. 4 is a schematic diagram of an obstacle map established in the second embodiment of the present invention;
FIG. 5a is a schematic diagram of a default contour line of a horizontal parking space in the second embodiment of the present invention;
FIG. 5b is a schematic diagram of a vertical parking space default contour line according to the second embodiment of the present invention;
FIG. 5c is a schematic diagram of a default contour line of an inclined parking space according to a second embodiment of the present invention;
FIG. 6 is a diagram illustrating an updated obstacle map according to a second embodiment of the present invention;
fig. 7 is a schematic structural diagram of a parking navigation device according to a third embodiment of the present invention;
fig. 8 is a schematic structural diagram of a parking navigation apparatus according to a fourth embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad invention. It should be further noted that, for convenience of description, only some structures, not all structures, relating to the embodiments of the present invention are shown in the drawings.
Example one
Fig. 1 is a flowchart of a parking navigation method according to an embodiment of the present invention, where the method is applicable to a parking situation in an area without a scribed parking space, and the method may be executed by a parking navigation apparatus, where the apparatus may be implemented in a software and/or hardware manner and is integrated in a parking navigation device, and in this embodiment, the parking navigation device may be an electronic device such as a computer, a server, or a tablet computer. Specifically, referring to fig. 1, the method specifically includes the following steps:
and step 110, when the vehicle runs to the parking area, establishing an obstacle map corresponding to the parking area.
The parking area is a parking area without planning parking spaces, namely, no parking line exists; for example, the distance between two vehicles or the square space is not limited in the present embodiment. In the present embodiment, the parking area is not limited to a size, and the size of the parking area may be 50m × 50m, 20m × 20m, or 10m × 10 m.
In an optional implementation manner of the embodiment, when the vehicle travels to the parking area, an obstacle map corresponding to the parking area may be established according to obstacle information acquired by ultrasonic radar installed around the vehicle.
And step 120, determining attribute information of the target parking space according to the obstacle map.
The attribute information comprises parking place types and parking place coordinate information. The parking space type can be a horizontal parking space, a vertical parking space or an inclined parking space; the parking space coordinate information may be midpoint coordinate information of the target parking space, or vertex coordinate information of the target parking space, which is not limited in this embodiment.
In an optional implementation manner of this embodiment, after the obstacle map corresponding to the parking area is established, the parking space type and the parking space coordinate information of the target parking space may be further determined according to the obstacle map; for example, it may be determined from the obstacle map that the parking type of the target parking space is a horizontal space, and coordinate information of a line point in the space of the target parking space in a global coordinate system established with the vehicle as a center.
And step 130, generating at least one target contour line corresponding to the target parking space according to the obstacle map and the attribute information, and generating parking navigation path information according to each target contour line.
In an optional implementation manner of this embodiment, after determining the parking space type and the parking space coordinate information of the target parking space, at least one target contour line corresponding to the target parking space may be further generated according to the obstacle map, the parking space type, and the parking space coordinate information corresponding to the parking area; furthermore, the path information of the vehicle navigating to the target parking space can be planned according to the generated entry contour lines, it should be noted that each target contour line is not touched in the generated path information, and no obstacle is contained in the target contour line.
The number of generated target contour lines may be 6, 7, or the like, and is not limited in this embodiment.
According to the scheme of the embodiment, when the vehicle runs to the parking area, an obstacle map corresponding to the parking area is established; determining attribute information of a target parking space according to the barrier map; the attribute information comprises parking place types and parking place coordinate information; according to the obstacle map and the attribute information, at least one target contour line corresponding to the target parking space is generated, and the parking navigation path information is generated according to the target contour line information, so that the parking navigation path planning of the vehicle is realized, the parking efficiency is improved, and the collision in the parking process is reduced.
Example two
Fig. 2 is a flowchart of a parking navigation method according to a second embodiment of the present invention, which is a further refinement of the above technical solutions, and the technical solutions in this embodiment may be combined with various alternatives in one or more of the above embodiments. As shown in fig. 2, the parking navigation method may include the steps of:
The preset range may be 50m × 50m, 20m × 20m, or 10m × 10m centered on the vehicle, which is not limited in this embodiment.
In an optional implementation manner of the embodiment, when the vehicle travels to the parking area, a global coordinate system may be established with the vehicle as an origin; for example, a global coordinate system may be established with a midpoint of a rear axis of the vehicle as a coordinate origin, a direction of a longitudinal axis of the vehicle as an x-axis, and a left direction perpendicular to the x-axis as a y-axis. Furthermore, obstacle information in a preset range can be identified through the vehicle-mounted radar, and each obstacle information is marked in the established global coordinate system, so that an obstacle map corresponding to the parking area is generated.
In a specific example of this embodiment, when a vehicle travels to a parking area, a global coordinate system may be established with a pose of the vehicle at a trigger time as an initial pose, a midpoint of a rear axle of the vehicle as a coordinate origin, a direction of a longitudinal axis of the vehicle as an x-axis, and a left direction perpendicular to the x-axis as a y-axis; in this embodiment, the established global coordinate system may be as shown in fig. 3; the obstacle map may be a 500 × 500 bool-type matrix (the established obstacle map always represents obstacle information of 50m × 50m around the vehicle), the center of the matrix is a geometric center of the vehicle, the obstacle map grids real distances around the vehicle, one grid in the obstacle map represents a real distance of 10cm, wherein 0 in the obstacle map represents that no obstacle exists, and 1 represents that an obstacle exists.
As shown in fig. 3, minY represents the obstacle map ordinate minimum value (e.g., 1); maxY represents the maximum of the ordinate of the obstacle map (e.g., 501); minX represents the obstacle map abscissa minimum (e.g., 1); max X represents the maximum value of the abscissa of the obstacle map (e.g., 501); the obstacle map is initialized to 0. In the process of searching for the parking space, acquiring data acquired by an ultrasonic radar arranged in a vehicle in real time, converting obstacle distance information reflected by the ultrasonic radar into an obstacle map coordinate system, and establishing an obstacle map based on the ultrasonic radar; for example, an obstacle map established based on the ultrasonic radar in the process of searching for a parking space may be as shown in fig. 4, where a black area in the map is obstacle information detected by the ultrasonic radar.
The set threshold may be 5m, 10m, 12m, or the like, and is not limited in this embodiment.
In an optional implementation manner of the embodiment, after the obstacle map corresponding to the parking area is established, the distance between every two obstacles in the obstacle map may be further determined, and when the target distance between the target obstacle and the reference obstacle is greater than a set threshold, it may be determined that the target parking space is located between the target obstacle and the reference obstacle; it should be noted that the target obstacle and the reference obstacle related to the present embodiment may be any two obstacles in the established obstacle map, which is not limited in the present embodiment.
Furthermore, the parking space type of the target parking space can be determined according to the area information of the reference space between the target obstacle and the reference obstacle; wherein, the parking stall type in target parking stall can include: vertical, horizontal, or inclined parking spaces. For example, if the area information of the reference space between the target obstacle and the reference obstacle is 6m long and 2.5m wide, it may be determined that the parking space type of the target parking space is a horizontal parking space; if the area information of the reference space between the target obstacle and the reference obstacle is 2.5m long and 6m wide, the parking space type of the target parking space can be determined to be a vertical parking space.
In an optional implementation manner of this embodiment, after determining that the target parking space is located between the target obstacle and the reference obstacle, the method may further include: generating parking space coordinate information according to the position information of the target obstacle and the position information of the reference obstacle; the parking space coordinate information is the center coordinate information of the target parking space and/or the vertex coordinate information of the target parking space.
In an optional implementation manner of this embodiment, after it is determined that the target parking space is located between the target obstacle and the reference obstacle, the parking space coordinate information may be further generated according to the position information of the target obstacle and the position information of the reference obstacle; for example, the midpoint coordinate information of the target obstacle and the reference obstacle may be determined, and the determined midpoint coordinate information may be determined as the parking space coordinate information.
And step 230, determining at least one reference contour line corresponding to the target parking space according to the parking space type of the target parking space.
And the reference contour lines form a target parking space.
In an optional implementation manner of this embodiment, after determining the parking space type and the parking space coordinate information of the target parking space according to the obstacle map, at least one reference contour line corresponding to the target parking space may be further determined according to the parking space type of the target parking space; it can be understood that the standard size information of the target parking space can be determined according to the parking space type of the target parking space, and a plurality of reference contour lines corresponding to the target parking space can be determined according to the standard size information of the target parking space.
Further, generating at least one target contour line corresponding to the target parking space according to the obstacle map and the attribute information may include: determining whether a target parking space formed by the reference contour lines contains a target obstacle or not according to the obstacle map; and if so, updating each reference contour line according to the target obstacle to generate a target contour line.
In an optional implementation manner of this embodiment, after determining at least one reference contour line corresponding to a target parking space according to a parking space type of the target parking space, it may further determine whether a target obstacle is included in the target parking space composed of the reference contour lines according to a pre-established obstacle map, where the target obstacle may be any obstacle, and this is not limited in this embodiment.
Further, if it is determined that the target parking space formed by the reference contour lines contains the target obstacle, the reference contour lines can be updated according to the target obstacle, so that the target contour lines are generated; for example, the reference contour lines adjacent to the target obstacle may be compressed and adjusted so that each adjusted reference contour line does not surround the target obstacle, thereby generating a new target contour line.
In another optional implementation manner of this embodiment, after at least one target contour line is generated, length information and width information of a target parking space formed by each target contour line may be further detected; and when the length information meets the set length threshold and the width information meets the set width threshold, generating navigation path information for navigating to the target parking space.
The set length threshold may be 5m, 6m, or 7m, and the like, which is not limited in this embodiment; the set width threshold may be 2m, 2.5m, 3m, etc., which is also not limited in this embodiment.
In a specific implementation, after at least one target contour line is generated, length information and width information of a target parking space surrounded by the target contour line can be further detected, so that whether a vehicle can be exactly parked in the target parking space is determined; if the vehicle can be just stopped in the target parking space, navigation path information for navigating to the target parking space can be further generated; if the vehicle cannot be stopped just within the target parking space, the target parking space may be re-determined until it is determined that the vehicle can be stopped just within the target parking space.
The parking guidance method has the advantages that the vehicle can be guaranteed not to be collided and parked on the target parking space, and safety and accuracy of parking guidance are improved.
According to the scheme of the embodiment, a global coordinate system can be established by taking the vehicle as an origin; identifying obstacle information in a preset range through a vehicle-mounted radar, marking each obstacle information in a global coordinate system, and generating an obstacle map corresponding to a parking area; determining the distance between any two obstacles in the obstacle map, and determining that the target parking space is positioned between the target obstacle and the reference obstacle when the target distance between the target obstacle and the reference obstacle is greater than a set threshold value; determining the parking space type of a target parking space according to the area information of a reference space between the target obstacle and the reference obstacle; determining whether a target parking space formed by the reference contour lines contains a target obstacle or not according to the obstacle map; if so, updating each reference contour line according to the target barrier to generate a target contour line, accurately determining the target contour line, realizing the parking navigation path planning of the vehicle, improving the parking efficiency, reducing the collision phenomenon in the parking process and improving the vehicle safety.
In order to make those skilled in the art better understand the parking navigation method of the embodiment, a specific example is used for description below, and the specific process includes:
1. and searching the parking space, and establishing an obstacle map based on the ultrasonic radar.
In a specific implementation, when a vehicle runs to a parking area, a global coordinate system can be established by taking the vehicle as an origin; for example, a global coordinate system may be established with a midpoint of a rear axis of the vehicle as a coordinate origin, a direction of a longitudinal axis of the vehicle as an x-axis, and a left direction perpendicular to the x-axis as a y-axis. Furthermore, obstacle information in a preset range can be identified through the vehicle-mounted radar, and each obstacle information is marked in the established global coordinate system, so that an obstacle map corresponding to the parking area is generated.
In a specific example of this embodiment, when a vehicle travels to a parking area, a global coordinate system may be established with a pose of the vehicle at a trigger time as an initial pose, a midpoint of a rear axle of the vehicle as a coordinate origin, a direction of a longitudinal axis of the vehicle as an x-axis, and a left direction perpendicular to the x-axis as a y-axis; in this embodiment, the established global coordinate system may be as shown in fig. 3; the obstacle map may be a 500 × 500 bool-type matrix (the established obstacle map always represents obstacle information of 50m × 50m around the vehicle), the center of the matrix is a geometric center of the vehicle, the obstacle map grids real distances around the vehicle, one grid in the obstacle map represents a real distance of 10cm, wherein 0 in the obstacle map represents that no obstacle exists, and 1 represents that an obstacle exists.
In the embodiment, in the process of searching the parking space, data acquired by an ultrasonic radar arranged in a vehicle can be acquired in real time, barrier distance information reflected by the ultrasonic radar is converted into a barrier map coordinate system, and a barrier map is established based on the ultrasonic radar; for example, an obstacle map established based on the ultrasonic radar in the process of searching for a parking space may be as shown in fig. 4, where a black area in the map is obstacle information detected by the ultrasonic radar.
2. And determining the type and the coordinates of the target parking space.
In a specific implementation, for an automatic parking system, two manners of manual determination by a driver and automatic determination by the parking system are provided for determining a target parking space, and no matter which method for determining the target parking space is used, when the target parking space is determined, the type and coordinate information (for example, the abscissa X, the ordinate Y and the heading angle Yaw) of the target parking space can be calculated.
3. And determining default contour line position information according to the target parking space, and preliminarily determining a feasible region of the vehicle to be parked.
In this embodiment, there are 6 contour lines to be confirmed, which respectively include 5 parking space contour lines of parking spaces and contour lines of opposite parking space protection areas. According to the target parking space information (e.g., the abscissa X, the ordinate Y and the heading angle Yaw) in combination with the default parking space size, as shown in fig. 5a, 5b and 5c, the 5 parking space contour lines around the parking space and the contour line coordinate information of the opposite protection area are preliminarily confirmed. Fig. 5a is a schematic diagram of a default contour line of a horizontal parking space in the second embodiment of the present invention; FIG. 5b is a schematic diagram of a vertical parking space default contour line according to the second embodiment of the present invention; fig. 5c is a schematic diagram of a default contour line of a tilted parking space in the second embodiment of the present invention.
4. And respectively updating the position information under each contour according to the obstacle map information established by the ultrasonic radar.
In this embodiment, whether an obstacle exists between each default line segment and the vehicle to be parked is respectively calculated according to obstacle map information established by the ultrasonic radar, if so, the position information of the contour line is updated by taking an obstacle point closest to the vehicle as a default point, and the position of the default line segment is updated, wherein the updated obstacle map is as shown in fig. 6.
5. And outputting the simplified line segment information.
According to the scheme of the embodiment, the default contour line positions can be preliminarily determined according to the type of the target parking space selected by the driver, then the positions of all the contour lines are respectively updated by combining the obstacle map information established by the ultrasonic radar, the contour lines distributed by the obstacles are drawn by line segments, and feasible areas around the vehicle to be parked are approximately represented by the contour lines, so that a collision detection method in a path planning algorithm is simplified. The method is characterized in that a barrier map established according to an ultrasonic radar is used for path planning collision detection, the position relation between each barrier point in the map and a planned path needs to be judged, the method for representing the barrier map needs to be simplified, and the calculated amount in path planning is reduced by simplifying the barrier map.
EXAMPLE III
Fig. 7 is a schematic structural diagram of a parking navigation apparatus according to a third embodiment of the present invention, which is capable of executing the parking navigation method according to the embodiments. Referring to fig. 7, the apparatus includes: an obstacle map creation module 710, an attribute information determination module 720, and a target contour line generation module 730.
The obstacle map building module 710 is used for building an obstacle map corresponding to a parking area when a vehicle runs to the parking area;
an attribute information determining module 720, configured to determine attribute information of a target parking space according to the obstacle map; the attribute information comprises parking place types and parking place coordinate information;
and a target contour line generating module 730, configured to generate at least one target contour line corresponding to the target parking space according to the obstacle map and the attribute information, and generate parking navigation path information according to each piece of target contour line information.
According to the scheme of the embodiment, the obstacle map corresponding to the parking area is established through the obstacle map establishing module; determining attribute information of a target parking space according to the obstacle map through an attribute information determination module; and generating at least one target contour line corresponding to the target parking space according to the obstacle map and the attribute information through a target contour line generating module, and generating parking navigation path information according to the target contour line information, so that the parking navigation path planning of the vehicle is realized, the parking efficiency is improved, and the collision in the parking process is reduced.
In an optional implementation manner of this embodiment, the obstacle map establishing module 710 is specifically configured to establish a global coordinate system with the vehicle as an origin;
and identifying obstacle information in a preset range through a vehicle-mounted radar, marking each obstacle information in the global coordinate system, and generating an obstacle map corresponding to the parking area.
In an optional implementation manner of this embodiment, the attribute information determining module 720 is specifically configured to
Determining a distance between any two obstacles in the obstacle map, and determining that the target parking space is located between a target obstacle and a reference obstacle when a target distance between the target obstacle and the reference obstacle is greater than a set threshold;
determining the parking space type of the target parking space according to the area information of the reference space between the target obstacle and the reference obstacle; the parking space types include: vertical, horizontal, or inclined parking spaces.
In an optional implementation manner of this embodiment, the attribute information determining module 720 is further specifically configured to
Generating parking space coordinate information according to the position information of the target obstacle and the position information of the reference obstacle; the parking space coordinate information is center coordinate information of a target parking space and/or vertex coordinate information of the target parking space.
In an optional implementation manner of this embodiment, the parking navigation apparatus further includes: a reference contour line determination module for
Determining at least one reference contour line corresponding to the target parking space according to the parking space type of the target parking space;
and each reference contour line forms the target parking space.
In an optional implementation manner of this embodiment, the target contour line generation module 730 is specifically configured to
Determining whether the target parking space formed by the reference contour lines contains a target obstacle or not according to the obstacle map;
and if so, updating each reference contour line according to the target obstacle to generate a target contour line.
In an optional implementation manner of this embodiment, the parking navigation apparatus further includes: target parking space detection module for
Detecting length information and width information of a target parking space formed by each target contour line;
and when the length information meets a set length threshold value and the width information meets a set width threshold value, generating navigation path information for navigating to the target parking space.
The parking navigation device provided by the embodiment of the invention can execute the parking navigation method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 8 is a schematic structural diagram of a parking navigation apparatus according to a fourth embodiment of the present invention, and as shown in fig. 8, the parking navigation apparatus includes a processor 80, a memory 81, an input device 82, and an output device 83; the number of the processors 80 in the parking navigation apparatus may be one or more, and one processor 80 is taken as an example in fig. 8; the processor 80, the memory 81, the input device 82, and the output device 83 in the parking navigation apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 8.
The memory 81 serves as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the parking navigation method in the embodiment of the present invention (e.g., the obstacle map building module 710, the attribute information determining module 720, and the target contour line generating module 730 in the parking navigation apparatus). The processor 80 executes various functional applications and data processing of the parking navigation apparatus by executing software programs, instructions, and modules stored in the memory 81, that is, implements the parking navigation method described above.
The memory 81 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 for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 81 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 81 may further include a memory remotely disposed from the processor 80, and these remote memories may be connected to the parking navigation device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 82 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the parking navigation apparatus. The output device 83 may include a display device such as a display screen.
EXAMPLE five
Fifth, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a parking navigation method, the method including:
when a vehicle runs to a parking area, establishing an obstacle map corresponding to the parking area;
determining attribute information of a target parking space according to the obstacle map; the attribute information comprises parking place types and parking place coordinate information;
and generating at least one target contour line corresponding to the target parking space according to the obstacle map and the attribute information, and generating parking navigation path information according to each target contour line.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the parking navigation method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the parking navigation device, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A parking navigation method, comprising:
when a vehicle runs to a parking area, establishing an obstacle map corresponding to the parking area;
determining attribute information of a target parking space according to the obstacle map; the attribute information comprises parking place types and parking place coordinate information;
and generating at least one target contour line corresponding to the target parking space according to the obstacle map and the attribute information, and generating parking navigation path information according to each target contour line.
2. The method of claim 1, wherein establishing an obstacle map corresponding to a parking area when a vehicle is traveling to the parking area comprises:
establishing a global coordinate system by taking the vehicle as an origin;
and identifying obstacle information in a preset range through a vehicle-mounted radar, marking each obstacle information in the global coordinate system, and generating an obstacle map corresponding to the parking area.
3. The method of claim 1, wherein determining attribute information for a target parking space from the obstacle map comprises:
determining a distance between any two obstacles in the obstacle map, and determining that the target parking space is located between a target obstacle and a reference obstacle when a target distance between the target obstacle and the reference obstacle is greater than a set threshold;
determining the parking space type of the target parking space according to the area information of the reference space between the target obstacle and the reference obstacle; the parking space types include: vertical, horizontal, or inclined parking spaces.
4. The method of claim 3, further comprising, after determining that the target parking space is between the target obstacle and the reference obstacle:
generating parking space coordinate information according to the position information of the target obstacle and the position information of the reference obstacle; the parking space coordinate information is center coordinate information of a target parking space and/or vertex coordinate information of the target parking space.
5. The method of claim 1, further comprising, prior to generating at least one target contour line corresponding to the target parking space from the obstacle map and the attribute information:
determining at least one reference contour line corresponding to the target parking space according to the parking space type of the target parking space;
and each reference contour line forms the target parking space.
6. The method of claim 5, wherein generating at least one target contour line corresponding to the target parking space from the obstacle map and the attribute information comprises:
determining whether the target parking space formed by the reference contour lines contains a target obstacle or not according to the obstacle map;
and if so, updating each reference contour line according to the target obstacle to generate a target contour line.
7. The method of claim 6, after generating at least one target contour line, further comprising:
detecting length information and width information of a target parking space formed by each target contour line;
and when the length information meets a set length threshold value and the width information meets a set width threshold value, generating navigation path information for navigating to the target parking space.
8. A parking navigation apparatus, characterized by comprising:
the system comprises a barrier map establishing module, a parking area establishing module and a control module, wherein the barrier map establishing module is used for establishing a barrier map corresponding to the parking area when a vehicle runs to the parking area;
the attribute information determining module is used for determining the attribute information of the target parking space according to the obstacle map; the attribute information comprises parking place types and parking place coordinate information;
and the target contour line generating module is used for generating at least one target contour line corresponding to the target parking space according to the obstacle map and the attribute information and generating parking navigation path information according to the target contour line information.
9. A parking navigation apparatus characterized by comprising:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the vehicle navigation method according to any one of claims 1 to 7.
10. A storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the vehicle parking navigation method of any one of claims 1-7.
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