CN113830076B - Parking method, device, equipment and storage medium - Google Patents

Parking method, device, equipment and storage medium Download PDF

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Publication number
CN113830076B
CN113830076B CN202111095787.0A CN202111095787A CN113830076B CN 113830076 B CN113830076 B CN 113830076B CN 202111095787 A CN202111095787 A CN 202111095787A CN 113830076 B CN113830076 B CN 113830076B
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Prior art keywords
parking
frame
image information
panoramic image
information
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CN113830076A (en
Inventor
石登仁
陈钊
李云
胡锡挺
张霖
廖礼平
廖剑红
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Dongfeng Liuzhou Motor Co Ltd
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Dongfeng Liuzhou Motor Co Ltd
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

Abstract

The present invention relates to the field of automotive technologies, and in particular, to a parking method, apparatus, device, and storage medium. According to the method, the corresponding target parking warning frame is determined from the parking warning frame set according to the target parking area information in the panoramic image information, different parking modes can be selected according to different environments, and then route planning is carried out according to the target parking warning frame and the panoramic image information, so that the parking route can be automatically adjusted in the automatic parking process, and the technical problem that the automatic parking function becomes very difficult or even impossible to realize when the vehicle is parked at a roadside, in a narrow space or in the absence of the parking space information is avoided.

Description

Parking method, device, equipment and storage medium
Technical Field
The present invention relates to the field of automotive technologies, and in particular, to a parking method, apparatus, device, and storage medium.
Background
In large cities, due to limited parking space, when a small space is met during parking, the automobile is perfectly parked in the large city, so that the driving technology of a driver is very tested, and particularly, for people with insufficient driving experience, the situation that the automobile is parked without taking a double break is rarely caused. Thus, the automatic parking function which can be automatically completed by only starting the button, setting and releasing the seat in the vehicle driving system is generated, but in the existing automatic parking technology, most of the automatic parking functions are realized by a parking space or a standard parking lot, so that the automatic parking function is very difficult or even impossible to realize when the vehicle is parked at a roadside, in a narrow space or in the absence of information of the parking space.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a parking method, a device, equipment and a storage medium, and aims to solve the technical problem that an automatic parking function becomes very difficult or even impossible to realize when the vehicle is parked at a roadside, in a narrow space or in the absence of parking space information in the prior art.
To achieve the above object, the present invention provides a parking method, including the steps of:
when a parking signal is received, panoramic image information is obtained;
obtaining target parking area information according to the panoramic image information, and determining a corresponding target parking warning frame from a parking warning frame set according to the target parking area information;
carrying out route planning based on the target parking warning frame and the panoramic image information to obtain a parking route;
and controlling the vehicle to park according to the target parking warning frame and the parking route.
Optionally, the target parking alert frame includes a first parking alert frame;
the method for obtaining the target parking area information according to the panoramic image information and determining the corresponding target parking warning frame from the parking warning frame set according to the target parking area information comprises the following steps:
judging whether parking space image information exists according to the panoramic image information;
if the panoramic image information exists, extracting the parking space image information in the panoramic image information, and marking the parking space image information to obtain a parking space marking frame;
displaying the parking space marking frame and receiving a parking space selection instruction input by a user based on the parking space marking frame;
and recording the parking space image information corresponding to the parking space selection instruction as target parking area information, and determining a corresponding first parking warning frame from a parking warning frame set according to the target parking area information.
Optionally, after the route planning is performed based on the target parking warning frame and the panoramic image information to obtain a parking route, the method further includes:
controlling a vehicle to park according to the first parking warning frame and the parking route;
and when the preset frame of the first parking warning frame is overlapped with the parking space marking frame, judging that parking is completed.
Optionally, the target parking alert frame includes a second parking alert frame, the second parking alert frame being smaller than the first parking alert frame;
after judging whether the parking space image information exists according to the panoramic image information, the method comprises the following steps:
if the panoramic image information does not exist, extracting barrier information in the panoramic image information, and extracting a barrier boundary frame according to the barrier information;
determining whether parking area information exists in the panoramic image information according to the panoramic image information and the obstacle bounding box;
if the parking area information exists, determining a corresponding second parking warning frame from a parking forbidden frame set according to the parking area information.
Optionally, the controlling the vehicle to park according to the target parking alert frame and the parking route includes:
acquiring relative position information of an obstacle in the panoramic image information and the second parking warning frame;
and controlling the vehicle to park according to the second parking warning frame, the relative position information and the parking route.
Optionally, the controlling the vehicle to park according to the second parking alert frame, the relative position information and the parking route includes:
reconstructing the second parking warning frame according to the relative position information and the panoramic image information to obtain a reconstructed warning frame;
controlling the movement of the vehicle according to the parking route and the reconstructed warning frame;
and when the preset frame of the reconstructed warning frame coincides with the obstacle boundary frame, parking is completed.
Optionally, after the vehicle is controlled to park according to the target parking warning frame and the parking route, the method further includes:
when an obstacle exists in the target parking prohibition frame, controlling the vehicle to return to an initial place based on the parking route;
generating a reconstruction route according to the target parking area information, the position information of the obstacle and the panoramic image information;
and controlling the vehicle to move to the parking area based on the reconstructed route.
In addition, in order to achieve the above object, the present invention also proposes a parking device including:
the information acquisition module is used for acquiring panoramic image information when a parking signal is received;
the information processing module is used for obtaining target parking area information according to the panoramic image information and determining a corresponding target parking warning frame from a parking warning frame set according to the target parking area information;
the route planning module is used for carrying out route planning based on the target parking area information and the panoramic image information to obtain a parking route;
and the automatic parking module is used for controlling the vehicle to park according to the target parking warning frame and the parking route.
In addition, in order to achieve the above object, the present invention also proposes a parking apparatus including: a memory, a processor, and a parking program stored on the memory and executable on the processor, the parking program configured to implement the steps of the parking method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having a parking program stored thereon, which, when executed by a processor, implements the steps of the parking method as described above.
According to the method, when a parking signal is received, panoramic image information is obtained, target parking area information is obtained according to the panoramic image information, a corresponding target parking warning frame is determined from a parking warning frame set according to the target parking area information, route planning is conducted based on the target parking warning frame and the panoramic image information, a parking route is obtained, and a vehicle is controlled to park according to the target parking warning frame and the parking route. Compared with the prior art, the method and the device have the advantages that by acquiring panoramic image information and determining the corresponding target parking warning frame from the parking warning frame set according to the target parking area information in the panoramic image information, different parking modes can be selected according to different environments, and then route planning is carried out according to the target parking warning frame and the panoramic image information, so that the parking route can be automatically adjusted in the automatic parking process, and the technical problem that the automatic parking function becomes very difficult or even impossible to realize when the vehicle is parked at a roadside, in a narrow space or in the absence of parking space information is avoided.
Drawings
FIG. 1 is a schematic diagram of a parking device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the parking method of the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of the parking method of the present invention;
FIG. 4 is a schematic view showing the sizes of guard frames according to an embodiment of the parking method of the present invention;
FIG. 5 is a schematic view of parking criteria according to an embodiment of the parking method of the present invention;
fig. 6 is a block diagram showing the structure of a first embodiment of the parking device of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a parking device in a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the parking apparatus may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 is not limiting of the parking apparatus and may include more or fewer components than shown, or may combine certain components, or may be a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a parking program may be included in the memory 1005 as one type of storage medium.
In the parking apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the parking device of the present invention may be provided in the parking device, and the parking device calls a parking program stored in the memory 1005 through the processor 1001 and executes the parking method provided by the embodiment of the present invention.
An embodiment of the invention provides a parking method, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the parking method of the invention.
In this embodiment, the parking method includes the following steps:
step S10: and when the parking signal is received, panoramic image information is acquired.
It should be noted that, the execution body of the embodiment is a parking device controller, where the parking device may be a vehicle-mounted intelligent computer, an intelligent tablet, and the like, and in the embodiment, the vehicle-mounted intelligent computer controller will be described as an example.
It is to be understood that the parking signal may be a parking instruction input by the user on the vehicle-mounted intelligent computer, or a parking instruction input in other forms, and the embodiment is not limited in particular.
It should be understood that the panoramic image information may be panoramic fusion image information around the automobile collected by the panoramic image collecting device, where the panoramic fusion image information is an image obtained by cutting, stitching or elongating an image collected by the panoramic image collecting device, and in this embodiment, the panoramic image collecting device may be a plurality of cameras on the automobile.
In a specific implementation, when a parking instruction input by a user is received by a vehicle-mounted intelligent computer controller, a camera group loaded on an automobile is controlled according to the parking instruction to acquire images of the periphery of the current automobile, and the images are cut, spliced or elongated to obtain panoramic image information, wherein the panoramic image information can be displayed through a display device of the vehicle-mounted intelligent computer for the user to check.
Step S20: obtaining target parking area information according to the panoramic image information, and determining a corresponding target parking warning frame from a parking warning frame set according to the target parking area information.
It should be noted that, the target parking area information may be an area where parking may exist, which is automatically identified by the vehicle-mounted intelligent computer according to the panoramic image information, and the target parking area information is generally obtained by performing target identification on the panoramic image information through a target detection model, where the target parking area information may be a distance between the target parking area and an automobile, and information about a width and a length of the target parking area, and the embodiment is not limited specifically.
It is worth to say that the parking warning frame is used for detecting whether the automobile is possibly damaged by the obstacle in the moving process; the parking warning frame set may be pre-stored in the vehicle-mounted intelligent computer, where the parking warning frame is used to mark the target parking area, and different parking warning frames may be selected for marking according to different target parking area information, for example: when the target parking area is determined to be larger according to the target parking area information, a corresponding larger parking warning frame can be selected from the parking warning frame set, and the parking experience of a user is improved.
It can be understood that a mapping relationship exists between the target parking area information and the target parking warning frame, that is, the corresponding target parking warning frame can be found through the target parking area information.
In the specific implementation, when the vehicle-mounted intelligent computer controller obtains panoramic image information acquired by the vehicle camera, the panoramic image information is identified, target parking area information capable of parking is obtained, and a target parking warning frame corresponding to the target parking area information can be determined from a pre-stored parking warning frame set according to the target parking area information.
In addition, when the target parking warning frame is selected, a plurality of warning frames can exist at the same time, in actual operation, a basic warning frame is generally provided, the basic warning frame is about the same with the outline of the automobile, and is generally determined by the size or model of the automobile, and can be stored in the system in advance, for example: for an automobile with a length of 4 meters and a width of 1.7 meters, the corresponding basic warning frame is 4.2 meters long and 1.9 meters wide, and the embodiment is not particularly limited.
Step S30: and carrying out route planning based on the target parking warning frame and the panoramic image information to obtain a parking route.
It should be noted that, according to the panoramic image information, the position of the automobile and the position of the parking area can be obtained, and whether the automobile is possibly damaged by the obstacle in the moving process can be judged through the target parking warning frame, that is, according to the relative position of the automobile and the parking area, the parking route is marked in the panoramic image information by the target parking warning frame, and the parking route can be displayed together with the panoramic image information on the display screen of the vehicle-mounted intelligent computer, wherein the obstacle can be other vehicles, pillars or walls, and the embodiment is not particularly limited.
In a specific implementation, when no obstacle exists in the target parking warning frame, the vehicle is controlled to move, and since the target parking warning frame is related to the current environment where the vehicle is located, the sizes of the warning frames in different environments are different, for example: when the current environment is narrow, the corresponding target parking warning frame is small, and when the current environment is wide, the target parking warning frame is large.
Step S40: and controlling the vehicle to park according to the target parking warning frame and the parking route.
It should be noted that, after the parking route is obtained, the vehicle is controlled to park only when no obstacle exists in the target parking guard frame, so that when the vehicle is in the process of parking, whether the obstacle information exists in the target parking guard frame needs to be detected in real time, and when the obstacle exists in the target parking guard frame, the vehicle is controlled to return to the initial place based on the parking route, a reconstruction route is generated according to the target parking area information, the position information of the obstacle and the panoramic image information, and the vehicle is controlled to move to the parking area based on the reconstruction route.
According to the embodiment, when a parking signal is received, panoramic image information is obtained, target parking area information is obtained according to the panoramic image information, a corresponding target parking warning frame is determined from a parking warning frame set according to the target parking area information, route planning is conducted based on the target parking warning frame and the panoramic image information, a parking route is obtained, and a vehicle is controlled to park according to the target parking warning frame and the parking route. According to the method, the corresponding target parking warning frame is determined from the parking warning frame set according to the target parking area information in the panoramic image information, different parking modes can be selected according to different environments, and then route planning is carried out according to the target parking warning frame and the panoramic image information, so that the parking route can be automatically adjusted in the automatic parking process, and the technical problem that the automatic parking function becomes very difficult or even impossible to realize when the vehicle is required to park at a roadside, in a narrow space or in the absence of parking space information is solved.
Referring to fig. 3, fig. 3 is a schematic flow chart of a second embodiment of a parking method according to the present invention.
Based on the first embodiment, in this embodiment, the step S20 includes:
step S201: and judging whether parking space image information exists according to the panoramic image information.
It should be noted that, the parking space image information may be position information of the parking space image in the panoramic image information, or may be number information of the parking spaces, direction information of the parking spaces, and the like, which is not limited in this embodiment.
It can be understood that the parking space image information can be determined by performing target detection on the panoramic image information, and determining that the parking space image information exists in the panoramic image information when a parking space line exists in the panoramic image information or a parking mark exists in the panoramic image information.
Step S202: and if the panoramic image information exists, extracting the parking space image information in the panoramic image information, and marking the parking space image information to obtain a parking space marking frame.
It should be noted that, the parking space marking frame is obtained by marking the detected parking space image information in the panoramic image, in addition, if incomplete parking space information appears in the panoramic image information, namely, when a part of parking space lines are detected in the panoramic image information, the parking space marking frame can also mark the panoramic image, and the marking can be performed through different colors when the parking space marking frame is displayed on a display screen of the vehicle-mounted intelligent computer, so that a user can select the parking space marking frame.
In a specific implementation, when the situation that a plurality of parking space image information exists in the panoramic image information is detected, all detected parking spaces can be marked for a user to select.
Further, the panoramic image information may not detect the parking space information, and step S202 further includes:
if the panoramic image information does not exist, extracting barrier information in the panoramic image information, and extracting a barrier boundary frame according to the barrier information;
determining whether parking area information exists in the panoramic image information according to the panoramic image information and the obstacle bounding box;
if the parking area information exists, determining a corresponding second parking warning frame from a parking forbidden frame set according to the parking area information.
It should be noted that the obstacle information may be a relative position of the obstacle to the vehicle, profile information, number information of the obstacle, etc., and one or more obstacle bounding boxes may be obtained according to the obstacle information, where some of the bounding boxes may allow parking, so that it is further required to determine whether parking area information exists in the panoramic image information according to the panoramic image information and the obstacle bounding boxes.
Whether parking can be performed or not can be primarily judged by comparing the size of the obstacle bounding box with the size of the automobile, if the obstacle bounding box can be marked as parking area information, if a plurality of parking area information exist, one parking area closest to the automobile can be selected for parking, the parking area can be displayed to a user, and the parking area can be determined according to the selection of the user, so that the embodiment is not particularly limited.
It should be noted that, the second parking guard frame is used for detecting whether an obstacle can appear to obstruct parking operation of the automobile, and in this embodiment, the second parking guard frame is larger than the basic guard frame, so that the automobile can be conveniently moved out of the parking space smoothly by the free distance left after the automobile is parked, and it can be ensured that users on two sides can open the automobile door to get off or get on, and a part of space needs to be reserved, so that the obstacle is still not allowed to be in the frame.
In a specific implementation, after the second parking warning frame is determined, the relative position information of the obstacle in the panoramic image information and the second parking warning frame is also required to be acquired, and the vehicle is controlled to park according to the second parking warning frame, the relative position information and the parking route.
In actual operation, a parking area is possibly narrow, and the boarding and alighting of two sides of a user cannot be met, so that the second parking warning frame can be reconstructed according to the relative position information and the panoramic image information to obtain a reconstructed warning frame, the vehicle is controlled to move according to the parking route and the reconstructed warning frame, and parking is completed when a preset frame of the reconstructed warning frame coincides with the obstacle boundary frame.
It can be understood that, because the parking area is narrow and small, the boarding and alighting of the two sides of the user can not be met, inconvenience can be brought to the user, and the experience of the user is reduced, so that the second parking warning frame can be reconstructed, namely, the blank area part area of the left side or the right side of the second parking warning frame is reduced, only the area capable of boarding and alighting is reserved on one side, meanwhile, if the space of the front side and the rear side is narrow, the blank area part area of the front side and the rear side of the vehicle can be reduced, and the fact that the automobile can be moved out is ensured.
In addition, under the condition that the environment allows, namely, under the condition that the left side and the right side can park through modifying the parking route, the blank area part on the copilot side of the second parking warning frame is reduced in a limited mode, more blank area parts are left on the driving side, convenience in getting off of a driver is guaranteed, and user experience is improved.
In a specific implementation, the second parking alert frame may be set according to an actual scenario, for example: for an automobile with the length of 4 meters and the width of 1.7 meters, when the size and the length of a target parking area are detected to be more than 6 meters and the width of 2.3 meters, the length of the second parking warning frame can be 6 meters and the width can be 2.3 meters; when the size and the length of the detected target parking area are more than 6 meters and the width of the detected target parking area is not more than 2.3 meters, the length of the second parking warning frame can be 6 meters and the width of the second parking warning frame can be 2 meters, but the reserved blank parking of the second parking warning frame on the copilot side is less, and the blank parking is mainly concentrated on the driving side.
Step S203: and displaying the parking space marking frame and receiving a parking space selection instruction input by a user based on the parking space marking frame.
It should be noted that, the parking space selection instruction is used for selecting a parking target parking area according to the displayed parking space labeling frame, and the parking space selection instruction may be issued by a user through a display screen of the vehicle-mounted intelligent computer, or may be issued by other similar methods, for example: voice commands, etc., the present embodiment is not particularly limited.
Step S204: and recording the parking space image information corresponding to the parking space selection instruction as target parking area information, and determining a corresponding first parking warning frame from a parking warning frame set according to the target parking area information.
It should be noted that, the first parking guard frame is one guard frame for assisting the automobile to park when there is a parking space, and the first parking guard frame may be a preset size, and may be a standard parking space size, in this embodiment, the first parking guard frame is larger than the second parking guard frame, and the second parking guard frame is larger than the base guard frame, referring to fig. 4.
It can be understood that after a parking space selection instruction input by a user is received, corresponding parking space image information is selected from a parking space image information set according to the parking space selection instruction input by the user, the parking space image information corresponding to the parking space selection instruction is recorded as target parking area information, a first parking warning frame is obtained according to a mapping relation between the target parking area information and the warning frame, and a parking route is obtained by carrying out route planning based on the first parking warning frame and the panoramic image information.
Further, after determining the first parking alert frame, in order to achieve the purpose of perfect parking, step S204 further includes:
controlling a vehicle to park according to the first parking warning frame and the parking route;
and when the preset frame of the first parking warning frame is overlapped with the parking space marking frame, judging that parking is completed.
It should be noted that, referring to fig. 5, when any two adjacent edges of the first parking warning frame overlap with the parking space marking frame in the parking process, it may be determined that the vehicle is perfectly parked, and the parking process of the vehicle is terminated.
According to the embodiment, when a parking signal is received, panoramic image information is obtained, whether parking space image information exists or not is judged according to the panoramic image information, if so, the parking space image information in the panoramic image information is extracted, the parking space image information is marked, a parking space marking frame is obtained, the parking space marking frame is displayed, a parking space selection instruction input by a user based on the parking space marking frame is received, the parking space image information corresponding to the parking space selection instruction is recorded as target parking area information, a corresponding first parking warning frame is determined from a parking warning frame set according to the target parking area information, a parking route is obtained based on the target parking warning frame and the panoramic image information, and the vehicle is controlled to park according to the target parking warning frame and the parking route. According to the embodiment, by acquiring panoramic image information, judging whether parking space information exists in the panoramic image information according to the panoramic image information, the method can adapt to various environments, corresponding target parking warning frames are determined from a parking warning frame set according to target parking area information, different parking modes can be selected according to different environments, and then route planning is carried out according to the target parking warning frames and the panoramic image information, so that a parking route can be automatically adjusted in an automatic parking process, and the technical problem that an automatic parking function becomes very difficult or even impossible to realize when the vehicle is parked at a roadside, in a narrow space or when the parking space information is absent is avoided.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium stores a parking program, and the parking program realizes the steps of the parking method when being executed by a processor.
Because the storage medium adopts all the technical schemes of all the embodiments, at least county has all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted here.
Referring to fig. 6, fig. 6 is a block diagram showing the structure of a first embodiment of the parking device of the present invention.
As shown in fig. 6, a parking device according to an embodiment of the present invention includes:
the information acquisition module 10 is configured to acquire panoramic image information when a parking signal is received.
The information processing module 20 is configured to obtain target parking area information according to the panoramic image information, and determine a corresponding target parking warning frame from a parking warning frame set according to the target parking area information.
The route planning module 30 is configured to perform route planning based on the target parking area information and the panoramic image information, and obtain a parking route.
And the automatic parking module 40 is used for controlling the vehicle to park according to the target parking warning frame and the parking route.
According to the embodiment, when a parking signal is received, panoramic image information is obtained, target parking area information is obtained according to the panoramic image information, a corresponding target parking warning frame is determined from a parking warning frame set according to the target parking area information, route planning is conducted based on the target parking warning frame and the panoramic image information, a parking route is obtained, and a vehicle is controlled to park according to the target parking warning frame and the parking route. According to the method, the corresponding target parking warning frame is determined from the parking warning frame set according to the target parking area information in the panoramic image information, different parking modes can be selected according to different environments, and then route planning is carried out according to the target parking warning frame and the panoramic image information, so that the parking route can be automatically adjusted in the automatic parking process, and the technical problem that the automatic parking function becomes very difficult or even impossible to realize when the vehicle is required to park at a roadside, in a narrow space or in the absence of parking space information is solved.
In an embodiment, the information processing module 20 is further configured to determine whether there is parking space image information according to the panoramic image information; if the panoramic image information exists, extracting the parking space image information in the panoramic image information, and marking the parking space image information to obtain a parking space marking frame; displaying the parking space marking frame and receiving a parking space selection instruction input by a user based on the parking space marking frame; the parking space image information corresponding to the parking space selection instruction is recorded as target parking area information, and a corresponding first parking warning frame is determined from a parking warning frame set according to the target parking area information; .
In one embodiment, the information processing module 20 is further configured to control the vehicle to park according to the first parking alert frame and the parking route; and when the preset frame of the first parking warning frame is overlapped with the parking space marking frame, judging that parking is completed.
In an embodiment, the information processing module 20 is further configured to, after determining whether the parking space image information exists according to the panoramic image information, include: if the panoramic image information does not exist, extracting barrier information in the panoramic image information, and extracting a barrier boundary frame according to the barrier information; determining whether parking area information exists in the panoramic image information according to the panoramic image information and the obstacle bounding box; if the parking area information exists, determining a corresponding second parking warning frame from a parking forbidden frame set according to the parking area information.
In an embodiment, the information processing module 20 is further configured to obtain relative position information of the obstacle in the panoramic image information and the second parking warning frame; and controlling the vehicle to park according to the second parking warning frame, the relative position information and the parking route.
In an embodiment, the information processing module 20 is further configured to reconstruct the second parking alert frame according to the relative position information and the panoramic image information to obtain a reconstructed alert frame;
controlling the movement of the vehicle according to the parking route and the reconstructed warning frame; and when the preset frame of the reconstructed warning frame coincides with the obstacle boundary frame, parking is completed.
In one embodiment, the automatic parking module 40 is further configured to control the vehicle to return to the initial location based on the parking route when the obstacle exists in the target parking prohibition frame; generating a reconstruction route according to the target parking area information, the position information of the obstacle and the panoramic image information; and controlling the vehicle to move to the parking area based on the reconstructed route.
It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details not described in detail in this embodiment may refer to the parking method provided in any embodiment of the present invention, and are not described herein again.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims (10)

1. A method of parking, the method comprising:
when a parking signal is received, panoramic image information is obtained;
obtaining target parking area information according to the panoramic image information, and determining a corresponding target parking warning frame from a parking warning frame set according to the target parking area information, wherein the target parking warning frame comprises a first parking warning frame and a second parking warning frame, and the second parking warning frame is smaller than the first parking warning frame;
carrying out route planning based on the target parking warning frame and the panoramic image information to obtain a parking route;
and controlling the vehicle to park according to the target parking warning frame and the parking route.
2. The method of parking according to claim 1, wherein the obtaining target parking zone information according to the panoramic image information and determining a corresponding target parking alert frame from a set of parking alert frames according to the target parking zone information comprises:
judging whether parking space image information exists according to the panoramic image information;
if the panoramic image information exists, extracting the parking space image information in the panoramic image information, and marking the parking space image information to obtain a parking space marking frame;
displaying the parking space marking frame and receiving a parking space selection instruction input by a user based on the parking space marking frame;
and recording the parking space image information corresponding to the parking space selection instruction as target parking area information, and determining a corresponding first parking warning frame from a parking warning frame set according to the target parking area information.
3. The parking method according to claim 2, wherein the route planning based on the target parking alert frame and the panoramic image information, after obtaining the parking route, further comprises:
controlling a vehicle to park according to the first parking warning frame and the parking route;
and when the preset frame of the first parking warning frame is overlapped with the parking space marking frame, judging that parking is completed.
4. The parking method according to claim 2, wherein after determining whether there is parking space image information based on the panoramic image information, comprising:
if the panoramic image information does not exist, extracting barrier information in the panoramic image information, and extracting a barrier boundary frame according to the barrier information;
determining whether parking area information exists in the panoramic image information according to the panoramic image information and the obstacle bounding box;
if the parking area information exists, determining a corresponding second parking warning frame from a parking forbidden frame set according to the parking area information.
5. The parking method of claim 4, wherein the controlling the vehicle to park according to the target parking alert frame and the parking route comprises:
acquiring relative position information of an obstacle in the panoramic image information and the second parking warning frame;
and controlling the vehicle to park according to the second parking warning frame, the relative position information and the parking route.
6. The parking method according to claim 5, wherein the controlling the vehicle to park based on the second parking alert frame, the relative position information, and the parking route includes:
reconstructing the second parking warning frame according to the relative position information and the panoramic image information to obtain a reconstructed warning frame;
controlling the movement of the vehicle according to the parking route and the reconstructed warning frame;
and when the preset frame of the reconstructed warning frame coincides with the obstacle boundary frame, parking is completed.
7. The parking method according to any one of claims 1 to 6, characterized in that after the vehicle is controlled to park in accordance with the target parking alert frame and the parking route, further comprising:
when an obstacle exists in the target parking prohibition frame, controlling the vehicle to return to an initial place based on the parking route;
generating a reconstruction route according to the target parking area information, the position information of the obstacle and the panoramic image information;
and controlling the vehicle to move to the parking area based on the reconstructed route.
8. A parking apparatus, characterized in that the parking apparatus comprises:
the information acquisition module is used for acquiring panoramic image information when a parking signal is received;
the information processing module is used for obtaining target parking area information according to the panoramic image information, and determining a corresponding target parking warning frame from a parking warning frame set according to the target parking area information, wherein the target parking warning frame comprises a first parking warning frame and a second parking warning frame, and the second parking warning frame is smaller than the first parking warning frame;
the route planning module is used for carrying out route planning based on the target parking warning frame and the panoramic image information to obtain a parking route;
and the automatic parking module is used for controlling the vehicle to park according to the target parking warning frame and the parking route.
9. A parking apparatus, characterized in that the parking apparatus comprises: a memory, a processor, and a parking program stored on the memory and executable on the processor, the parking program configured to implement the parking method of any one of claims 1 to 7.
10. A storage medium having stored thereon a parking program which, when executed by a processor, implements the parking method of any one of claims 1 to 7.
CN202111095787.0A 2021-09-17 2021-09-17 Parking method, device, equipment and storage medium Active CN113830076B (en)

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