CN114572193A - Remote automatic parking control method and device and vehicle - Google Patents
Remote automatic parking control method and device and vehicle Download PDFInfo
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- CN114572193A CN114572193A CN202210172221.1A CN202210172221A CN114572193A CN 114572193 A CN114572193 A CN 114572193A CN 202210172221 A CN202210172221 A CN 202210172221A CN 114572193 A CN114572193 A CN 114572193A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- G—PHYSICS
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
- B60W2050/0064—Manual parameter input, manual setting means, manual initialising or calibrating means using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone
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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
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Abstract
The invention discloses a remote automatic parking control method, a device and a vehicle, wherein the method comprises the steps of monitoring environmental information around the vehicle, judging whether parking spaces exist or not according to the environmental information, and acquiring the environmental information by shot image information and radar ranging information; the method comprises the steps that a parking stall capable of parking is detected, a stall image and/or stall information is sent to a user control terminal, and remote automatic parking is activated according to a control instruction fed back by the user control terminal; and controlling the vehicle to park, adjusting the vehicle to run based on the information of obstacles around the vehicle in the parking process, and parking the vehicle into the parking space. In the technical scheme provided by the invention, the environmental information is formed by the image information and the radar ranging information, so that the surrounding parking spaces can be automatically detected in real time, the vehicle is controlled to park in the nearby parking space, a user can conveniently park and move the vehicle, the time of the user is saved, and the management of the vehicle is facilitated; and once detecting that the surrounding available parking space is sent to the user through the cloud.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a remote automatic parking control method and device and a vehicle.
Background
The automatic parking system is an unmanned system based on vision and ultrasonic fusion technology, and realizes accurate identification of various parking stall types. And after the system confirms the parking space to be parked, the vehicle-mounted automatic driving controller controls the vehicle to park and store in the garage.
Along with the development of vehicle intellectuality, people can dispose various radars (such as speed measuring radar, range radar, anticollision radar etc.) in the vehicle and further optimize vehicle performance to improve the security of vehicle, also provided better experience of driving simultaneously for people.
With the increasing number of vehicles in the market, the problem of shortage of parking spaces in a parking lot becomes more and more prominent, and the problem becomes a social problem. When the car owner can not find the parking space, the car can be parked randomly and is blocked, so that the passing of other vehicles is influenced, and a great deal of inconvenience for moving the car is also caused.
The prior art is therefore still subject to further development.
Disclosure of Invention
Aiming at the technical problems, the invention provides a remote automatic parking control method, a remote automatic parking control device and a vehicle.
In a first aspect of the embodiments of the present invention, a remote automatic parking control method is provided, including:
monitoring environmental information around a vehicle, and judging whether a parking space exists according to the environmental information, wherein the environmental information is obtained by shot image information and radar ranging information;
the method comprises the steps that a parking stall capable of parking is detected, a stall image and/or stall information is sent to a user control terminal, and remote automatic parking is activated according to a control instruction fed back by the user control terminal;
and controlling the vehicle to park, adjusting the vehicle to run based on the information of obstacles around the vehicle in the parking process, and parking the vehicle into the parking space.
Optionally, the determining whether there is a parking space according to the environment information includes:
identifying whether a parking vacancy exists or not according to the shot image information, planning a parking path and judging whether a barrier exists in the parking vacancy or the parking path or not;
judging whether enough passing space and parking space exist on the parking path according to the radar ranging information and the vehicle width;
if the parking space exists, and the parking space and the enough passing space exist, the parking space is judged to exist, and the barrier information is prompted.
Optionally, the identifying whether there is a parking space from the shot image information includes:
acquiring image information before a parking path, and if occupied parking spaces exist in the image information, paying attention to whether parking space updating information exists in the driving direction of the path before parking;
and identifying whether a vehicle is driven away from the path before parking, and if so, determining the occupied parking space from which the vehicle is driven away as the parking space.
Optionally, the determining whether there are enough traffic space and parking space on the parking path according to the radar ranging information and the vehicle width includes:
the method comprises the steps that point cloud data of a parking scene are built through a vehicle-mounted radar, and the space between obstacles is calculated according to the point cloud data to form a parking space; constructing a passing space according to the closest point of the horizontal distance from the vehicle in the point cloud data and judging whether the vehicle can pass;
if the parking space is smaller than the preset parking space and the passing space does not meet the moving space required by parking, the parking space or the passing space does not exist, and otherwise, the passing space and the parking space are enough.
Optionally, the remote automatic parking control method further includes:
performing projection transformation processing on the point cloud data, and fusing the point cloud data with image information in a projection transformation mode;
and using the point cloud data corresponding to the edge of the object for obstacle distance calculation, and judging whether a passing space and a parking space exist or not based on the obstacle distance calculation.
Optionally, in the process of parking the vehicle in the parking space, controlling the vehicle to start double flashes, whistling or controlling a projection headlamp to project a parking mark and a traveling direction; and receives a control instruction of the user control terminal in real time.
Optionally, the remote automatic parking control method further includes:
and at least one of the image data, the parking position and the visual cabin image of the vehicle in the parking space process is sent to a cloud server, the cloud server transmits the image data, the parking position and the visual cabin image to a user control terminal, and the cloud server suspends a parking instruction for controlling the vehicle to park.
Optionally, the acquired image information of the visual image of the cockpit is subjected to image splicing processing according to corresponding image information of the grid in the image information to form 360 images, and the 360 images are uploaded to a cloud server.
Optionally, the user control terminal is provided with a parking monitoring interface, and the parking monitoring interface can be used for a user to initiate a remote vehicle moving control instruction, a remote video viewing instruction, a vehicle state and fault diagnosis information.
In a second aspect of the embodiments of the present invention, there is provided a remote automatic parking control apparatus including:
the sensing unit is used for monitoring environmental information around the vehicle and judging whether a parking space exists or not according to the environmental information, wherein the environmental information is obtained by shot image information and radar ranging information;
the internet unit is used for detecting that a parking space capable of parking exists, sending the parking space image and/or parking space information to the user control terminal, and activating remote automatic parking according to a control instruction fed back by the user control terminal;
and the automatic parking control unit is used for controlling the vehicle to park, adjusting the vehicle to run based on the obstacle information around the vehicle in the parking process, and parking the vehicle into the parking space.
In a third aspect of the embodiments of the present invention, a vehicle is provided, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the steps of the remote automatic parking control method are implemented.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the steps of the remote automatic parking control method as described above.
According to the technical scheme provided by the invention, the environmental information is formed by the image information and the radar ranging information, so that the surrounding parking spaces can be automatically detected in real time, the vehicle is controlled to park in the nearby parking space, a user can conveniently park and move the vehicle, the time of the user is saved, and the management of the vehicle is facilitated; and in case detect the empty parking stall that peripheral can park and send the user through the high in the clouds, the user looks over based on long-range video, can guarantee to park the parking stall safely.
Drawings
Fig. 1 is a schematic flow chart of a remote automatic parking control method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for determining whether there is a parking space according to environmental information in an embodiment of the present invention;
fig. 3 is a schematic diagram of an application scenario of a remote automatic parking control method according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for identifying whether there is a parking space according to captured image information according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating a radar ranging determination method according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a remote automatic parking control device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a remote automatic parking control method in an embodiment of the present invention, where the remote automatic parking control method is applied to a software control system, and includes the following steps:
step S100: monitoring environmental information around a vehicle, and judging whether a parking space exists or not according to the environmental information, wherein the environmental information is obtained by shot image information and radar ranging information;
step S200: the method comprises the steps that a parking stall capable of parking is detected, a stall image and/or stall information is sent to a user control terminal, and remote automatic parking is activated according to a control instruction fed back by the user control terminal;
step S300: and controlling the vehicle to park, adjusting the vehicle to run based on the information of obstacles around the vehicle in the parking process, and parking the vehicle into the parking space.
Specifically, a sensing system is arranged on the vehicle and comprises a camera, a radar and the like, and the vehicle is in communication connection with the TSP server through the internet unit. The vehicle is also provided with a gateway, an automatic parking control unit, a parking execution unit and the like.
In one embodiment, the user does not find a suitable parking space in the parking lot, parks on the roadside, and starts the remote parking mode through the vehicle end before getting off. In this mode, the camera and the automatic driving controller of the vehicle are in a silent on state, and the vehicle detects the change of the surrounding environment in real time. The vehicle camera in the silent state monitors images around the vehicle, and the radar can not be started or monitor surrounding information because the vehicle does not move. For example, when a vehicle camera monitors that parking spaces exist around the vehicle, a radar can be started to detect the distance of an obstacle. The radar can be selected from ultrasonic radar and millimeter wave radar.
The environment information comprises information of surrounding parking scenes, obstacle positions, obstacle distances, passing spaces, passersby, vehicles and the like. The parking space can be a space with a parking lane or a certain physical space for parking, for example, a vehicle needs to move in a scene of temporarily moving the vehicle; the invention is not limited.
In an embodiment, judging whether there is a parking space according to the environment information may be implemented by the following steps, as shown in fig. 2:
step S110: identifying whether a parking vacancy exists or not according to the shot image information, planning a parking path and judging whether a barrier exists in the parking vacancy or the parking path or not;
step S120: and judging whether the parking path has enough passing space and parking space according to the radar ranging information and the vehicle width.
In an application scene, the four (4) all around cameras around the vehicle detect whether there is a new empty parking space around in real time, and the parking space detection and identification distance depends on the effective distance that the camera can detect. The system judges whether the parking space can be parked or not, and judges whether enough passing space is available to finish path planning and driving to an empty parking space and parking. And judging the parking position parking state, and comprehensively considering the width of the parking position and whether obstacles exist in the parking position.
The parking vacancy can be realized by using an artificial intelligence algorithm, namely, whether vacancies exist among vehicles is identified by using an image identification model, and the vehicle can be parked. The positions of the vehicles around the vehicles, and whether obstacles or distance spaces exist between the vehicles can be identified by utilizing the vehicle-mounted or cloud image identification technology. If a certain distance space exists between the vehicles and a complete parking lane line is identified in the distance space, the parking spaces in the existing parking spaces can be directly determined, and the vehicles are parked by matching with the radar. Radar ranging is required if the parking lane is incomplete or is present by obstacles.
When the parking vacancy is judged, a parking path can be planned based on the current position of the vehicle; if the obstacle exists on the planned path, obstacle avoidance processing of the obstacle is needed, or whether the obstacle affects vehicle passing is judged, wherein path planning can be based on the position relation planning between the current position of the vehicle and the found parking space.
For example, after a vehicle enters a parking state, a starting point can be constructed according to a self-parking position, and an end point can be constructed according to a parking position result output by the PSD module.
The distance between the front section of the parking path and the common path is a straight line distance; the rear distance is a parking driving path. It can be understood that the vehicle driving to the parking space in the shooting range of the camera is an execution route, and only the vehicle steering is needed in the parking process. Namely, the parking path comprises a driving path and a parking garage path.
For example, as shown in fig. 3, a movable range x in the vehicle width direction of the vehicle, that is, the width of a road on which the own vehicle is movable; calculating the width y of the parking space in the vehicle length direction of the vehicle; and judging whether the vehicle can be parked or not according to the movable range and the width of the parking space.
Step S130: if the parking space exists, and the parking space and the enough passing space exist, the parking space is judged to exist, and the barrier information is prompted.
In the step, it is determined that a parking space can be used as a parking space, and sufficient passing space and parking space (threshold value can be preset) exist, so that the automatic parking control system can be started to enter a parking link. Newly-appearing obstacles such as pedestrians, pets and the like walking after parking may be encountered during the parking process of the vehicle; the obstacle identification is carried out according to the checked information, and the obstacle identification can be sent to a remote user control terminal through the internet unit; prevent parking accidents caused by parking.
In an application scenario, the step S110 may be implemented by identifying whether there is a parking space according to the captured image information, and may also be implemented by the following control method, as shown in fig. 4:
step S111: acquiring image information before a parking path, and if occupied parking spaces exist in the image information, paying attention to whether parking space updating information exists in the driving direction of the path before parking;
step S112: and identifying whether the vehicle leaves on the path before parking, and if so, determining that the occupied parking space where the vehicle leaves is the parking space.
In fig. 2, the vehicle is stopped on the driving lane with the parking space full. The vehicle may record an environment record in which the surrounding vehicle space is full before the vehicle stops, or may record a local environment, that is, a range of an area recordable by a vehicle camera. Parking spaces in the surrounding environment are occupied, if other vehicles drive away from the parking spaces, the vacant parking spaces exist, and the vehicles can recognize vehicle images in the surrounding environment and judge that the vehicles are in a driving-away state; for example, the vehicle is driven out from the original position, and other vehicles are shot to be far away from the vehicle; the parking space information can be updated to be the spare parking space.
For increasing the security, when detecting that there is the empty parking stall that can park, the automatic drive controller sends parking stall picture and parking stall information and gives the internet connection controller, uploads to the high in the clouds through the internet connection controller, transmits the car owner's cell-phone APP by the high in the clouds. The car owner checks the information, enters the remote car moving system through the mobile phone APP, calls the remote video to check, clicks the confirmation to start remote parking, and finally completes the parking.
Further, in step S120, the determining whether there is enough traffic space and parking space on the parking path according to the radar ranging information and the vehicle width further includes the following steps, as shown in fig. 5:
step S121: the method comprises the steps that point cloud data of a parking scene are built through a vehicle-mounted radar, and the space between obstacles is calculated according to the point cloud data to form a parking space; and constructing a passing space according to the closest point of the horizontal distance from the vehicle in the point cloud data and judging whether the vehicle can pass.
Specifically, a vehicle-mounted radar can be used for independently constructing point cloud transmission in a scene around a vehicle, obstacles and distances between adjacent obstacles are identified according to the point cloud data, and the distances and the length distances can be combined to form a parking space. Therefore, the distances between the adjacent obstacles and the vehicle can be judged, and whether a passable space exists or not is constructed. In particular, the method can be realized by a radar automatic driving technology.
In some embodiments, the point cloud data is subjected to projection transformation processing, and the point cloud data is fused with the image information in a projection transformation mode.
Optionally, an edge detection algorithm is used to obtain the edge of an object in the image information, the region of interest is first clipped to remove the useless part, then gray processing is performed, finally an edge line in the image is found out by using the edge detection algorithm, filtering and denoising are further performed, after a sufficiently fine edge is obtained from the image, denoising is performed on the obtained three-dimensional point cloud, and the three-dimensional point cloud is created by using NURBS surface fitting and intersected with image back projection, so that a reconstructed edge is obtained.
For example, X = P0 Tr X is used to perform a translation matrix transformation of the radar point cloud to the image coordinate system, where P0 is the projection matrix and Tr is the transformation matrix. The obstacle distance and space calculation amount of the three-dimensional point cloud data are relatively large, and the calculation amount can be simplified by combining images and image data, namely, the calculation is pertinently performed.
Image data of the edge of an object, such as the outer edge of a vehicle, in the image information can be obtained by using an image recognition technology, and point cloud data is correspondingly projected on the edge of the object, wherein the point cloud data represents the most probable contact position of an obstacle with the vehicle and is an important parameter considering a parking movement space. Therefore, the point cloud data corresponding to the edge of the object can be used for calculating the distance between obstacles, and whether a passing space and a parking space exist or not can be judged based on the calculation of the distance between obstacles. That is, the distance between vehicles is calculated by using the point cloud data of the vehicle edge, such as the distance x/y in fig. 2, thereby calculating the point cloud data in a smaller amount.
Step S122: if the parking space is smaller than the preset parking space and the passing space does not meet the moving space required by parking, the parking space or the passing space does not exist, and otherwise, the passing space and the parking space are enough.
The length and the width of the vehicle and the parking space and the passing space required in the parking process can be set according to different vehicle types. Then, the judgment is carried out according to the above.
In addition, during parking, due to remote parking control, no person is in the vehicle, which may cause the unnoticed of surrounding people and cause some unnecessary dangers or obstacles. Therefore, in the process of parking the vehicle in the parking stall, the vehicle is controlled to start double flashes, whistle or projection headlamps are controlled to carry out parking mark projection and traveling direction projection; and receives a control instruction of the user control terminal in real time.
The method can specifically prompt the surrounding environment in the form of sound, light and electricity before parking, and the vehicle needs to move or park in a parking space. It is conventional to use one or both of a double flash and a whistle to give a prompt. In some scenarios, a vehicle's projection headlights may be used to project a reminder font or icon or some image or the like on the ground or other object.
Further, at least one of image data, parking positions and cabin visual images of a vehicle parked in the parking space is sent to a cloud server and sent to a user control terminal by the cloud server, wherein the acquired cabin visual images are subjected to image splicing processing according to the acquired image information and corresponding field character lattice image information in the image information to form 360 images and are uploaded to the cloud server. The cloud server can receive a parking pause instruction sent by the user control terminal to control the vehicle to park.
Specifically, the cloud server can receive a long-press instruction sent by the user control terminal to control the vehicle to park, the vehicle end continuously monitors a long-press signal and a heartbeat signal to control the vehicle to park, and when the user releases a button or the communication signal is interrupted, the vehicle end controls the vehicle to pause the parking operation and quit the parking control after time-out.
For example, if the parking space is free and the parking space is judged to be available, the system sends parking space information and images to the user mobile phone APP to inform the user of the available parking space and whether the remote parking function is started. If the user does not respond for a long time or the parking space is parked by other vehicles during the period of waiting for the user to respond, the information is synchronized to the mobile phone end of the user.
And the user mobile phone end receives the parking space acquisition information sent by the vehicle end. The parking space acquisition information comprises: the vehicle detects the parking space information, the parking space image information and parking availability information. The user opens cell-phone APP to start long-range car moving function, call look around the camera and carry out long-range video and look over, the user screens and looks over the peripheral parking stall information of vehicle, and confirms safety, activates long-range automatic function of parking. The user control terminal is provided with a parking monitoring interface, such as a mobile phone APP interface, and the touch interface, namely the parking monitoring interface, can be used for a user to initiate a remote vehicle moving control instruction, a remote video viewing instruction, a vehicle state and fault diagnosis information.
In the process, the subjective judgment of the user is added to increase the parking safety, and the system controls the vehicle to drive to the position near the empty parking space at low speed according to the direction of the path planning. If the parking space is judged to have the obstacle or the parking space width does not meet the parking requirement, the vehicle is parked nearby, and the current state is fed back to the user side through the cloud. If the parking space is judged to be available for parking, the target parking space is automatically locked, and the vehicle is controlled to automatically park in the parking space. In the whole function operation process, the user keeps the attention to the remote video, and the emergency is processed through a pause button at the mobile phone end.
As shown in fig. 6, the present invention also provides a remote automatic parking control apparatus, including:
the sensing unit 610 is configured to monitor environmental information around a vehicle, and determine whether a parking space exists according to the environmental information, where the environmental information is obtained from captured image information and radar ranging information;
the internet connection unit 620 is configured to detect that there is a parking space that can be parked, send the parking space image and/or the parking space information to the user control terminal, and activate remote automatic parking according to a control instruction fed back by the user control terminal;
and the automatic parking control unit 630 is used for controlling the vehicle to park, adjusting the vehicle to run based on the information of obstacles around the vehicle in the parking process, and parking the vehicle into the parking space.
The sensing unit 610 is further configured to perform the following program method:
identifying whether a parking vacancy exists or not according to the shot image information, planning a parking path and judging whether a barrier exists in the parking vacancy or the parking path or not;
judging whether enough passing space and parking space exist on the parking path according to the radar ranging information and the vehicle width;
if the parking space exists, and the parking space and the enough passing space exist, the parking space is judged to exist, and the barrier information is prompted.
When the photographed image information is executed to identify whether parking vacancies exist, the method is also used for acquiring image information before a parking path, and if occupied parking spaces exist in the image information, whether parking space updating information exists in the path driving direction before parking is concerned;
and identifying whether a vehicle is driven away from the path before parking, and if so, determining the occupied parking space from which the vehicle is driven away as the parking space.
The sensing unit 610 further includes:
the computing unit is used for constructing point cloud data of a parking scene by using the vehicle-mounted radar and computing a space between the obstacles according to the point cloud data to form the parking space; constructing a passing space according to the closest point of the horizontal distance from the vehicle in the point cloud data and judging whether the vehicle can pass;
the first judgment unit is used for judging whether a parking space or a passing space does not exist if the parking space is smaller than a preset parking space and the passing space does not meet the moving space required by parking, and otherwise, judging whether the passing space and the parking space are enough;
the matrix transformation unit is used for carrying out projection transformation processing on the point cloud data and fusing the point cloud data with image information in a projection transformation mode;
and the second judgment unit is used for acquiring the edge of the object in the image information, using the point cloud data corresponding to the edge of the object for calculating the distance between obstacles, and judging whether a passing space and a parking space exist or not based on the calculation of the distance between the obstacles.
The networking unit 620 is further configured to perform the following procedural methods:
controlling the vehicle to start double flashes, whistling or projecting headlamps to carry out parking mark and traveling direction projection in the process of parking the vehicle in the parking space; receiving a control instruction of a user control terminal in real time;
at least one of image data, parking positions and cabin visual images of a vehicle in the parking space process is sent to a cloud server, the cloud server transmits the image data, the parking positions and the cabin visual images to a user control terminal, and the cloud server can receive a parking suspension instruction sent by the user control terminal and is used for controlling the vehicle to park; and the cabin visual image is subjected to image splicing processing according to the acquired image information and the corresponding field character grid image information in the image information to form 360 images and upload the 360 images to a cloud server.
The user control terminal is provided with a parking monitoring interface, is communicated with the internet unit 420, and can be used for controlling vehicles; the parking monitoring interface can be used for a user to initiate a remote vehicle moving control instruction to activate a remote parking function, a remote video viewing instruction to view the safety of the surrounding environment of the vehicle in real time, the state of the vehicle to view whether the monitored vehicle is parking and whether parking is interrupted, and fault diagnosis information is displayed to remind the user of potential system faults which may occur and take over the vehicle in time.
The invention also provides a vehicle, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of the remote automatic parking control method when being executed by the processor.
The present invention also provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the steps of the above-described remote automatic parking control method.
In conclusion, the remote automatic parking method provided by the invention can automatically detect the surrounding parking spaces through the real-time video images and the radar data, control the vehicle to park in the nearby parking spaces, solve the problem that other vehicles are blocked when no parking space exists in the parking lot, and realize remote automatic vehicle moving and parking in the nearby parking spaces.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It is understood that the computer-readable storage medium may include: any entity or device capable of carrying a computer program, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer memory, Read-only memory (ROM), Random Access Memory (RAM), and software distribution medium, etc. The computer program includes computer program code. The computer program code may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer memory, Read-only memory (ROM), Random Access Memory (RAM), software distribution medium, and the like. In some embodiments of the present invention, the automatic parking device 100 may include a controller, which is a single chip integrated with a processor, a memory, a communication module, and the like. The processor may refer to a processor included in the controller. The processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
The above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. A remote automatic parking control method, characterized by comprising:
monitoring environmental information around a vehicle, and judging whether a parking space exists according to the environmental information, wherein the environmental information is obtained by shot image information and radar ranging information;
the method comprises the steps that a parking stall capable of parking is detected, a stall image and/or stall information is sent to a user control terminal, and remote automatic parking is activated according to a control instruction fed back by the user control terminal;
and controlling the vehicle to park, adjusting the vehicle to run based on the information of the obstacles around the vehicle in the parking process, and parking the vehicle into the parking space.
2. The remote automatic parking control method according to claim 1, wherein the determining whether there is a parking space according to the environment information includes:
identifying whether a parking vacancy exists or not according to the shot image information, planning a parking path and judging whether a barrier exists in the parking vacancy or the parking path or not;
judging whether enough passing space and parking space exist on the parking path according to the radar ranging information and the vehicle width;
if the parking space exists, and the parking space and the enough passing space exist, the parking space is judged to exist, and the barrier information is prompted.
3. The remote automatic parking control method according to claim 2, wherein the identifying whether there is a parking space from the photographed image information includes:
acquiring image information before a parking path, and if occupied parking spaces exist in the image information, paying attention to whether parking space updating information exists in the driving direction of the path before parking;
and identifying whether a vehicle is driven away from the path before parking, and if so, determining the occupied parking space from which the vehicle is driven away as the parking space.
4. The remote automatic parking control method according to claim 2, wherein the determining whether there is sufficient passage space and parking space on the parking path based on the radar ranging information and the vehicle width includes:
the method comprises the steps that point cloud data of a parking scene are built through a vehicle-mounted radar, and the space between obstacles is calculated according to the point cloud data to form a parking space; constructing a passing space according to the closest point of the horizontal distance from the vehicle in the point cloud data and judging whether the vehicle can pass;
if the parking space is smaller than the preset parking space and the passing space does not meet the moving space required by parking, the parking space or the passing space does not exist, and otherwise, the passing space and the parking space are enough.
5. The remote automatic parking control method according to claim 4, characterized by further comprising:
performing projection transformation processing on the point cloud data, and fusing the point cloud data with image information in a projection transformation mode;
and acquiring the edge of an object in the image information, using point cloud data corresponding to the edge of the object for obstacle distance calculation, and judging whether a passing space and a parking space exist or not based on the obstacle distance calculation.
6. The remote automatic parking control method according to claim 1, wherein in the process of parking a vehicle in the parking space, the vehicle is controlled to turn on double flashes, whistle or control a projection headlight to project a parking mark and a traveling direction; and receives a control instruction of the user control terminal in real time.
7. The remote automatic parking control method according to claim 1, further comprising:
and at least one of the image data, the parking position and the visual cabin image in the process of parking the vehicle into the parking space is sent to a cloud server, the cloud server transmits the image data, the parking position and the visual cabin image to a user control terminal, and the cloud server can receive a parking suspension instruction sent by the user control terminal and is used for controlling the vehicle to park.
8. The remote automatic parking control method according to claim 7, wherein the visual images of the cockpit are processed by image stitching according to the image information of the corresponding grid image in the image information to form 360 images and upload the 360 images to a cloud server.
9. The remote automatic parking control method according to claim 1, wherein the user control terminal is provided with a parking monitoring interface, and the parking monitoring interface is used for a user to initiate a remote vehicle moving control instruction, a remote video viewing instruction, a vehicle state and fault diagnosis information.
10. A remote automatic parking control method, characterized by comprising:
monitoring environmental information around the vehicle, wherein the environmental information is obtained from shot image information and radar ranging information;
identifying whether a parking vacancy exists or not according to the shot image information, planning a parking path and judging whether a barrier exists in the parking vacancy or the parking path or not;
judging whether enough passing space and parking space exist on the parking path according to the radar ranging information and the vehicle width;
if the parking space exists, and enough passing space and parking space exist, the parking space is judged to exist;
and controlling the vehicle to park, adjusting the vehicle to run based on the information of obstacles around the vehicle in the parking process, and parking the vehicle into the parking space.
11. A remote automatic parking control apparatus, comprising:
the sensing unit is used for monitoring environmental information around the vehicle and judging whether a parking space exists or not according to the environmental information, wherein the environmental information is obtained by shot image information and radar ranging information;
the internet unit is used for detecting that a parking space capable of parking exists, sending the parking space image and/or parking space information to the user control terminal, and activating remote automatic parking according to a control instruction fed back by the user control terminal;
and the automatic parking control unit is used for controlling the vehicle to park, adjusting the vehicle to run based on the obstacle information around the vehicle in the parking process, and parking the vehicle into the parking space.
12. A vehicle, characterized by comprising a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program, when executed by the processor, implementing the steps of the remote automatic parking control method according to any one of claims 1 to 8.
13. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, carries out the steps of the remote automatic parking control method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210172221.1A CN114572193A (en) | 2022-02-24 | 2022-02-24 | Remote automatic parking control method and device and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210172221.1A CN114572193A (en) | 2022-02-24 | 2022-02-24 | Remote automatic parking control method and device and vehicle |
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| CN114572193A true CN114572193A (en) | 2022-06-03 |
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| CN202210172221.1A Withdrawn CN114572193A (en) | 2022-02-24 | 2022-02-24 | Remote automatic parking control method and device and vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114935905A (en) * | 2022-06-15 | 2022-08-23 | 中国第一汽车股份有限公司 | Parking method, parking device, vehicle and storage medium |
| CN115113562A (en) * | 2022-06-14 | 2022-09-27 | 中国第一汽车股份有限公司 | Control method for remote vehicle moving and remote vehicle moving system |
| CN115499806A (en) * | 2022-09-27 | 2022-12-20 | 上汽通用五菱汽车股份有限公司 | Vehicle moving notification method, vehicle moving notification device, vehicle machine and storage medium |
-
2022
- 2022-02-24 CN CN202210172221.1A patent/CN114572193A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115113562A (en) * | 2022-06-14 | 2022-09-27 | 中国第一汽车股份有限公司 | Control method for remote vehicle moving and remote vehicle moving system |
| CN114935905A (en) * | 2022-06-15 | 2022-08-23 | 中国第一汽车股份有限公司 | Parking method, parking device, vehicle and storage medium |
| CN115499806A (en) * | 2022-09-27 | 2022-12-20 | 上汽通用五菱汽车股份有限公司 | Vehicle moving notification method, vehicle moving notification device, vehicle machine and storage medium |
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