CN113734157B - Memory parking method, device, equipment, storage medium and program product - Google Patents
Memory parking method, device, equipment, storage medium and program product Download PDFInfo
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- CN113734157B CN113734157B CN202111117612.5A CN202111117612A CN113734157B CN 113734157 B CN113734157 B CN 113734157B CN 202111117612 A CN202111117612 A CN 202111117612A CN 113734157 B CN113734157 B CN 113734157B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
Abstract
The embodiment of the application provides a memory parking method, a device, equipment, a storage medium and a program product, wherein the memory parking method comprises the following steps: judging whether the vehicle is positioned in a preset range of a preset starting point or not based on a vehicle-mounted annular view of the vehicle; if yes, acquiring a reference track of the preset starting point; planning a driving track of the vehicle according to the reference track so as to control the vehicle to drive to a parking point corresponding to the preset starting point; according to the parking points, the vehicle is controlled to be parked into a target parking space corresponding to the preset starting point, repositioning of the vehicle is achieved based on the vehicle-mounted looking-around diagram, repositioning dependence on hardware and software resources are small, engineering complexity and cost are reduced, positioning is accurate and quick, and efficiency of memorizing and parking is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of automatic parking, in particular to a memory parking method, a memory parking device, a memory parking equipment, a storage medium and a program product.
Background
The automatic parking technology provides a convenient and quick parking mode for a driver. Among the automatic parking technologies, the emerging memory parking technology is widely used.
In memory parking, by autonomously learning the driver's route during parking, when the vehicle is driven into the field again, the vehicle can be positioned by environmental awareness, and the vehicle is controlled to travel onto the memorized parking route, through which the vehicle is parked into a parking space.
In the existing memory parking system, when a vehicle is positioned, the vehicle is often positioned based on SLAM (Simultaneous Localization and Mapping, instant positioning and memory parking) technology by drawing a map of the environment in which the vehicle is located, so that the required engineering is huge, and the cost and the complexity of memory parking are increased.
Disclosure of Invention
The embodiment of the application provides a memory parking method, a device, equipment, a storage medium and a program product, which realize the positioning of a vehicle based on pictures acquired by a vehicle-mounted looking-around camera, have less dependent hardware resources and low algorithm complexity, and reduce the cost and complexity of parking control.
In a first aspect, an embodiment of the present application provides a memory parking method, including: judging whether the vehicle is positioned in a preset range of a preset starting point or not based on a vehicle-mounted annular view of the vehicle; if yes, acquiring a reference track of the preset starting point; planning a driving track of the vehicle according to the reference track so as to control the vehicle to drive to a parking point corresponding to the preset starting point; and controlling the vehicle to park in a target parking space corresponding to the preset starting point according to the parking point.
Optionally, based on the vehicle-mounted annular view of the vehicle, determining whether the vehicle is located within a preset range of a preset starting point includes: loading at least one reference ring view corresponding to a preset starting point; and judging whether the vehicle is positioned in a preset range of one of the preset starting points according to the vehicle-mounted annular view and the reference annular view corresponding to at least one preset starting point.
Optionally, determining whether the vehicle is located in a preset range of one of the preset starting points according to the reference ring view corresponding to the vehicle-mounted ring view and the at least one preset starting point includes: acquiring characteristic information of the vehicle-mounted annular view and a reference annular view corresponding to each preset starting point; for each preset starting point, determining the matching degree of the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point according to the characteristic information of the vehicle-mounted annular view and the reference annular view corresponding to each preset starting point; and judging whether the vehicle is positioned in a preset range of the preset starting point according to the matching degree.
Optionally, determining whether the vehicle is located in a preset range of one of the preset starting points according to the reference ring view corresponding to the vehicle-mounted ring view and the at least one preset starting point includes: for each preset starting point, acquiring characteristic information of the vehicle-mounted annular view and a reference annular view corresponding to the preset starting point; according to the feature information, calculating a mapping relation of the vehicle-mounted annular view and a reference annular view corresponding to the preset starting point, wherein the mapping relation is used for describing a conversion relation of each first feature point in the vehicle-mounted annular view and each second feature point corresponding to each first feature point in the reference annular view corresponding to the preset starting point; and judging whether the vehicle is positioned in a preset range of the preset starting point according to the mapping relation.
Optionally, determining whether the vehicle is located in the preset range of the preset starting point according to the mapping relationship includes: according to the mapping relation, carrying out coordinate conversion on the vehicle-mounted annular view to obtain a vehicle-mounted annular view, of which the converted reference annular view corresponding to the preset starting point is in the same image coordinate system; and judging whether the vehicle is positioned in a preset range of the preset starting point or not according to the coordinates of each point in the converted vehicle-mounted annular view and the reference annular view corresponding to the preset starting point.
Optionally, determining whether the vehicle is located in the preset range of the preset starting point according to the coordinates of the corresponding points in the converted vehicle-mounted annular view and the reference annular view corresponding to the preset starting point includes: calculating the position deviation between the current position of the vehicle and the preset starting point according to the coordinates of each point in the converted vehicle-mounted annular view and the reference annular view corresponding to the preset starting point; when the position deviation meets a preset condition, converting the vehicle-mounted annular view and a reference annular view corresponding to the preset starting point into a first aerial view and a second aerial view respectively; and judging whether the vehicle is positioned in a preset range of the preset starting point according to the coordinates of the characteristic points of the corresponding parking space in the first aerial view and the second aerial view.
Optionally, the mapping relationship includes a rotation matrix and a translation matrix, and determining, according to the mapping relationship, whether the vehicle is located in a preset range of the preset starting point includes: judging whether the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point meet a set condition or not according to the rotation matrix and the translation matrix; if yes, converting the vehicle-mounted annular view and a reference annular view corresponding to the preset starting point into a first aerial view and a second aerial view respectively; and judging whether the vehicle is positioned in a preset range of the preset starting point according to the coordinates of the characteristic points of the corresponding parking space in the first aerial view and the second aerial view.
Optionally, according to the rotation matrix and the translation matrix, determining whether the reference ring view corresponding to the vehicle-mounted ring view and the preset starting point meets a set condition includes: according to the rotation matrix, determining the angular deviation of the image coordinate system of the vehicle-mounted annular view relative to the image coordinate system of the reference annular view corresponding to the preset starting point; determining the distance deviation of the origin of the image coordinate system of the vehicle-mounted annular view relative to the origin of the image coordinate system of the reference annular view corresponding to the preset starting point according to the translation matrix; when the angle deviation is smaller than a preset angle and the distance deviation is smaller than a preset distance, determining that the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point meet a set condition.
Optionally, determining whether the vehicle is located in the preset range of the preset starting point according to coordinates of feature points of the parking space corresponding to the first aerial view and the second aerial view includes: respectively extracting parking space lines in the first aerial view and the second aerial view; according to the parking space lines, parking space corner points of one or more parking spaces corresponding to the parking space lines in the first aerial view and the second aerial view are respectively obtained; calculating coordinates of each parking space angular point corresponding to the first aerial view and the second aerial view under a world coordinate system; determining a first included angle of a parking space line corresponding to the first aerial view and the second aerial view according to coordinates of each parking space angular point in the first aerial view and the second aerial view under a world coordinate system; according to the mapping relation, performing coordinate conversion on each point in the first aerial view to obtain a converted first aerial view; determining a corner point corresponding relation based on the coordinates of each parking space corner point in the converted first aerial view and the coordinates of each parking space corner point in the second aerial view in the world coordinate system, wherein the corner point corresponding relation is used for describing the corresponding relation of the coordinates of the corresponding parking space corner points in the converted first aerial view and the second aerial view in the world coordinate system; and judging whether the vehicle is positioned in a preset range of the preset starting point according to the corresponding relation between the first included angle and the angular point.
Optionally, before determining, based on the on-board annular view of the vehicle, whether the vehicle is within a preset range of a preset starting point, the method further includes: acquiring positioning information of the vehicle; and when the vehicle is determined to be near a preset starting point according to the positioning information of the vehicle, acquiring the vehicle-mounted annular view of the vehicle in real time.
Optionally, before determining, based on the on-board annular view of the vehicle, whether the vehicle is within a preset range of a preset starting point, the method further includes: starting a parking learning function based on a user instruction, and determining the current position of the vehicle as a preset starting point; loading and storing a reference ring view of the vehicle corresponding to the preset starting point; and during parking of the user, positioning the vehicle according to the rotating speed information recorded by the wheel speed meter of the vehicle, and generating a reference track of the vehicle at the preset starting point.
Optionally, planning the driving track of the vehicle according to the reference track includes: determining a final parking position according to the reference track; and starting an environment sensing module of the vehicle, and controlling the vehicle to run along the reference track based on the final parking position so as to reach a parking point corresponding to the final parking position.
Optionally, planning the driving track of the vehicle according to the reference track includes: determining the angular deviation and translational deviation of the vehicle according to the vehicle-mounted annular view of the vehicle and the reference annular view of the preset starting point; and planning the driving track of the vehicle according to the angle deviation, the translation deviation and the reference track so as to enable the vehicle to drive along the reference track.
Optionally, planning the track of the vehicle according to the angle deviation, the translational deviation and the reference track includes: according to the angle deviation and the translation deviation, carrying out position correction on the vehicle so as to enable the vehicle to move to the preset starting point; and controlling the vehicle to travel to a parking point corresponding to the preset starting point along a reference track corresponding to the preset starting point based on the environment sensing module.
Optionally, according to the parking point, controlling the vehicle to park in a target parking space corresponding to the preset starting point includes: judging whether a target parking space corresponding to the preset starting point is detected at the parking point; if so, controlling the vehicle to park in the target parking space based on the position relation between the target parking space and the vehicle at the parking point.
Optionally, if the target parking space corresponding to the preset starting point is not detected, the method further includes: and generating parking failure prompt information.
Optionally, if the vehicle is located in the preset range of the preset starting point, before the reference track of the preset starting point is acquired, the method further includes: and generating parking prompt information.
Correspondingly, acquiring the reference track of the preset starting point comprises the following steps: and after the parking confirmation information of the user is received, acquiring the reference track of the preset starting point.
In a second aspect, embodiments of the present application further provide a memory parking device, including:
the vehicle positioning module is used for judging whether the vehicle is positioned in a preset range of a preset starting point or not based on the vehicle-mounted annular view of the vehicle; the reference track acquisition module is used for acquiring the reference track of the preset starting point if yes; the driving control module is used for planning the driving track of the vehicle according to the reference track so as to control the vehicle to drive to a parking point corresponding to the preset starting point; and the parking control module is used for controlling the vehicle to park in a target parking space corresponding to the preset starting point according to the parking point.
In a third aspect, embodiments of the present application further provide a memory parking apparatus, including: a memory and at least one processor; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the memory parking method provided in any embodiment corresponding to the first aspect of the present application.
In a fourth aspect, embodiments of the present application further provide a computer readable storage medium, where computer executable instructions are stored, and when the processor executes the computer executable instructions, the memory parking method provided in any embodiment corresponding to the first aspect of the present application is implemented.
In a fifth aspect, embodiments of the present application further provide a computer program product, including a computer program, which when executed by a processor implements a memory parking method as provided in any of the embodiments corresponding to the first aspect of the present application.
According to the memory parking method, device, equipment, storage medium and program product, aiming at a vehicle comprising a vehicle-mounted looking-around camera, when the vehicle is judged to be located near a preset starting point based on a vehicle-mounted ring view of the vehicle acquired by the vehicle-mounted looking-around camera, a memory parking function is started, and the vehicle path of the vehicle is planned by loading a reference path corresponding to the preset starting point, so that when the vehicle reaches a parking point corresponding to the preset starting point, the vehicle is controlled to automatically park into a target parking space corresponding to the parking point, automatic parking of the vehicle is realized, parking convenience is improved, meanwhile, repositioning of the vehicle is carried out based on the vehicle-mounted ring view, hardware and software resources required by repositioning are reduced, cost and engineering complexity are reduced, and meanwhile, the positioning speed is high, and the memory parking efficiency is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
Fig. 1 is an application scenario diagram of a memory parking method provided in an embodiment of the present application;
FIG. 2 is a flow chart of a memory parking method according to one embodiment of the present application;
FIG. 3 is a flowchart of step S201 in the embodiment shown in FIG. 2 of the present application;
FIG. 4 is a flow chart of a memory parking method according to another embodiment of the present application;
FIG. 5 is a flowchart of step S408 in the embodiment shown in FIG. 4 of the present application;
FIG. 6 is a schematic view of a first and a second bird's eye view of the embodiment of FIG. 5 of the present application;
fig. 7 is a schematic view of a result of extracting parking space feature points of the first bird's eye view and the second bird's eye view in the embodiment shown in fig. 6;
FIG. 8 is a flowchart of step S503 in the embodiment of FIG. 5 of the present application;
FIG. 9 is a schematic structural view of a memory parking device according to an embodiment of the present disclosure;
FIG. 10 is a schematic structural view of a memory parking device according to an embodiment of the present application;
fig. 11 is a schematic structural view of a vehicle according to an embodiment of the present application.
Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
The application scenario of the embodiment of the present application is explained below:
fig. 1 is an application scenario diagram of a memory parking method provided in an embodiment of the present application, as shown in fig. 1, memory parking is an unmanned parking technology for autonomously learning a parking route of a driver, when the driver drives a vehicle 110 into a parking lot or near a fixed parking space 120, the driver can start a learning function of the vehicle 110, such as by means of a voice command, a key command, etc., so that an environment map is built and stored during the parking process of the driver based on the SLAM technology, and the parking route of the driver is recorded, when the vehicle 110 drives into the parking lot or near the fixed parking space 120 again, environmental data of the current position of the vehicle 110 is collected based on sensors, such as a visual sensor, an ultrasonic sensor, a radar, etc., which are set up on the vehicle 110, and in combination with the established environment map, repositioning of the vehicle 110 is realized, so as to control the vehicle 110 to drive along the memorized parking route, and the vehicle 110 is parked into the fixed parking space 120, so as to realize the memory of the vehicle.
The vehicle repositioning technology based on SLAM technology has the advantages that software engineering required for building a map is large, complexity is high, and because SLAM technology cannot restore real dimensions, besides sensors required for building the map, the sensors are required to be combined with an IMU (Inertial Measurement Unit, an inertial measurement unit), a wheel speed meter and the like to provide dimension information, the number of hardware resources is large, the complexity of engineering is further increased due to the fact that various sensors are coupled, and therefore the software and hardware resources required for repositioning memory parking are large, cost is high, engineering complexity is high, and implementation is not easy.
Aiming at the technical problems, the embodiment of the application provides a memory parking method, which realizes the repositioning of a vehicle based on a vehicle-mounted annular view acquired by a vehicle-mounted annular view camera, namely, determines a preset starting point near the vehicle, so that the planning of the vehicle driving path is performed based on a reference path or a memory path corresponding to the preset starting point, the vehicle reaches a parking point corresponding to a target parking space, and is parked in the target parking space, and the hardware and software resources required by the repositioning and the complexity of engineering are greatly reduced based on the repositioning mode of the vehicle-mounted annular view, and the memory parking efficiency is improved.
Fig. 2 is a flowchart of a memory parking method provided in an embodiment of the present application, where the memory parking method is applicable to a vehicle provided with an on-board looking-around camera, and may be executed by a memory parking device, as shown in fig. 2, and the memory parking method provided in the embodiment includes the following steps:
step S201, based on the vehicle-mounted annular view of the vehicle, determining whether the vehicle is located within a preset range of a preset starting point.
The preset starting points may be the current position of the vehicle when the user starts the parking learning function, and the number of the preset starting points may be one or more. The vehicle-mounted ring view can be acquired based on vehicle-mounted ring view cameras arranged on the vehicle, and the vehicle-mounted ring view cameras are usually arranged around the outer shell of the vehicle, such as front, back, left and right directions. The preset range may be a range having a distance of at most 2 meters from the preset starting point and an angle of at most 10 degrees.
Specifically, the vehicle-mounted annular view of the vehicle can be acquired in real time or according to a certain period based on each vehicle-mounted annular view of the vehicle, and whether the vehicle is in the vicinity of a certain preset starting point or in a preset range is further judged based on each frame of the vehicle-mounted annular view.
Further, image feature extraction can be performed on the vehicle-mounted annular view, so that whether the vehicle is located in a preset range of a certain preset starting point or not can be judged based on the extracted features.
In a parking scene, a vehicle is usually located in a parking lot, and whether the vehicle is located in a preset range of one of preset starting points can be judged based on characteristic information corresponding to the identified parking space number.
If the vehicle is judged to be located in the preset range of one of the preset starting points, the repositioning is successful, otherwise, the repositioning is failed.
Optionally, based on the vehicle-mounted annular view of the vehicle, determining whether the vehicle is located within a preset range of a preset starting point includes: loading at least one reference ring view corresponding to a preset starting point; and judging whether the vehicle is positioned in a preset range of one of the preset starting points according to the vehicle-mounted annular view and the reference annular view corresponding to at least one preset starting point.
The reference ring view is a vehicle-mounted ring view acquired at a corresponding preset starting point when the parking learning function is started, and each preset starting point can correspond to a group of reference ring views acquired by each vehicle-mounted looking-around camera.
Specifically, when a user drives a vehicle to a preset starting point, a parking learning function is started at the preset starting point, and each vehicle-mounted looking-around camera of the vehicle is controlled to acquire a vehicle-mounted annular view corresponding to the preset starting point, so that a reference annular view corresponding to the preset starting point is obtained.
Specifically, feature matching can be performed on the vehicle-mounted ring view and the reference ring view corresponding to each preset starting point, so that whether the vehicle is located near one of the preset starting points or within a preset range is judged based on a matching result.
And judging the preset range of the preset starting point, namely, repositioning the vehicle, and determining the matched preset starting point in a vehicle-mounted looking-around image feature matching mode so as to position the vehicle based on the position relationship between the current position of the vehicle and the matched preset starting point. The relocation is realized based on the characteristic matching mode of the vehicle-mounted looking-around graphs acquired at different times, so that the dependence of the relocation on hardware resources and software resources is reduced, the implementation algorithm of the relocation is simplified, and the relocation efficiency is improved.
Optionally, fig. 3 is a flowchart of step S201 in the embodiment shown in fig. 2 of the present application, and as shown in fig. 3, step S201 may include the following steps:
Step S301, loading at least one reference ring view corresponding to a preset starting point.
Specifically, when the number of preset starting points is multiple, the reference ring views corresponding to the preset starting points can be loaded, for example, the reference ring views corresponding to the preset starting points can be loaded according to a set sequence, the set sequence can be determined according to the use frequency of the target parking spaces corresponding to the preset starting points, and the higher the use frequency of the target parking spaces is, the earlier the sequence of the corresponding preset starting points is.
Step S302, obtaining feature information of the reference ring view corresponding to each preset starting point and the vehicle-mounted ring view.
Specifically, feature information of the vehicle-mounted ring view and the reference ring view corresponding to each preset starting point can be extracted based on a feature detection algorithm.
The feature detection algorithm may be ORB (Oriented FAST and Rotated BRIEF), SURF (Speeded Up Robust Feature, accelerated robust feature extraction algorithm), SIFT (Scale Invariant Feature Transform, scale-invariant feature transform algorithm), and the like. The ORB algorithm features consist of modified FAST (Features from Accelerated Segment Test, feature based on accelerated segmentation test) keypoints and BRIEF (Binary Robust Indenpendent Elementary Features, binary robust independent basic feature) descriptors.
In some embodiments, since the vehicle-mounted ring-view camera is a fisheye camera, distortion of the acquired image is large, and after the vehicle-mounted ring-view or the reference ring-view is obtained, distortion correction is required to be performed on the vehicle-mounted ring-view or the reference ring-view, so that feature information of the corrected vehicle-mounted ring-view and the corrected reference ring-view corresponding to each preset starting point is obtained.
Specifically, the distortion correction can be performed on the vehicle-mounted annular view or the reference annular view based on the internal parameters and the external parameters after the calibration of the vehicle-mounted annular view camera.
Step S303, for each preset starting point, determining a matching degree of the vehicle-mounted ring view and the reference ring view corresponding to the preset starting point according to the feature information of the vehicle-mounted ring view and the reference ring view corresponding to each preset starting point.
Specifically, each matched feature point in the vehicle-mounted annular view and the reference annular view of the preset starting point can be determined based on the feature information, and then the matching degree of the vehicle-mounted annular view and the reference annular view of the preset starting point is determined based on the matched feature point. The greater the number of feature points that match, the higher the degree of matching.
Further, for each preset starting point, each feature point of the vehicle-mounted annular view, which is matched with the feature information in the reference annular view corresponding to the preset starting point, can be determined based on each feature information of the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point, and the mapping relation between the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point is determined based on the image coordinates of each feature point in the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point.
Specifically, feature point pairs with matched feature information can be found from two images, namely, a vehicle-mounted ring view and a reference ring view corresponding to the preset starting point, for example, each feature point with matched feature information in the vehicle-mounted ring view and the reference ring view corresponding to the preset starting point is determined based on a KNN (K-Nearest Neighbor) algorithm, so that a plurality of feature point pairs with matched feature information are obtained. And fitting the coordinate conversion relation of the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point based on the image coordinates of the feature point pairs matched with the feature information, so as to obtain the mapping relation of the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point.
Further, after determining the feature points to which the respective feature information matches, since the mapping relationship is obtained by fitting, it is necessary to reversely determine a matching error of each of the matched feature points based on the mapping relationship for each of the matched feature points. The matching error of each matched characteristic point or each matched characteristic point pair is determined based on the mapping relation, and the matched characteristic points are screened based on the matching error, for example, the matched characteristic point pairs with the matching error larger than the preset error are removed, so that the matching degree of the vehicle-mounted annular view and the reference annular view of the preset starting point is determined based on the screened matched characteristic points.
Specifically, the matching degree of the vehicle-mounted ring view and the reference ring view of the preset starting point can be determined based on the number of the matched feature points after screening.
Specifically, the matching degree of the vehicle-mounted annular view and the reference annular view of the preset starting point can be determined based on the ratio of the number of the matched feature points after screening to the total number of the pixel points in the vehicle-mounted annular view.
Specifically, the matched feature points determined in the above manner may have some mismatching feature points, so that each matched feature point may be accurately matched based on a random sampling consensus algorithm (Random Sample Consensus, RANSAC), that is, the matched feature points are screened based on the random sampling consensus algorithm, so as to obtain screened matched feature points, and the matching degree of the vehicle-mounted ring view and the reference ring view of the preset starting point is determined based on the screened matched feature points, so that the accuracy of calculating the matching degree is improved.
Step S304, judging whether the vehicle is located in the preset range of the preset starting point according to the matching degree.
Specifically, if the matching degree is greater than a preset threshold, it is determined that the vehicle is located in a preset range of a preset starting point.
Step S202, if yes, acquiring the reference track of the preset starting point.
Specifically, if it is determined that the vehicle is located within the preset range of the preset starting point through the repositioning process corresponding to step S201, the reference track corresponding to the preset starting point is obtained.
When the parking learning function is started, a reference ring view corresponding to a preset starting point and a reference track corresponding to the preset starting point are recorded, wherein the reference track is generated based on a route of a vehicle when a driver or a user parks.
Specifically, the reference trajectory may be generated based on vehicle positioning based on the rotational speeds of the respective wheels of the vehicle detected by the wheel speed meter during the driver's control of the vehicle parking after the parking learning function is turned on.
In some embodiments, the reference trajectory may be a trajectory between a preset starting point and a parking point of the target parking space when the user drives.
Further, if it is determined that the current position of the vehicle is not located in the preset range of any one preset starting point, first prompting information is generated to prompt a user to control the vehicle to move so as to update the position of the vehicle.
Step S203, planning a driving track of the vehicle according to the reference track, so as to control the vehicle to travel to a parking point corresponding to the preset starting point.
The parking point corresponding to the preset starting point is a position near or around the target parking space corresponding to the preset starting point, and the vehicle can be controlled to park in the corresponding target parking space at the parking point.
Specifically, after the reference track corresponding to the preset starting point is obtained, the vehicle can be controlled to follow the reference track, so that the vehicle automatically runs to the parking point corresponding to the preset starting point.
Further, the driving track of the vehicle can be planned according to the rotating speeds of the wheels recorded by the wheel speed meters corresponding to each node in the reference track, and the vehicle is controlled to drive according to the corresponding rotating speeds, so that the parking point is reached.
Specifically, the track of the vehicle may be planned according to the position of each node in the reference track, so that the vehicle runs along the reference track. Meanwhile, in the process of following the reference track, the environment sensing function of the vehicle is started to avoid the obstacle.
Further, when the vehicle automatically travels along the planned driving track, and the obstacle is determined to exist on the driving track through environmental awareness, parking waiting can be performed or the obstacle can be bypassed, and then the vehicle continues to follow the reference track and travel to a parking point corresponding to the preset starting point.
And step S204, controlling the vehicle to park in a target parking space corresponding to the preset starting point according to the parking point.
Specifically, when the vehicle automatically travels to a parking point corresponding to the preset starting point along a reference path corresponding to the preset starting point, the vehicle is controlled to automatically park a corresponding target parking space at the parking point, so that parking is completed.
Further, after the vehicle automatically travels to the parking point based on the reference trajectory, the vehicle is controlled to automatically park at the parking point to park in the corresponding fixed parking space.
Because the wheel speed meter is relied on to carry out vehicle track planning, accumulated errors can occur, after the vehicle automatically runs to the corresponding parking point, the fixed parking position can be detected at the parking point, so that the position of the parking point is updated based on the detection result, and automatic parking is carried out based on the updated position of the parking point, so that the vehicle can be parked in the fixed parking position.
According to the memory parking method, aiming at a vehicle comprising a vehicle-mounted looking-around camera, when the vehicle is judged to be located near a preset starting point based on a vehicle-mounted annular view of the vehicle acquired by the vehicle-mounted looking-around camera, a memory parking function is started, and the vehicle path of the vehicle is planned by loading a reference path corresponding to the preset starting point, so that when the vehicle reaches a parking point corresponding to the preset starting point, the vehicle is controlled to automatically park into a target parking space corresponding to the parking point, automatic parking of the vehicle is realized, convenience of parking is improved, meanwhile, repositioning of the vehicle is carried out based on the vehicle-mounted annular view, hardware and software resources required by repositioning are reduced, cost and engineering complexity are reduced, and meanwhile, the positioning speed is high, and the memory parking efficiency is improved.
Fig. 4 is a flowchart of a memory parking method according to another embodiment of the present application, where steps S201 and S204 are further defined based on the embodiment shown in fig. 2, and steps related to reference track generation and vehicle-mounted view acquisition based on positioning information of a vehicle are added before step S201, and as shown in fig. 4, the memory parking method provided in this embodiment may include the following steps:
step S401, based on the user instruction, turning on the parking learning function, and determining the current position of the vehicle as a preset starting point.
Specifically, the user or the driver may issue an instruction to start the parking learning function through a key corresponding to the parking learning function, such as a virtual key or an entity key, provided on the vehicle. The user or driver can also start the parking learning function through voice instructions, such as "learn parking start" or "start learning parking", etc.
Specifically, when an instruction for starting the parking learning function is received, the position of the vehicle at the moment is taken as a preset starting point, and the vehicle-mounted looking-around camera is started to acquire a vehicle-mounted annular view corresponding to the preset starting point, namely the reference annular view.
In some embodiments, the user or the driver may correspond to a plurality of fixed parking spaces, for example, where a company and a family are located, and each of the fixed parking spaces corresponds to one of the fixed parking spaces, and then the user may start the parking learning function in the vicinity of each of the fixed parking spaces, for example, in a range of 50 meters, so as to obtain a preset starting point corresponding to each of the fixed parking spaces. One fixed parking space can correspond to one preset starting point or a plurality of preset starting points. When a fixed parking space corresponds to a plurality of preset starting points, the preset starting points should be spaced apart by a certain distance, such as 10 meters.
Step S402, loading and storing a reference ring view of the vehicle corresponding to the preset starting point.
In some embodiments, a set of reference ring views or multiple sets of reference ring views may be acquired at each preset starting point, where a set of reference ring views includes an image of the surroundings of a vehicle with a corresponding field of view acquired by each onboard looking-around camera. When a plurality of groups of ring views exist, image fusion is needed, so that a fused group of reference ring views is obtained.
Step S403, during parking of the user, positioning the vehicle according to the rotation speed information recorded by the wheel speed meter of the vehicle, and generating a reference track of the vehicle at the preset starting point.
Specifically, after the parking learning function is started, each wheel speed meter may be initialized first, and based on the wheel speed meter of the vehicle, the rotational speed information corresponding to each node during the parking period of the user is recorded, so that the vehicle is positioned based on the rotational speed information of each node, the position of the vehicle corresponding to each node is obtained, and each node is sequentially connected, so that the reference track of the vehicle at the preset starting point is obtained.
Specifically, the rotational speed information recorded by the wheel speed meter may include a rotational speed of a left front wheel and a rotational speed of a right front wheel of the vehicle, and based on the rotational speeds of the left front wheel and the right front wheel corresponding to each node, an angle and a distance of travel of the vehicle from a previous node to a current node may be determined, so as to obtain a reference track.
Specifically, the calculation formulas of the linear velocity v, the angular velocity w and the circular arc movement radius r of the wheel speed meter are as follows:
wherein u is 1 The rotating speed of the wheel speed meter corresponding to the right front wheel; u (u) 2 The rotating speed of the wheel speed meter corresponding to the left front wheel is set; l is the spacing between the left and right front wheels.
Specifically, during parking of the user, a coordinate system is established by taking a preset starting point as an origin of coordinates, and coordinate values of the vehicle at each node can be obtained based on the linear velocity v, the angular velocity w and the circular arc movement radius r of the wheel speed meter corresponding to each node, so that a reference track of the preset starting point is obtained.
After the user parks, a first corresponding relation of the reference track, the preset starting point and the reference ring view of the preset starting point is established and stored.
Step S404, acquiring positioning information of the vehicle.
Wherein the positioning information of the vehicle may be acquired based on a GPS (Global Positioning System ) installed on the vehicle, or determined based on the positioning information of a user terminal bound to the vehicle.
Specifically, the positioning information of the vehicle may be determined based on the WiFi positioning technology and each WiFi that the vehicle can search for.
Specifically, the positioning information of the vehicle may be determined based on a base station positioning technology according to a base station used by a user terminal bound to the vehicle.
Step S405, when it is determined that the vehicle is near a preset starting point according to the positioning information of the vehicle, acquiring a vehicle-mounted annular view of the vehicle in real time, and loading a reference annular view corresponding to the preset starting point.
Specifically, when it is determined that the vehicle is near one of the preset starting points based on the positioning information of the vehicle, if the distance between the vehicle and the preset starting point is smaller than the preset distance, such as 10 meters, the reference ring view and the reference track corresponding to the preset starting point are loaded, and the vehicle-mounted ring view of the vehicle is acquired in real time.
Further, the reference ring view and the reference track corresponding to the start point identifier may be obtained based on the start point identifier of the preset start point and a first preset corresponding relationship, where the first corresponding relationship is a corresponding relationship of the start point identifier of each preset start point, the reference ring view corresponding to each preset start point, and the reference track corresponding to each preset start point.
Step S406, obtaining feature information of the reference ring view corresponding to the preset starting point and the vehicle-mounted ring view.
Specifically, feature information of a reference ring view corresponding to a preset starting point and a vehicle ring view can be obtained based on a feature detection algorithm.
Step S407, calculating a mapping relationship between the vehicle-mounted ring view and the reference ring view corresponding to the preset starting point according to the feature information.
The mapping relationship is used for describing a conversion relationship of each first feature point in the vehicle-mounted annular view and each second feature point corresponding to each first feature point in the reference annular view corresponding to the preset starting point. The pose relation of the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point can be directly determined through the mapping relation.
Specifically, the mapping relationship H between the vehicle-mounted annular view and the reference annular view may be determined based on the pixel coordinates of the feature points matched in the vehicle-mounted annular view and the corresponding reference annular view, so as to describe the mapping relationship between the vehicle-mounted annular view and each pixel point in the corresponding reference annular view based on the mapping relationship H.
And establishing a linear equation by referring to a plurality of groups of matched pixel coordinates, such as at least 4 groups of feature points, in the annular view and the vehicle-mounted annular view, and obtaining the mapping relation H by solving the linear equation.
Step S408, determining whether the vehicle is located within the preset range of the preset starting point according to the mapping relationship.
Specifically, based on the mapping relationship, that is, the pose relationship between the vehicle-mounted annular view and the reference annular view, the position relationship between the position of the vehicle and the preset starting point when the vehicle-mounted annular view is acquired can be determined, and further, based on the position relationship, whether the current position of the vehicle, that is, the position when the vehicle-mounted annular view is shot, is within the preset range of the preset starting point when the reference annular view is acquired can be judged.
Further, if the vehicle exceeds the preset range of the preset starting point, the repositioning failure prompt information can be generated to prompt the user to continue to manually drive the vehicle so as to update the position of the vehicle, and further, the vehicle-mounted annular view corresponding to each position is acquired in real time, so that whether the vehicle with updated position is located in the preset range of the preset starting point or not is judged based on the subsequently acquired vehicle-mounted annular view.
Optionally, determining whether the vehicle is located in the preset range of the preset starting point according to the mapping relationship includes: judging whether the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point meet a set condition or not according to the rotation matrix and the translation matrix; if yes, converting the vehicle-mounted annular view and a reference annular view corresponding to the preset starting point into a first aerial view and a second aerial view respectively; and judging whether the vehicle is positioned in a preset range of the preset starting point according to the coordinates of the characteristic points of the corresponding parking space in the first aerial view and the second aerial view.
Optionally, according to the rotation matrix and the translation matrix, determining whether the reference ring view corresponding to the vehicle-mounted ring view and the preset starting point meets a set condition includes:
according to the rotation matrix, determining the angular deviation of the image coordinate system of the vehicle-mounted annular view relative to the image coordinate system of the reference annular view corresponding to the preset starting point; determining the distance deviation of the origin of the image coordinate system of the vehicle-mounted annular view relative to the origin of the image coordinate system of the reference annular view corresponding to the preset starting point according to the translation matrix; when the angle deviation is smaller than a preset angle and the distance deviation is smaller than a preset distance, determining that the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point meet a set condition.
For example, if the distance deviation is smaller than a preset distance (e.g., 2 meters) and the angle deviation is smaller than a preset angle (e.g., 10 °), it is determined that the reference look-around view corresponding to the vehicle-mounted look-around view and the preset starting point satisfies the set condition.
Specifically, if the reference annular view corresponding to the vehicle annular view and the preset starting point meets the set condition, the shooting position corresponding to the vehicle annular view is indicated to be closer to the preset starting point, and if the shooting position is within the preset range of the preset starting point.
Further, if the reference annular view corresponding to the preset starting point and the vehicle-mounted annular view do not meet the set condition, determining that the position of the vehicle for collecting the vehicle-mounted annular view exceeds the preset range of the preset starting point.
Optionally, determining whether the vehicle is located in the preset range of the preset starting point according to the mapping relationship includes: according to the mapping relation, carrying out coordinate conversion on the vehicle-mounted annular view to obtain a converted vehicle-mounted annular view; and judging whether the vehicle is positioned in a preset range of the preset starting point or not according to the coordinates of each point in the converted vehicle-mounted annular view and the reference annular view corresponding to the preset starting point.
Specifically, the coordinate deviation value corresponding to each point may be calculated according to the coordinates of each point in the converted vehicle-mounted ring view and the reference ring view corresponding to the preset starting point, and whether the vehicle is located in the preset range of the preset starting point may be determined based on the coordinate deviation value corresponding to each point, such as the average value, the maximum value, and the like of the coordinate deviation values corresponding to each point.
Optionally, fig. 5 is a flowchart of step S408 in the embodiment shown in fig. 4 of the present application, and as shown in fig. 5, step S408 may include the following steps:
Step S501, performing coordinate transformation on the vehicle-mounted ring view according to the mapping relationship, so as to obtain a transformed vehicle-mounted ring view with the reference ring view corresponding to the preset starting point in the same image coordinate system.
Specifically, based on the mapping relationship, coordinate conversion may be performed on each point of the vehicle-mounted annular view, so as to convert the point into a coordinate system of the same image as the reference annular view corresponding to the preset starting point.
Step S502, calculating a position deviation between the current position of the vehicle and the preset starting point according to the coordinates of each point in the converted vehicle-mounted ring view and the reference ring view corresponding to the preset starting point.
Specifically, a plurality of target points, such as 10, 30, 50 or all, are selected from the converted vehicle-mounted ring map, and coordinate deviations corresponding to the target points are calculated based on image coordinates of the plurality of target points and image coordinates of each point in a reference ring view corresponding to a preset starting point corresponding to the plurality of target points; and further determining the position deviation of the current position of the vehicle from the preset starting point based on the coordinate deviations.
Step S503, when the position deviation meets a preset condition, converting the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point into a first aerial view and a second aerial view respectively.
The preset condition may be that the position deviation is smaller than the preset deviation. The preset deviation may be determined based on a preset range.
Specifically, when the position deviation is smaller, that is, the preset condition is met, in order to improve the repositioning accuracy, the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point are converted into the aerial view, so that the first aerial view and the second aerial view are obtained.
Further, if the position deviation does not meet the preset condition, determining that the position of the vehicle for collecting the vehicle-mounted annular view exceeds the preset range of the preset starting point.
Step S504, determining whether the vehicle is located in the preset range of the preset starting point according to the coordinates of the feature points of the corresponding parking space in the first aerial view and the second aerial view.
The feature points of the parking space can be points corresponding to a parking space line, a parking space number and the like of the parking space. The parking space line is used for limiting the range of parking spaces, and the parking space number is used for identifying each parking space.
Specifically, the parking space lines and/or the parking space numbers of the same parking space in the first aerial view and the second aerial view are extracted respectively, and whether the vehicle is located in a preset range of a preset starting point or not is further judged based on pixel coordinates of each point corresponding to the extracted parking space lines and/or parking space numbers in the first aerial view and the second aerial view.
Further, a real unit distance represented by each pixel point on each aerial view can be obtained based on a monocular ranging principle, based on the real unit distance and pixel coordinates of each feature point of a parking space in the first aerial view and the second aerial view, the actual coordinates of each feature point are determined, so that a pose relation between the current position of the vehicle and a preset starting point is determined, and whether the vehicle is located in a preset range of the preset starting point is judged based on the pose relation.
For example, fig. 6 is a schematic view of a first aerial view and a second aerial view in the embodiment shown in fig. 5 of the present application, fig. 7 is a schematic view of an extraction result of a parking space feature point of the first aerial view and the second aerial view in the embodiment shown in fig. 6, a first aerial view corresponding to a vehicle-mounted annular view acquired at a current position of a vehicle is an image on the right side of fig. 6, a second aerial view corresponding to a first aerial view on the right side of fig. 6 acquired at a parking learning function or learning stage of the vehicle is an image on the left side of fig. 6, a second aerial view corresponding to a preset starting point includes a parking space 040-042 in the second aerial view, a parking space number and a straight line feature of the first aerial view and the second aerial view are extracted, a parking space number and each parking space line can be obtained in each, an image 710 on the right side of fig. 7 is an extraction result of the first aerial view corresponding to the first aerial view in fig. 6, and an image 720 corresponding to the second aerial view on the left side of fig. 7 is an extraction result of the second aerial view corresponding to fig. 6.
Optionally, fig. 8 is a flowchart of step S504 in the embodiment shown in fig. 5 of the present application, and as shown in fig. 8, step S504 may include the following steps:
step S801 extracts the parking space lines in the first and second aerial views, respectively.
Specifically, feature detection may be performed on the first aerial view and the second aerial view based on Hough Transform (Hough Transform) or other straight line feature extraction algorithms, so as to extract straight line features in the first aerial view and the second aerial view, and thus obtain parking space lines of each parking space in the first aerial view and the second aerial view.
Step S802, according to the parking space lines, acquiring parking space corner points of one or more parking spaces corresponding to the parking space lines in the first aerial view and the second aerial view respectively.
The parking space corner points are points where two parking space lines of the parking space intersect.
Specifically, the parking space corner points of each parking space in the first aerial view and the second aerial view can be determined according to the coordinates of each characteristic point of each parking space line.
And step 803, calculating coordinates of each parking space corner point corresponding to the first aerial view and the second aerial view under a world coordinate system.
Specifically, the coordinates of the corner points of the same parking space in the world coordinate system can be determined through coordinate conversion based on the pixel coordinates of the corner points of the same parking space in the first aerial view and the second aerial view.
And step S804, determining a first included angle of a parking space line corresponding to the first aerial view and the second aerial view according to the coordinates of each parking space corner point in the first aerial view and the second aerial view under the world coordinate system.
Specifically, the included angle between the parking space lines or the horizontal lines corresponding to the at least two parking space corner points in the first aerial view and the second aerial view can be determined based on the physical coordinates of the at least two parking space corner points located on the same horizontal line.
Specifically, for each aerial view, the first aerial view or the second aerial view may establish a parking space angular point linear equation corresponding to the aerial view based on physical coordinates of each parking space angular point located on the same horizontal line on the aerial view, and further determine a first included angle of the parking space lines corresponding to the first aerial view and the second aerial view based on a difference value of inclination angles of the parking space angular point linear equations corresponding to the first aerial view and the second aerial view.
For example, let the coordinates of two corresponding parking space corner points in the first aerial view and the second aerial view be respectively: (x) 1 ，y 1 )、(x 2 ，y 2 )、(x 3 ，y 3 ) And (x) 4 ，y 4 ) Wherein the point (x 1 ，y 1 ) And point (x) 3 ，y 3 ) Correspondingly, the point (x 2 ，y 2 ) And point (x) 4 ，y 4 ) Correspondingly, the calculation relation of the first included angle yaw may be:
yaw＝Ang1-Ang2
Ang1＝tan -1 (y 1 -y 2 )/(x 1 -x 2 )
Ang2＝tan -1 (y 3 -y 4 )/(x 3 -x 4 )
Wherein Ang1 is the inclination angle of the parking space angular point linear equation corresponding to the first aerial view, and Ang2 is the inclination angle of the parking space angular point linear equation corresponding to the second aerial view.
And step S805, performing coordinate transformation on each point in the first aerial view according to the mapping relationship, to obtain a transformed first aerial view.
Specifically, based on the above-described mapping relationship, the first bird's-eye view, that is, the image corresponding to the repositioning stage, is converted into the image coordinate system of the image corresponding to the learning stage, that is, the image coordinate system of the second bird's-eye view, thereby obtaining the converted first bird's-eye view.
Step S806, determining a corner corresponding relationship based on the coordinates of each parking space corner corresponding to the converted first aerial view under the world coordinate system and the coordinates of each parking space corner corresponding to the second aerial view under the world coordinate system.
The corner point corresponding relation is used for describing the corresponding relation of coordinates of the corresponding parking space corner points in the world coordinate system in the converted first aerial view and the converted second aerial view.
After the first aerial view and the second aerial view are converted into the same image coordinate system, the corner corresponding relation of the first aerial view and the second aerial view is determined based on the coordinates of the corner points of each parking space in the world coordinate system of the converted first aerial view and the coordinates of the corner points of each parking space in the world coordinate system of the second aerial view.
Step S807, determining whether the vehicle is located in a preset range of the preset starting point according to the corresponding relationship between the first included angle and the corner point.
And determining the pose relation between the current position of the vehicle and the preset starting point according to the calculated corresponding relation between the first included angle and the corner point, and judging whether the vehicle is positioned in the preset range of the preset starting point or not based on the pose relation, or judging whether the pose relation meets the condition corresponding to the preset range or not, for example, judging whether the distance in the pose relation is smaller than the preset distance and whether the angle in the pose relation is smaller than the preset angle or not.
Step S409, if yes, obtaining a reference track of the preset starting point; and planning the driving track of the vehicle according to the reference track so as to control the vehicle to drive to the parking point corresponding to the preset starting point.
Optionally, planning the driving track of the vehicle according to the reference track includes: determining a final parking position according to the reference track; and starting an environment sensing module of the vehicle, and controlling the vehicle to run along the reference track based on the final parking position so as to reach a parking point corresponding to the final parking position.
The final parking location may be a location near which the target parking determined in real time is near, where the vehicle is automatically parked, such as by reversing the vehicle.
Specifically, the final parking position may be determined according to a position corresponding to the reference trajectory end point.
When the repositioning is successful, namely the vehicle is positioned in a preset range of one of the preset starting points, starting an environment sensing module of the vehicle, loading a reference track of the preset starting point at the same time, and determining a final parking position based on a position corresponding to an end point of the reference track; and controlling the vehicle to travel along the reference track and avoid the obstacle, so as to reach the final parking position.
Optionally, planning the driving track of the vehicle according to the reference track includes: determining the angular deviation and translational deviation of the vehicle according to the vehicle-mounted annular view of the vehicle and the reference annular view of the preset starting point; and planning the driving track of the vehicle according to the angle deviation, the translation deviation and the reference track so as to enable the vehicle to drive along the reference track.
Specifically, based on the pose relationship calculated in the above steps, an angular deviation and a translational deviation between the current position of the vehicle and a preset starting point can be determined, and then based on the angular deviation, the translational cheating difference and the positions of all nodes on the reference track, the driving track of the vehicle is planned, so that the vehicle follows the reference track as soon as possible, and then drives along the reference track, and thus, the end point corresponding to the reference track is reached.
Optionally, planning the track of the vehicle according to the angle deviation, the translational deviation and the reference track includes: according to the angle deviation and the translation deviation, carrying out position correction on the vehicle so as to enable the vehicle to move to the preset starting point; and controlling the vehicle to travel to a parking point corresponding to the preset starting point along a reference track corresponding to the preset starting point based on the environment sensing module.
Specifically, the position of the vehicle can be corrected based on the angle deviation and the translational deviation, so that the vehicle moves to a preset starting point, and after the vehicle reaches the preset starting point, the vehicle is controlled to run based on the rotation speed information of the wheel speed meters corresponding to the nodes in the reference track corresponding to the preset starting point, and meanwhile, the environment sensing module is started to avoid the obstacle until the vehicle is controlled to run to a parking point corresponding to the preset starting point along the reference track.
Optionally, if the vehicle is located in the preset range of the preset starting point, before the reference track of the preset starting point is acquired, the method further includes: and generating parking prompt information.
The parking prompt information can be in the form of words and/or voice. The parking prompt information can comprise related information of a target parking space, prompt information for memorizing the parking start and the like.
Specifically, the parking prompt information is used for prompting the user that the vehicle is successfully repositioned, and the user is about to drive automatically or memorize the parking mode so as to park in the corresponding target parking space.
Correspondingly, acquiring the reference track of the preset starting point comprises the following steps: and after the parking confirmation information of the user is received, acquiring the reference track of the preset starting point.
Specifically, after receiving the parking prompt information, the user can confirm or reject the parking prompt information, so that after receiving the parking confirmation information of the user, the user obtains the reference track of the preset starting point to memorize and park based on the reference track; and after receiving the parking refusal information of the user, the memory parking is stopped so that the user can manually drive the vehicle to perform operations such as parking.
Step S410, determining whether the target parking space corresponding to the preset starting point is detected at the parking point.
Specifically, due to the fact that the reference track is followed based on the rotation speed information recorded by the wheel speed meter, error accumulation occurs, and therefore the situation that the vehicle is located at a position different from the position of the parking point at present after the vehicle runs based on the reference track is caused, if automatic parking is directly carried out, collision occurs, and loss of a user is caused.
In order to improve the safety and accuracy of automatic parking, it is necessary to determine whether a target parking space can be detected or searched after the vehicle arrives at a parking point or runs along a reference trajectory.
Specifically, after the vehicle automatically travels to the parking point corresponding to the target parking space based on the reference track, whether the target parking space corresponding to the preset starting point can be detected can be determined based on the vehicle-mounted looking-around camera or other sensors.
And step S411, if yes, controlling the vehicle to park in the target parking space based on the position relation between the target parking space and the vehicle at the parking point.
If so, the position relation between the target parking space and the current position of the vehicle (possibly at the parking point or with a certain deviation from the position of the parking point) can be determined based on the detection result, and then the vehicle is controlled to automatically park in the target parking space based on the position relation, so that the memory parking is completed.
Optionally, if the target parking space corresponding to the preset starting point is not detected, a parking failure prompt message is generated, so that a user can conveniently drive the vehicle manually.
In the embodiment, simple and rapid memory parking is realized through three stages, wherein the first stage is a learning stage, and reference ring views of all preset starting points when a learning function is started are acquired and reference tracks recorded based on a wheel speed meter and corresponding to the user driving are recorded at the stage; in the second stage, namely a repositioning stage, when the current position of the vehicle is determined to be near one of preset starting points based on a vehicle-mounted GPS or a mobile terminal, starting a vehicle-mounted looking-around camera, acquiring a vehicle-mounted annular view in real time, further judging whether the current position of the vehicle is in the preset range of the preset starting points for each frame of vehicle-mounted annular view, wherein the specific judging process is to determine the position relation or position relation between the current position of the vehicle and the preset starting points by combining a characteristic matching mode of the vehicle-mounted annular view and a parking space angle point corresponding relation of parking spaces in a parking space angle view corresponding to the vehicle-mounted looking-around view, so as to determine whether the vehicle is in the preset range of the preset starting points; after the repositioning is successful, entering a third stage, namely an automatic parking stage, and automatically parking the vehicle by searching the target parking space and based on the position of the target parking space so as to control the vehicle to automatically park into the target parking space, thereby realizing memory parking and improving the convenience of parking.
Fig. 9 is a schematic structural diagram of a memory parking device according to an embodiment of the present application, as shown in fig. 9, the memory parking device includes: a vehicle positioning module 910, a reference trajectory acquisition module 920, a driving control module 930, and a parking control module 940.
The vehicle positioning module 910 is configured to determine, based on a vehicle-mounted view of a vehicle, whether the vehicle is located within a preset range of a preset starting point; the reference track obtaining module 920 is configured to obtain a reference track of the preset starting point if yes; the driving control module 930 is configured to plan a driving track of the vehicle according to the reference track, so as to control the vehicle to travel to a parking point corresponding to the preset starting point; and a parking control module 940, configured to control the vehicle to park into a target parking space corresponding to the preset starting point according to the parking point.
Optionally, the vehicle positioning module 910 includes: the reference ring view loading unit is used for loading at least one reference ring view corresponding to a preset starting point; and the vehicle positioning unit is used for judging whether the vehicle is positioned in a preset range of one of the preset starting points according to the reference annular view corresponding to the vehicle-mounted annular view and the at least one preset starting point.
Optionally, the vehicle positioning unit is specifically configured to: acquiring characteristic information of the vehicle-mounted annular view and a reference annular view corresponding to each preset starting point; for each preset starting point, determining the matching degree of the vehicle-mounted annular view and the reference annular view corresponding to each preset starting point according to the characteristic information; and judging whether the vehicle is positioned in a preset range of the preset starting point according to the matching degree.
Optionally, the vehicle positioning unit includes: the feature extraction subunit is used for acquiring feature information of the vehicle-mounted annular view and a reference annular view corresponding to each preset starting point; the mapping calculation subunit is used for calculating the mapping relation of the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point according to the characteristic information, wherein the mapping relation is used for describing the conversion relation of each first characteristic point in the vehicle-mounted annular view and each second characteristic point corresponding to each first characteristic point in the reference annular view corresponding to the preset starting point; and the vehicle positioning subunit is used for judging whether the vehicle is positioned in the preset range of the preset starting point according to the mapping relation.
Optionally, the vehicle positioning subunit is specifically configured to: according to the mapping relation, carrying out coordinate conversion on the vehicle-mounted annular view to obtain a converted vehicle-mounted annular view; and judging whether the vehicle is positioned in a preset range of the preset starting point or not according to the coordinates of each point in the converted vehicle-mounted annular view and the reference annular view corresponding to the preset starting point.
Optionally, the vehicle positioning subunit includes: the first image conversion part is used for carrying out coordinate conversion on the vehicle-mounted annular view according to the mapping relation so as to obtain a vehicle-mounted annular view, of which the converted reference annular view corresponding to the preset starting point is in the same image coordinate system; a deviation calculating part, configured to calculate a position deviation between a current position of the vehicle and a preset starting point according to coordinates of corresponding points in the converted vehicle-mounted annular view and a reference annular view corresponding to the preset starting point; a second image conversion unit configured to convert, when the positional deviation satisfies a preset condition, a reference perspective view corresponding to the vehicle-mounted annular view and the preset starting point into a first bird's-eye view and a second bird's-eye view, respectively; and the vehicle positioning part is used for judging whether the vehicle is positioned in the preset range of the preset starting point according to the coordinates of the characteristic points of the corresponding parking space in the first aerial view and the second aerial view.
Optionally, the mapping relationship includes a rotation matrix and a translation matrix, and the vehicle positioning subunit includes: the image matching part is used for judging whether the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point meet the set condition or not according to the rotation matrix and the translation matrix; an image conversion unit configured to convert the vehicle-mounted annular view and a reference annular view corresponding to the preset starting point into a first bird's-eye view and a second bird's-eye view, respectively, if a setting condition is satisfied; and the positioning judging part is used for judging whether the vehicle is positioned in the preset range of the preset starting point according to the coordinates of the characteristic points of the corresponding parking space in the first aerial view and the second aerial view.
Optionally, the image matching section is specifically configured to: according to the rotation matrix, determining the angular deviation of the image coordinate system of the vehicle-mounted annular view relative to the image coordinate system of the reference annular view corresponding to the preset starting point; determining the distance deviation of the origin of the image coordinate system of the vehicle-mounted annular view relative to the origin of the image coordinate system of the reference annular view corresponding to the preset starting point according to the translation matrix; when the angle deviation is smaller than a preset angle and the distance deviation is smaller than a preset distance, determining that the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point meet a set condition.
Optionally, the positioning determination portion or the vehicle positioning portion is specifically configured to: respectively extracting parking space lines in the first aerial view and the second aerial view; according to the parking space lines, parking space corner points of one or more parking spaces corresponding to the parking space lines in the first aerial view and the second aerial view are respectively obtained; calculating coordinates of each parking space angular point corresponding to the first aerial view and the second aerial view under a world coordinate system; determining a first included angle of a parking space line corresponding to the first aerial view and the second aerial view according to coordinates of each parking space angular point in the first aerial view and the second aerial view under a world coordinate system; according to the mapping relation, performing coordinate conversion on each point in the first aerial view to obtain a converted first aerial view; determining a corner point corresponding relation based on the coordinates of each parking space corner point in the converted first aerial view and the coordinates of each parking space corner point in the second aerial view in the world coordinate system, wherein the corner point corresponding relation is used for describing the corresponding relation of the coordinates of the corresponding parking space corner points in the converted first aerial view and the second aerial view in the world coordinate system; and judging whether the vehicle is positioned in a preset range of the preset starting point according to the corresponding relation between the first included angle and the angular point.
Optionally, the apparatus further includes: the positioning information acquisition module is used for acquiring positioning information of the vehicle before judging whether the vehicle is positioned in a preset range of a preset starting point or not based on a vehicle-mounted annular view of the vehicle; and the image acquisition triggering module is used for acquiring the vehicle-mounted annular view of the vehicle in real time when the vehicle is determined to be near a preset starting point according to the positioning information of the vehicle.
Optionally, the apparatus further includes: the parking learning module is used for starting a parking learning function based on a user instruction and determining the current position of the vehicle as a preset starting point before judging whether the vehicle is positioned in a preset range of the preset starting point based on the vehicle-mounted annular view of the vehicle; loading and storing a reference ring view of the vehicle corresponding to the preset starting point; and during parking of the user, positioning the vehicle according to the rotating speed information recorded by the wheel speed meter of the vehicle, and generating a reference track of the vehicle at the preset starting point.
Optionally, the driving control module 930 is specifically configured to: determining a final parking position according to the reference track; and starting an environment sensing module of the vehicle, and controlling the vehicle to run along the reference track based on the final parking position so as to reach a parking point corresponding to the final parking position.
Optionally, the driving control module 930 includes: a deviation determining unit for determining an angular deviation and a translational deviation of the vehicle according to a vehicle-mounted annular view of the vehicle and a reference annular view of the preset starting point; and the track tracking unit is used for planning the running track of the vehicle according to the angle deviation, the translation deviation and the reference track so as to enable the vehicle to run along the reference track.
Optionally, the track following unit is specifically configured to: according to the angle deviation and the translation deviation, carrying out position correction on the vehicle so as to enable the vehicle to move to the preset starting point; and controlling the vehicle to travel to a parking point corresponding to the preset starting point along a reference track corresponding to the preset starting point based on the environment sensing module.
Optionally, the parking control module 940 includes: the parking space detection unit is used for judging whether the target parking space corresponding to the preset starting point is detected at the parking point; and the parking control unit is used for controlling the vehicle to park in the target parking space based on the position relation between the target parking space and the vehicle at the parking point if the target parking space is detected.
Optionally, the parking control module 940 further includes: the failure prompting unit is used for generating parking failure prompting information if the target parking space corresponding to the preset starting point is not detected.
Optionally, the apparatus further includes: and the parking prompt module is used for generating parking prompt information before acquiring the reference track of the preset starting point if the vehicle is positioned in the preset range of the preset starting point.
Correspondingly, the reference track acquisition module 920 is specifically configured to: and after the parking confirmation information of the user is received, acquiring the reference track of the preset starting point.
The memory parking device provided by the embodiment of the application can execute the memory parking method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 10 is a schematic structural diagram of a memory parking device according to an embodiment of the present application, as shown in fig. 10, including: memory 1010, processor 1020 and computer programs.
Wherein a computer program is stored in the memory 1010 and configured to be executed by the processor 1020 to implement the memory parking method provided in any one of the embodiments corresponding to fig. 2-5 and 8 of the present application.
Wherein the memory 1010 and the processor 1020 are coupled via a bus 1030.
The description may be correspondingly understood with reference to the descriptions and effects corresponding to the steps of fig. 2 to 5 and fig. 8, and the description is not repeated here.
Fig. 11 is a schematic structural diagram of a vehicle according to an embodiment of the present application, as shown in fig. 11, the vehicle includes: a main body 1110, an on-board looking-around camera 1120, and a memory parking device 1130.
The memory parking device 1130 may be a memory parking device provided in the embodiment shown in fig. 10.
In some embodiments, the in-vehicle looking-around cameras 1120 may be provided at front, rear, left, right, and four sides of the main body 1110 of the vehicle, respectively.
An embodiment of the present application provides a computer readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the memory parking method provided in any of the embodiments corresponding to fig. 2 to 5 and 8 of the present application.
The computer readable storage medium may be, among other things, ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
The present application also provides a program product comprising an executable computer program stored in a readable storage medium. At least one processor of the memory parking apparatus or the vehicle may read the computer program from the readable storage medium, and execution of the computer program by the at least one processor causes the memory parking device to implement the memory parking methods provided in the various embodiments described above.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present application may be integrated in one processing unit, or each module may exist alone physically, or two or more modules may be integrated in one unit. The units formed by the modules can be realized in a form of hardware or a form of hardware and software functional units.
The integrated modules, which are implemented in the form of software functional modules, may be stored in a computer readable storage medium. The software functional module is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform some of the steps of the methods described in the embodiments of the present application.
It should be understood that the above processor may be a central processing unit (Central Processing Unit, abbreviated as CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, abbreviated as DSP), application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present application may be embodied directly in a hardware processor or in a combination of hardware and software modules within a processor.
The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile memory NVM, such as at least one magnetic disk memory, and may also be a U-disk, a removable hard disk, a read-only memory, a magnetic disk or optical disk, etc.
The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (Peripheral Component, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or one type of bus.
The storage medium may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC for short). It is also possible that the processor and the storage medium reside as discrete components in an electronic device or a master device.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (15)
1. A memory parking method, the method comprising:
judging whether the vehicle is positioned in a preset range of a preset starting point or not based on a vehicle-mounted annular view of the vehicle;
If yes, acquiring a reference track of the preset starting point;
planning a driving track of the vehicle according to the reference track so as to control the vehicle to drive to a parking point corresponding to the preset starting point;
according to the parking points, controlling the vehicle to park in a target parking space corresponding to the preset starting point;
before determining whether the vehicle is within a preset range of a preset starting point based on the on-board annular view of the vehicle, the method further includes:
starting a parking learning function based on a user instruction, and determining the current position of the vehicle as a preset starting point;
loading and storing a reference ring view of the vehicle corresponding to the preset starting point;
and during parking of the user, positioning the vehicle according to the rotating speed information recorded by the wheel speed meter of the vehicle, and generating a reference track of the vehicle at the preset starting point.
2. The method of claim 1, wherein determining whether the vehicle is within a preset range of a preset origin based on an on-board annular view of the vehicle comprises:
loading at least one reference ring view corresponding to a preset starting point;
and judging whether the vehicle is positioned in a preset range of one of the preset starting points according to the vehicle-mounted annular view and the reference annular view corresponding to at least one preset starting point.
3. The method of claim 2, wherein determining whether the vehicle is within a preset range of one of the preset starting points based on the reference annular view corresponding to the on-board annular view and the at least one preset starting point comprises:
acquiring characteristic information of the vehicle-mounted annular view and a reference annular view corresponding to each preset starting point;
for each preset starting point, determining the matching degree of the vehicle-mounted annular view and the reference annular view corresponding to the preset starting point according to the characteristic information of the vehicle-mounted annular view and the reference annular view corresponding to each preset starting point;
and judging whether the vehicle is positioned in a preset range of the preset starting point according to the matching degree.
4. The method of claim 2, wherein determining whether the vehicle is within a preset range of one of the preset starting points based on the reference annular view corresponding to the on-board annular view and the at least one preset starting point comprises:
for each preset starting point, acquiring characteristic information of the vehicle-mounted annular view and a reference annular view corresponding to the preset starting point;
according to the feature information, calculating a mapping relation of the vehicle-mounted annular view and a reference annular view corresponding to the preset starting point, wherein the mapping relation is used for describing a conversion relation of each first feature point in the vehicle-mounted annular view and each second feature point corresponding to each first feature point in the reference annular view corresponding to the preset starting point;
And judging whether the vehicle is positioned in a preset range of the preset starting point according to the mapping relation.
5. The method of claim 4, wherein determining whether the vehicle is within a preset range of the preset starting point according to the mapping relationship comprises:
according to the mapping relation, carrying out coordinate conversion on the vehicle-mounted annular view to obtain a vehicle-mounted annular view, of which the converted reference annular view corresponding to the preset starting point is in the same image coordinate system;
and judging whether the vehicle is positioned in a preset range of the preset starting point or not according to the coordinates of each point in the converted vehicle-mounted annular view and the reference annular view corresponding to the preset starting point.
6. The method according to claim 5, wherein determining whether the vehicle is within a preset range of the preset starting point according to coordinates of respective points in the converted vehicle-mounted annular view and the reference annular view corresponding to the preset starting point, includes:
calculating the position deviation between the current position of the vehicle and the preset starting point according to the coordinates of each point in the converted vehicle-mounted annular view and the reference annular view corresponding to the preset starting point;
When the position deviation meets a preset condition, converting the vehicle-mounted annular view and a reference annular view corresponding to the preset starting point into a first aerial view and a second aerial view respectively;
and judging whether the vehicle is positioned in a preset range of the preset starting point according to the coordinates of the characteristic points of the corresponding parking space in the first aerial view and the second aerial view.
7. The method of claim 6, wherein determining whether the vehicle is within a preset range of the preset starting point based on coordinates of feature points of corresponding parking spaces in the first and second bird's-eye views comprises:
respectively extracting parking space lines in the first aerial view and the second aerial view;
according to the parking space lines, parking space corner points of one or more parking spaces corresponding to the parking space lines in the first aerial view and the second aerial view are respectively obtained;
calculating coordinates of each parking space angular point corresponding to the first aerial view and the second aerial view under a world coordinate system;
determining a first included angle of a parking space line corresponding to the first aerial view and the second aerial view according to coordinates of each parking space angular point in the first aerial view and the second aerial view under a world coordinate system;
According to the mapping relation, performing coordinate conversion on each point in the first aerial view to obtain a converted first aerial view;
determining a corner point corresponding relation based on the coordinates of each parking space corner point in the converted first aerial view and the coordinates of each parking space corner point in the second aerial view in the world coordinate system, wherein the corner point corresponding relation is used for describing the corresponding relation of the coordinates of the corresponding parking space corner points in the converted first aerial view and the second aerial view in the world coordinate system;
and judging whether the vehicle is positioned in a preset range of the preset starting point according to the corresponding relation between the first included angle and the angular point.
8. The method of any one of claims 1-7, wherein prior to determining whether the vehicle is within a preset range of a preset origin based on an on-board annular view of the vehicle, the method further comprises:
acquiring positioning information of the vehicle;
and when the vehicle is determined to be near a preset starting point according to the positioning information of the vehicle, acquiring the vehicle-mounted annular view of the vehicle in real time.
9. The method according to any one of claims 1-7, wherein planning the trajectory of the vehicle from the reference trajectory comprises:
Determining the angular deviation and translational deviation of the vehicle according to the vehicle-mounted annular view of the vehicle and the reference annular view of the preset starting point;
and planning the driving track of the vehicle according to the angle deviation, the translation deviation and the reference track so as to enable the vehicle to drive along the reference track.
10. The method of claim 9, wherein planning the trajectory of the vehicle based on the angular deviation, translational deviation, and the reference trajectory comprises:
according to the angle deviation and the translation deviation, carrying out position correction on the vehicle so as to enable the vehicle to move to the preset starting point;
and controlling the vehicle to travel to a parking point corresponding to the preset starting point along a reference track corresponding to the preset starting point based on the environment sensing module.
11. The method according to any one of claims 1-7, wherein controlling the vehicle to park in the target parking space corresponding to the preset starting point according to the parking point comprises:
judging whether a target parking space corresponding to the preset starting point is detected at the parking point;
if so, controlling the vehicle to park in the target parking space based on the position relation between the target parking space and the vehicle at the parking point.
12. The method according to any one of claims 1-7, wherein if the vehicle is within a preset range of a preset origin, before acquiring the reference trajectory of the preset origin, the method further comprises:
generating parking prompt information;
correspondingly, acquiring the reference track of the preset starting point comprises the following steps:
and after the parking confirmation information of the user is received, acquiring the reference track of the preset starting point.
13. A memory parking apparatus, the apparatus comprising:
the vehicle positioning module is used for judging whether the vehicle is positioned in a preset range of a preset starting point or not based on the vehicle-mounted annular view of the vehicle;
the reference track acquisition module is used for acquiring the reference track of the preset starting point if yes;
the driving control module is used for planning the driving track of the vehicle according to the reference track so as to control the vehicle to drive to a parking point corresponding to the preset starting point;
the parking control module is used for controlling the vehicle to park in a target parking space corresponding to the preset starting point according to the parking point;
the parking learning module is used for starting a parking learning function based on a user instruction and determining the current position of the vehicle as a preset starting point before judging whether the vehicle is positioned in a preset range of the preset starting point based on the vehicle-mounted annular view of the vehicle; loading and storing a reference ring view of the vehicle corresponding to the preset starting point; and during parking of the user, positioning the vehicle according to the rotating speed information recorded by the wheel speed meter of the vehicle, and generating a reference track of the vehicle at the preset starting point.
14. A memory parking apparatus, comprising:
a memory and at least one processor;
the memory stores computer-executable instructions;
the at least one processor executing computer-executable instructions stored in the memory, causing the at least one processor to perform the memory parking method of any one of claims 1-12.
15. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein computer executable instructions which, when executed by a processor, are adapted to implement the memory parking method according to any of claims 1-12.
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| CN116051389A (en) * | 2022-08-10 | 2023-05-02 | 荣耀终端有限公司 | Calibration image correction method and device and electronic equipment |
| CN116279437B (en) * | 2023-05-18 | 2023-08-22 | 集度科技有限公司 | Control system, vehicle and control method for memory parking |
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| JP7238722B2 (en) * | 2019-10-11 | 2023-03-14 | トヨタ自動車株式会社 | vehicle parking assist device |
| CN111976717B (en) * | 2019-11-29 | 2022-07-08 | 长城汽车股份有限公司 | Intelligent parking method and device |
| CN110979312B (en) * | 2019-12-11 | 2021-09-14 | 武汉乐庭软件技术有限公司 | Automatic parking method based on memory parking |
| CN111897900A (en) * | 2020-06-29 | 2020-11-06 | 吉利汽车研究院（宁波）有限公司 | Map screening and positioning method, system, equipment and storage medium |
| CN112193241A (en) * | 2020-09-29 | 2021-01-08 | 湖北亿咖通科技有限公司 | Automatic parking method |
| CN115035728A (en) * | 2020-12-28 | 2022-09-09 | 苏州易航远智智能科技有限公司 | Autonomous parking system and method based on cloud sharing and map fusion |
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