CN113513984B - Parking space recognition precision detection method and device, electronic equipment and storage medium - Google Patents
Parking space recognition precision detection method and device, electronic equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
Abstract
The embodiment of the invention provides a parking space recognition precision detection method, a device, electronic equipment and a storage medium; the method is applied to a detection system, wherein the vehicle detection system comprises an optical positioning system, a vehicle, an all-around vision detection system (AVM) installed on the vehicle and an entity parking space; comprising the following steps: acquiring a first coordinate value of an AVM for identifying a corresponding angular point of a virtual parking space, wherein the virtual parking space is generated by detecting an entity parking space when the vehicle passes through the entity parking space under a preset working condition; acquiring a second coordinate value of the optical positioning system for identifying the corresponding angular point of the entity parking space; and comparing the first coordinate value with the second coordinate value to determine the visual parking space recognition precision. The embodiment of the invention can accurately detect the precision of the AVM on the parking space identification.
Description
Technical Field
The invention relates to the technical field of automatic parking, in particular to a parking space identification precision detection method, a parking space identification precision detection device, electronic equipment and a storage medium.
Background
Along with the development of the intelligent process of vehicles, more and more vehicles are provided with an automatic parking function, and after the automatic parking function is started, the vehicles control the driving track to park into the parking space after identifying and determining the parking space.
In the parking space recognition, the AVM (Around View Monitor, look-around visual detection system) can be arranged in the vehicle, collect environmental information of an area near the vehicle, output a visual parking space aiming at the collected environmental information, and the vehicle can automatically park aiming at the visual parking space. The visual parking space comprises a plurality of corner points, and the accuracy of detection of the corner points determines the accuracy of visual parking space identification, so that the accuracy of the final parking position of the vehicle in the visual parking space is finally determined. However, in the prior art, there is no technical solution for detecting the accuracy of identifying the visual parking space by the vehicle.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention have been made to provide a parking space recognition accuracy detection method, a parking space recognition accuracy detection device, an electronic apparatus, and a storage medium that overcome or at least partially solve the foregoing problems.
In order to solve the problems, the embodiment of the invention discloses a parking space recognition precision detection method which is applied to a detection system, wherein the vehicle detection system comprises an optical positioning system, a vehicle, an all-around vision detection system AVM arranged on the vehicle and an entity parking space; the method comprises the following steps:
acquiring a first coordinate value of an AVM for identifying a corresponding angular point of a virtual parking space, wherein the virtual parking space is generated by detecting an entity parking space when the vehicle passes through the entity parking space under a preset working condition;
acquiring a second coordinate value of the optical positioning system for identifying the corresponding angular point of the entity parking space;
and comparing the first coordinate value with the second coordinate value to determine the parking space recognition precision.
Optionally, the AVM includes a panoramic electronic control unit, a camera, and an intelligent controller, and the first coordinate value is generated by:
when the camera detects an entity parking space, the panoramic electronic control unit generates a virtual parking space and determines a corresponding corner point of the virtual parking space;
and the intelligent controller determines coordinate points of the corresponding corner points of the virtual parking space under a vehicle coordinate system to generate a first coordinate value.
Optionally, the optical positioning system includes an optical base station, a parking space positioner, and a parking space receiving sensor installed on the parking space positioner, and the second coordinate value is generated by:
the optical base station emits an optical signal;
when the parking space receiving sensor receives the optical signal, the parking space positioner determines a coordinate point of the parking space receiving sensor in an optical system coordinate to generate a second coordinate value.
Optionally, the first coordinate value is a coordinate value of a vehicle coordinate system; the second coordinate value is a coordinate value of an optical system coordinate system, and the step of comparing the first coordinate value with the second coordinate value to determine the parking space recognition precision comprises the following steps:
converting the first coordinate value into a third coordinate value under the optical system coordinate system;
and comparing the third coordinate value with the second coordinate value to determine the parking space recognition precision.
Optionally, a vehicle positioner and a vehicle receiving sensor mounted on the vehicle positioner are further mounted on the vehicle, and when the vehicle receiving sensor receives the optical signal, the vehicle positioner determines a coordinate point of the parking space receiving sensor in an optical system coordinate to generate a fourth coordinate value; the step of converting the first coordinate value into a third coordinate value in the optical system coordinate system includes:
determining the acquisition time of the fourth coordinate value and the first coordinate value;
synchronizing the fourth coordinate value and the first coordinate value according to the acquisition time to generate a coordinate conversion matrix;
and converting the first coordinate value into a third coordinate value under the coordinate system of the optical system through the coordinate conversion matrix.
Optionally, the step of comparing the third coordinate value with the second coordinate value to determine the parking space recognition accuracy includes:
and calculating the difference value between the third coordinate value and the second coordinate value to determine the parking space recognition precision.
Optionally, the preset working conditions include: speed and distance between the vehicle and the side of the solid parking space.
The embodiment of the invention also discloses a parking space recognition precision detection device which is applied to a detection system, wherein the vehicle detection system comprises an optical positioning system, a vehicle, an all-around vision detection system AVM arranged on the vehicle and an entity parking space; the device comprises:
the first acquisition module is used for acquiring a first coordinate value of the AVM for identifying a corresponding angular point of a virtual parking space, wherein the virtual parking space is generated by detecting an entity parking space when the vehicle passes through the entity parking space under a preset working condition;
the second acquisition module acquires a second coordinate value of the optical positioning system for identifying the corresponding angular point of the entity parking space;
and the comparison module is used for comparing the first coordinate value with the second coordinate value to determine the parking space recognition precision.
The embodiment of the invention also discloses an electronic device, which comprises: the parking space recognition accuracy detection method comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program is executed by the processor to realize the steps of the parking space recognition accuracy detection method.
The embodiment of the invention also discloses a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the parking space recognition precision detection method when being executed by a processor.
The embodiment of the invention has the following advantages:
according to the embodiment of the invention, the first coordinate value of the AVM for identifying the corresponding angular point of the virtual parking space is obtained, wherein the AVM is generated by detecting the physical parking space when the vehicle passes through the physical parking space under the preset working condition; acquiring a second coordinate value of the optical positioning system for identifying the corresponding angular point of the entity parking space; and comparing the first coordinate value with the second coordinate value to determine the parking space recognition precision. And carrying out accurate control on the posture of the vehicle body when the vehicle is parked into the parking space during automatic parking based on the identification precision.
Drawings
FIG. 1 is a flow chart of steps of an embodiment of a method for detecting parking space recognition accuracy of the present invention;
FIG. 2 is a schematic diagram of an optical system in an embodiment of the invention;
FIG. 3 is an exemplary diagram of corner points corresponding to virtual parking spaces detected by an AVM in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a detection system according to an embodiment of the present invention;
fig. 5 is a block diagram illustrating an embodiment of a parking space recognition accuracy detecting apparatus according to the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1, a flow chart of steps of an embodiment of a parking space recognition accuracy detection method of the present invention is shown, and is applied to a detection system, where the vehicle detection system includes an optical positioning system, a vehicle, an all-around vision detection system AVM installed on the vehicle, and a physical parking space;
it should be noted that, referring to fig. 2, a schematic structural diagram of an optical system in an embodiment of the present invention is shown; the optical system adopts 850 nm human eye safety infrared light, the optical base station sends out optical signals with unique codes, and the radius of a covered area circle is 2.5 times of the height from the base station to the ground.
The AVM is a system for photographing images through a plurality of ultra-large wide angle fisheye lenses, and performing distortion correction and stitching on the photographed images through a special algorithm to form panoramic images around an object.
The method specifically comprises the following steps:
step 101, acquiring a first coordinate value of an AVM for identifying a corresponding angular point of a virtual parking space, wherein the AVM is generated by detecting an entity parking space when the vehicle passes through the entity parking space under a preset working condition;
a plurality of parking spaces can be divided in the area in the detection system, the parking spaces on the ground are determined as entity parking spaces, the entity parking space is provided with a parking space line, the enveloping of the parking space line forms the entity parking space, and the intersection point of the parking space line is the corner point corresponding to the entity parking space. The virtual parking space is a virtual object corresponding to the physical parking space, and is displayed in a digital image mode.
When the vehicle runs in the area containing the physical parking space under the preset working condition, the AVM can collect the environmental information of the position of the vehicle, and the environmental information contains the image data of the physical parking space.
And obtaining a first coordinate value for identifying the corresponding corner point of the virtual parking space by carrying out corresponding processing on the image data, including but not limited to parking space feature extraction.
Referring to fig. 3, an example diagram of corner points corresponding to virtual parking spaces detected by AVM in an embodiment of the present invention is shown;
in a preferred embodiment of the present invention, the first coordinate value includes four corner points, which may define four corner points of the same parking space, wherein two corner points close to the vehicle in a direction perpendicular to the vehicle direction are near corner points, two corner points far away from the vehicle are far corner points, and two corner points forward and two corner points backward in a vehicle driving direction are rear corner points, so as to sequentially obtain four corner points as near front corner points, far front corner points, near rear corner points, and far rear corner points. Accordingly, the first coordinate value may include a Near Front (NF) coordinate, a Far Front (FF) coordinate, a Near Rear (NR) coordinate, a Far Rear (FR) coordinate.
In a preferred embodiment of the present invention, the preset working conditions include: speed and distance between the vehicle and the side of the solid parking space.
In practical application, the recognition accuracy of the entity parking spaces under different working conditions of the vehicle can be detected by combining different vehicle speeds and different entity parking space side distances to form different working conditions. Wherein, different vehicle speeds comprise but are not limited to 3KM/H, 5KM/H, 7KM/H, 12KM/H, and the distance between the vehicle and the side of the entity parking space comprises but is not limited to 0.5M, 1M and 1.5M. Other vehicle speeds and the distance between the vehicle and the side of the entity parking space can be set by a person skilled in the art according to requirements, and the embodiment of the invention is not limited to the above.
In a preferred embodiment of the present invention, the AVM includes a panorama electronic control unit, a camera, and an intelligent controller, and the first coordinate value is generated by:
when the camera detects an entity parking space, the panoramic electronic control unit generates a virtual parking space and determines a corresponding corner point of the virtual parking space;
and the intelligent controller determines coordinate points of the corresponding corner points of the virtual parking space under a vehicle coordinate system to generate a first coordinate value.
The AVM comprises a panoramic electronic control unit, a camera and an intelligent controller; when a vehicle enters the detection system, the camera performs environment detection to obtain an environment image, and when the vehicle passes through the solid parking space, a complete solid parking space appears in the environment image, for example, a complete rectangular parking space frame is detected; and the panoramic electronic control unit generates a virtual parking space according to the image, and the corner points of the parking space frame corresponding to the virtual parking space. And then determining coordinate points of the corner points of the parking space frame corresponding to the virtual parking space under the vehicle coordinate system through the intelligent controller, and generating a first coordinate value. The vehicle coordinate system can be a three-dimensional rectangular coordinate system established by taking the intelligent controller as an origin. The intelligent controller may be a vehicle odometer.
102, acquiring a second coordinate value of the optical positioning system for identifying the corresponding angular point of the entity parking space;
and acquiring a second coordinate value of the angular point of each entity parking space determined by the optical positioning system, and taking the second coordinate value as a true value (also called as a standard value) of the angular point position of the entity parking space.
Similarly, the second coordinate value also includes four corner points, two corner points close to the vehicle in a direction perpendicular to the direction of the vehicle are near corner points, two corner points far away from the vehicle are far corner points, and two front corner points and two rear corner points in front of the two corner points in the running direction of the vehicle are rear corner points, so that four corner points are near front corner points, first far front corner points, near rear corner points and far rear corner points in sequence. Accordingly, the second coordinate value may include a Near Front (NF) coordinate, a Far Front (FF) coordinate, a Near Rear (NR) coordinate, a Far Rear (FR) coordinate.
In a preferred embodiment of the present invention, the optical positioning system includes an optical base station, a parking space positioner, and a parking space receiving sensor mounted on the parking space positioner, and the second coordinate value is generated by:
the optical base station emits an optical signal;
when the parking space receiving sensor receives the optical signal, the parking space positioner determines a coordinate point of the parking space receiving sensor in an optical system coordinate to generate a second coordinate value.
The optical positioning system includes: the corner points of the physical parking spaces are provided with parking space positioners, parking space receiving sensors arranged on the parking space positioners, and optical base stations capable of communicating with the optical positioners of the physical parking spaces. When the light of the optical base station irradiates the parking space receiving sensor on the parking space positioner, the optical base station and the optical positioner are mutually communicated, the relative positions of the optical positioner and the optical base station are obtained, the position of the entity parking space angular point relative to the optical base station is determined through the relative positions of the optical positioner and the optical base station, and the position of the entity parking space angular point is identified through an optical positioning coordinate system to obtain a second coordinate value.
And step 103, comparing the first coordinate value with the second coordinate value to determine the parking space recognition precision.
And comparing and calculating the first coordinate data and the second coordinate data, determining the difference of the virtual parking space relative to the physical parking space, and determining the parking space identification precision.
When the detection precision of the virtual parking space meets the preset requirement, the virtual parking space generated in the vehicle can be close to the actual condition of the physical parking space, and the vehicle posture can be controlled.
When the detection precision of the virtual parking space cannot meet the preset requirement, the detection error between the visual parking space and the physical parking space is larger, the virtual parking space identified by the vehicle cannot accurately control the corresponding posture of the vehicle, or when the vehicle is correspondingly controlled based on the virtual parking space, a larger gap exists between the actual effect and the expected effect.
In a preferred embodiment of the present invention, the first coordinate value is a coordinate value of a vehicle coordinate system; the second coordinate value is a coordinate value of an optical system coordinate system, and the step of comparing the first coordinate value with the second coordinate value to determine the parking space recognition precision comprises the following steps:
substep S1031, converting the first coordinate value into a third coordinate value in the optical system coordinate system;
when the first coordinate value detected by the AVM is the coordinate value of the vehicle coordinate system and the second coordinate value detected by the optical positioning system is the coordinate value of the optical system coordinate system, the coordinate values are in different coordinate systems, and direct comparison cannot be carried out between the two coordinate values, so that the first coordinate value corresponding to the virtual parking space detected by the AVM can be converted into the third coordinate value in the optical system coordinate system.
In a preferred embodiment of the present invention, the vehicle is further mounted with a vehicle positioner, and a vehicle receiving sensor mounted on the vehicle positioner, the vehicle positioner determining a coordinate point of the parking space receiving sensor in an optical system coordinate to generate a fourth coordinate value when the vehicle receiving sensor receives the optical signal; the step of converting the first coordinate value into a third coordinate value in the optical system coordinate system includes:
substep S10311, determining the fourth coordinate value and the acquisition time of the first coordinate value;
a vehicle positioner and a vehicle receiving sensor mounted on the vehicle positioner are also mounted in the vehicle, and when the vehicle receiving sensor receives the light signal, the vehicle positioner determines a coordinate point of the parking space receiving sensor in an optical system coordinate to generate a fourth coordinate value; the position of the vehicle relative to the physical parking space can be determined through the parking space receiving sensor, the relative position, the driving distance and the like of the vehicle at all times in the driving process can be determined through the parking space receiving sensor, and the position of the virtual parking space relative to the vehicle can be determined based on the vehicle positioning and image data. Therefore, the fourth coordinate value, and the acquisition time of the first coordinate value can be determined first.
Sub-step S10312, synchronizing the fourth coordinate value and the first coordinate value according to the acquisition time, and generating a coordinate conversion matrix;
and synchronizing the fourth coordinate value and the first coordinate value corresponding to each moment through time matching.
Substep S10313, converting, by the coordinate conversion matrix, the first coordinate value into a third coordinate value in the optical system coordinate system.
And then converting the first coordinate value into a third coordinate value under the coordinate system of the optical system according to a coordinate conversion matrix. So that the second coordinate value is re-projected under the optical system coordinate system.
And S1032, comparing the third coordinate value with the second coordinate value to determine the parking space recognition precision.
After the re-projection, the third coordinate value and the second coordinate value are already under the coordinate system corresponding to the optical system, so that the parking space recognition precision is determined by comparing the difference between the third coordinate value and the second coordinate value.
In a preferred embodiment of the present invention, the step of comparing the third coordinate value with the second coordinate value to determine the parking space recognition accuracy includes:
and step S10321, calculating a difference value between the third coordinate value and the second coordinate value to determine the parking space recognition precision.
And determining the gap between the virtual parking space detected by the AVM system and the entity vehicle by calculating the difference between the third coordinate value and the second coordinate value, and determining the parking space recognition precision.
According to the embodiment of the invention, the first coordinate value of the AVM for identifying the corresponding angular point of the virtual parking space is obtained, wherein the AVM is generated by detecting the physical parking space when the vehicle passes through the physical parking space under the preset working condition; acquiring a second coordinate value of the optical positioning system for identifying the corresponding angular point of the entity parking space; and comparing the first coordinate value with the second coordinate value to determine the parking space recognition precision. And carrying out accurate control on the posture of the vehicle body when the vehicle is parked into the parking space during automatic parking based on the identification precision.
In order to enable those skilled in the art to better understand the embodiments of the present application, the embodiments of the present application are described below by way of an example:
referring to fig. 4, a schematic diagram of a detection system according to an embodiment of the present invention is shown. The solid parking space is rectangular and has four corner points. Before testing, the parking stall locator is placed at the corner of each parking stall. The second coordinate value of the true test value (true value) of the corner point of the vision parking space in the circle covered by the optical base station can be measured by the receiving optical base station (not shown) in advance.
And fixing the vehicle receiving sensor and the positioner to a specific position of the roof of the test vehicle, connecting the positioner with a CAN network of the whole vehicle, and preparing a CAN tool for test.
The vehicle vision parking space detection system mainly comprises a panoramic ECU, front, back, left and right 4 cameras and an intelligent controller. When a vehicle passes through a visual parking space, four corner points NF (Near Front)/NR (Near Rear)/FF (Far Front)/FR (Far Rear) of a parking space frame are detected by the left and right sight glass cameras, and the X and Y coordinates of NF/NR/FF/FR are output through CAN signals in combination with a vehicle odometer.
Synchronous acquisition of CAN signals related to a locator and a whole vehicle through different test conditions (different vehicle speeds (including but not limited to 3KM/H, 5KM/H, 7KM/H and 12 KM/H), and vehicle-parking space side distances (including but not limited to 0.5M, 1M and 1.5M);
and (3) comparing the visual detection parking space angular point coordinates with the angular point coordinates of the optical positioning measurement through coordinate conversion to obtain the visual detection precision of the vehicle parking space.
According to the embodiment of the invention, the real value of the parking space corner point is determined by adopting the optical positioning system, the AVM is adopted to output the virtual parking space, the virtual parking space and the real value of the parking space corner point are compared to determine the detection precision of the virtual parking space, and whether the AVM system of the vehicle meets the use requirement is determined, so that whether the vehicle can accurately control the vehicle body posture is determined.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 5, there is shown a block diagram of an embodiment of a parking space recognition accuracy detecting apparatus of the present invention applied to a detecting system including an optical positioning system, a vehicle, an all-around vision detecting system AVM mounted on the vehicle, and a physical parking space; the device. The method specifically comprises the following modules:
the first obtaining module 501 is configured to obtain a first coordinate value of the AVM for identifying a corresponding corner point of a virtual parking space, where the virtual parking space is generated by detecting an actual parking space when the vehicle passes through the actual parking space under a preset working condition;
the second obtaining module 502 obtains a second coordinate value of the optical positioning system for identifying the corresponding angular point of the entity parking space;
a comparison module 503 for comparing the first coordinate value and the second coordinate value to determine the parking space recognition accuracy
In a preferred embodiment of the present invention, the AVM includes a panorama electronic control unit, a camera, and an intelligent controller, and the first coordinate value is generated by:
when the camera detects an entity parking space, the panoramic electronic control unit generates a virtual parking space and determines a corresponding corner point of the virtual parking space;
and the intelligent controller determines coordinate points of the corresponding corner points of the virtual parking space under a vehicle coordinate system to generate a first coordinate value.
In a preferred embodiment of the present invention, the optical positioning system includes an optical base station, a parking space positioner, and a parking space receiving sensor mounted on the parking space positioner, and the second coordinate value is generated by:
the optical base station emits an optical signal;
when the parking space receiving sensor receives the optical signal, the parking space positioner determines a coordinate point of the parking space receiving sensor in an optical system coordinate to generate a second coordinate value.
In a preferred embodiment of the present invention, the first coordinate value is a coordinate value of a vehicle coordinate system; the second coordinate value is a coordinate value of an optical system coordinate system, and the comparing module 503 includes:
the conversion sub-module is used for converting the first coordinate value into a third coordinate value under the optical system coordinate system;
and the comparison sub-module is used for comparing the third coordinate value with the second coordinate value to determine the parking space recognition precision.
In a preferred embodiment of the present invention, the vehicle is further mounted with a vehicle positioner, and a vehicle receiving sensor mounted on the vehicle positioner, the vehicle positioner determining a coordinate point of the parking space receiving sensor in an optical system coordinate to generate a fourth coordinate value when the vehicle receiving sensor receives the optical signal; the conversion sub-module includes:
the acquisition time determining unit is used for determining the acquisition time of the fourth coordinate value and the first coordinate value;
the synchronization unit is used for synchronizing the fourth coordinate value and the first coordinate value according to the acquisition time to generate a coordinate conversion matrix;
and the conversion unit is used for converting the first coordinate value into a third coordinate value under the coordinate system of the optical system through the coordinate conversion matrix.
In a preferred embodiment of the present invention, the contrast sub-module includes:
and the precision recognition unit is used for calculating the difference value between the third coordinate value and the second coordinate value so as to determine the parking space recognition precision.
In a preferred embodiment of the present invention, the preset working conditions include: speed and distance between the vehicle and the side of the solid parking space.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
The embodiment of the application also provides electronic equipment, which comprises: the method comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the computer program realizes the processes of the embodiment of the precision detection method when being executed by the processor, can achieve the same technical effects, and is not repeated here.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the processes of the above embodiment of the accuracy detection method, and can achieve the same technical effects, so that repetition is avoided, and no further description is given here.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, 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.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The method, the device, the electronic equipment and the storage medium for detecting the parking space recognition precision provided by the invention are described in detail, and specific examples are applied to the explanation of the principle and the implementation mode of the invention, and the explanation of the above examples is only used for helping to understand the method and the core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
1. The parking space recognition precision detection method is characterized by being applied to a detection system, wherein the detection system comprises an optical positioning system, a vehicle, an all-around vision detection system (AVM) arranged on the vehicle and an entity parking space; the method comprises the following steps:
acquiring a first coordinate value of an AVM for identifying a corresponding angular point of a virtual parking space, wherein the virtual parking space is generated by detecting an entity parking space when the vehicle passes through the entity parking space under various preset working conditions;
acquiring a second coordinate value of an optical base station of the optical positioning system for identifying the corresponding angular point of the entity parking space in a coverage area circle, wherein the second coordinate value is an optical system coordinate value;
and comparing the first coordinate value with the second coordinate value at the same time to determine the parking space recognition precision.
2. The method of claim 1, wherein the AVM comprises a panoramic electronic control unit, a camera, and an intelligent controller, the first coordinate value being generated by:
when the camera detects an entity parking space, the panoramic electronic control unit generates a virtual parking space and determines a corresponding corner point of the virtual parking space;
and the intelligent controller determines coordinate points of the corresponding corner points of the virtual parking space under a vehicle coordinate system to generate a first coordinate value.
3. The method of claim 1 or 2, wherein the optical positioning system comprises an optical base station, a parking spot locator, and a parking spot receiving sensor mounted on the parking spot locator, the second coordinate value being generated by:
the optical base station emits an optical signal;
when the parking space receiving sensor receives the optical signal, the parking space positioner determines a coordinate point of the parking space receiving sensor in an optical system coordinate to generate a second coordinate value.
4. The method of claim 3, wherein the first coordinate value is a coordinate value of a vehicle coordinate system; the second coordinate value is a coordinate value of an optical system coordinate system, and the step of comparing the first coordinate value with the second coordinate value to determine the parking space recognition precision comprises the following steps:
converting the first coordinate value into a third coordinate value under the optical system coordinate system;
and comparing the third coordinate value with the second coordinate value to determine the parking space recognition precision.
5. The method of claim 4, wherein the vehicle is further mounted with a vehicle locator and a vehicle receiving sensor mounted on the vehicle locator, the vehicle locator determining a coordinate point of the parking spot receiving sensor in an optical system coordinate to generate a fourth coordinate value when the vehicle receiving sensor receives the light signal; the step of converting the first coordinate value into a third coordinate value in the optical system coordinate system includes:
determining the acquisition time of the fourth coordinate value and the first coordinate value;
synchronizing the fourth coordinate value and the first coordinate value according to the acquisition time to generate a coordinate conversion matrix;
and converting the first coordinate value into a third coordinate value under the coordinate system of the optical system through the coordinate conversion matrix.
6. The method of claim 4, wherein the step of comparing the third coordinate value with the second coordinate value to determine a parking space identification accuracy comprises:
and calculating the difference value between the third coordinate value and the second coordinate value to determine the parking space recognition precision.
7. The method of claim 1, wherein the predetermined operating conditions comprise: speed and distance between the vehicle and the side of the solid parking space.
8. The parking space recognition precision detection device is characterized by being applied to a detection system, wherein the detection system comprises an optical positioning system, a vehicle, an all-round vision detection system (AVM) arranged on the vehicle and an entity parking space; the device comprises:
the first acquisition module is used for acquiring a first coordinate value of the AVM for identifying a corresponding angular point of a virtual parking space, wherein the virtual parking space is generated by detecting an entity parking space when the vehicle passes through the entity parking space under various preset working conditions;
the second acquisition module is used for acquiring a second coordinate value of the optical base station of the optical positioning system for identifying the corresponding angular point of the entity parking space in the coverage area circle, wherein the second coordinate value is an optical system coordinate value;
and the comparison module is used for comparing the first coordinate value with the second coordinate value at the same time to determine the parking space recognition precision.
9. An electronic device, comprising: a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor, implements the steps of the parking space identification accuracy detection method according to any one of claims 1-7.
10. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, which when executed by a processor, implements the steps of the parking space recognition accuracy detection method according to any one of claims 1 to 7.
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