CN114882453A - Vehicle parking control method, vehicle and storage medium - Google Patents
Vehicle parking control method, vehicle and storage medium Download PDFInfo
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Abstract
The application provides a vehicle parking control method, a vehicle and a storage medium, wherein the method comprises the following steps: after a returning control instruction sent by a user side is received, a camera on a vehicle is triggered to acquire a parking identification image in a preset management area, and then parking management information is generated by using the parking identification image and sent to target equipment. By adopting the scheme, the parking of the vehicle to a reasonable area can be ensured, and the vehicle can be ensured to be parked in a reasonable posture.
Description
The application is a divisional application of Chinese patent application with the application date of 2019, 07, 26 and the application number of 201910683627.4, and is named as a vehicle parking control method, a vehicle parking control device, a vehicle and a storage medium.
Technical Field
The application relates to the technical field of vehicles, in particular to a vehicle parking control method, a vehicle parking control device, a vehicle and a storage medium.
Background
With the rapid development of vehicle manufacturing technology and internet technology, shared vehicles are receiving more and more attention as a new low-carbon travel mode, and more users select the shared vehicle as a vehicle for travel. With the increasingly large scale of users sharing vehicles, the number of the shared vehicles is increased explosively, so that the problems of traffic obstruction and the like caused by random parking and random release when the users use the shared vehicles are increasingly prominent.
In the related art, the vehicle parking management method may generally depend on a parking area, which is defined by a vehicle operator within a legal vehicle operating range and allows the vehicle to be parked, that is, the parking management may be implemented based on a determination result of whether the position of the vehicle falls into the parking area.
However, it is considered that the positioning drift phenomenon of the existing positioning technology results in low positioning accuracy of the vehicle position, which further results in that the vehicle cannot be accurately parked to the parking area. In addition, even if the vehicle can be accurately parked, it is difficult to avoid the problem of the user being misplaced in the parking area.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a vehicle parking control method, device, vehicle and storage medium, which can avoid the problem of misplacing in a designated location area while ensuring that the vehicle is accurately parked in the designated location area.
Mainly comprises the following aspects:
in a first aspect, the present application provides a vehicle parking control method, the method comprising:
acquiring a parking mark image in a preset management area;
determining current pose information of a vehicle based on the parking marker image;
generating parking management information of the vehicle in the preset management area according to the current pose information;
and sending the parking management information to the target equipment.
In one embodiment, the acquiring a parking identification image in a preset management area includes:
after a returning control instruction of the target equipment is received, a parking identification image in a preset management area is obtained;
and/or acquiring a parking identification image in a preset management area when the vehicle is detected to be in a static state.
In another embodiment, the determining the current pose information of the vehicle based on the parking marker image includes:
extracting identification characteristic information of the parking identification from the parking identification image;
and determining the current pose information of the vehicle based on the identification characteristic information.
In some, the identification feature information includes position information of the parking identification in the parking identification image, and the current pose information includes current position information; before the determining the current pose information of the vehicle based on the identification feature information, the method further comprises:
determining calibration position information of the parking marker in a calibration marker image; the calibration identification image is an image taken by the vehicle at a calibration position;
the determining the current pose information of the vehicle based on the identification feature information comprises:
determining deviation position information of the vehicle deviating from the calibration position based on a position change result between position information of the parking mark in the parking mark image and calibration position information of the parking mark in the calibration mark image;
determining current location information of the vehicle based on the deviated location information.
In some, the identification feature information includes rotation angle information of the parking identification in the parking identification image, and the current pose information includes current pose information; before the determining the current pose information of the vehicle based on the identification feature information, the method further comprises:
determining the calibration rotation angle information of the parking mark in a calibration mark image; the calibration identification image is an image shot by the vehicle in a calibration posture;
the determining the current pose information of the vehicle based on the identification feature information comprises:
determining deviation direction information of the vehicle relative to the calibration posture based on angle change results between the rotation angle information of the parking mark in the parking mark image and the calibration rotation angle information of the parking mark in the calibration mark image;
determining current attitude information of the vehicle based on the deviation direction information.
In still another embodiment, the generating parking management information of the vehicle in the preset management area according to the current pose information includes:
when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be larger than a first preset difference and smaller than a second preset difference, generating message reminding information to remind a user that the vehicle does not stop according to the calibration pose according to the message reminding information and a corresponding message reminding mode;
when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be larger than the second preset difference and smaller than a third preset difference, generating alarm information to remind a user that the vehicle is not parked according to the calibration pose according to the alarm information and a corresponding alarm mode;
and when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be greater than the third preset difference, generating locking prohibition information corresponding to the vehicle returning control instruction sent by the target device, so as to remind a user that the vehicle cannot be locked according to the locking prohibition information.
In some, the parking marker image includes a parking marker therein;
and the distance between the setting position of the parking mark and the central position of the preset management area is smaller than a preset distance value.
In some, the parking indicia includes any one of the following:
arrow mark, isosceles triangle mark.
In still another embodiment, before acquiring the parking sign image in the preset management area, the method further includes:
judging whether the vehicle falls into the preset management area or not according to the acquired geographical position information of the vehicle and the position range information of the preset management area;
the acquiring of the parking mark image in the preset management area comprises the following steps:
and if so, acquiring the parking identification image in the preset management area.
In some embodiments, after determining that the vehicle has fallen into the preset management area, before acquiring the parking identification image in the preset management area, the method further includes:
determining whether an included angle between a plane where front wheels of the vehicle are located and a plane where rear wheels of the vehicle are located is smaller than a preset included angle and whether the vehicle is in a locked state;
acquiring a parking identification image in the preset management area, wherein the method comprises the following steps:
when the included angle between the plane where the front wheels of the vehicle are located and the plane where the rear wheels of the vehicle are located is smaller than a preset included angle, and the vehicle is in a locking state, the parking mark image in the preset management area is obtained.
In a second aspect, the present application also provides a vehicle parking control apparatus, the apparatus including:
the acquisition module is used for acquiring a parking identification image in a preset management area;
a determination module for determining current pose information of the vehicle based on the parking marker image;
the generating module is used for generating parking management information of the vehicle in the preset management area according to the current pose information;
and the control module is used for sending the parking management information to the target equipment.
In an embodiment, the obtaining module is specifically configured to:
after a returning control instruction of the target equipment is received, a parking identification image in a preset management area is obtained;
and/or acquiring a parking identification image in a preset management area when the vehicle is detected to be in a static state.
In another embodiment, the determining module is specifically configured to:
extracting identification characteristic information of the parking identification from the parking identification image;
and determining the current pose information of the vehicle based on the identification characteristic information.
In some, the identification feature information includes position information of the parking identification in the parking identification image, and the current pose information includes current position information; the determining module is specifically configured to:
before the current pose information of the vehicle is determined based on the identification characteristic information, determining calibration position information of the parking identification in a calibration identification image; the calibration identification image is an image taken by the vehicle at a calibration position;
determining deviation position information of the vehicle deviating from the calibration position based on a position change result between position information of the parking mark in the parking mark image and calibration position information of the parking mark in the calibration mark image;
determining current location information of the vehicle based on the deviated location information.
In some, the identification feature information includes rotation angle information of the parking identification in the parking identification image, and the current pose information includes current pose information; the determining module is specifically configured to:
before the current pose information of the vehicle is determined based on the identification characteristic information, determining the calibration rotation angle information of the parking identification in a calibration identification image; the calibration identification image is an image shot by the vehicle in a calibration posture;
determining deviation direction information of the vehicle relative to the calibration posture based on angle change results between the rotation angle information of the parking mark in the parking mark image and the calibration rotation angle information of the parking mark in the calibration mark image;
determining current attitude information of the vehicle based on the deviation direction information.
In another embodiment, the generating module is specifically configured to:
when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be larger than a first preset difference and smaller than a second preset difference, generating message reminding information to remind a user that the vehicle does not stop according to the calibration pose according to the message reminding information and a corresponding message reminding mode;
when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be larger than the second preset difference and smaller than a third preset difference, generating alarm information to remind a user that the vehicle is not parked according to the calibration pose according to the alarm information and a corresponding alarm mode;
and when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be greater than the third preset difference, generating locking prohibition information corresponding to the vehicle returning control instruction sent by the target device, so as to remind a user that the vehicle cannot be locked according to the locking prohibition information.
In some, the parking marker image includes a parking marker therein;
and the distance between the setting position of the parking mark and the central position of the preset management area is smaller than a preset distance value.
In some, the parking indicia includes any one of the following:
arrow mark, isosceles triangle mark.
In another embodiment, the obtaining module is specifically configured to:
before a parking identification image in a preset management area is acquired, judging whether a vehicle falls into the preset management area or not according to the acquired geographic position information of the vehicle and the position range information of the preset management area;
and if so, acquiring the parking identification image in the preset management area.
In some embodiments, the obtaining module is specifically configured to:
after the vehicle is judged to fall into the preset management area and before a parking identification image in the preset management area is obtained, whether an included angle between a plane where front wheels of the vehicle are located and a plane where rear wheels of the vehicle are located is smaller than a preset included angle or not and whether the vehicle is in a locked state or not is determined;
when the included angle between the plane where the front wheels of the vehicle are located and the plane where the rear wheels of the vehicle are located is determined to be smaller than a preset included angle, and the vehicle is in a locking state, the parking identification image in the preset management area is obtained.
In a third aspect, the present application further provides a vehicle, which includes a vehicle body, and further includes a processor, a storage medium, and a bus, where the storage medium stores machine-readable instructions executable by the processor, and when an electronic device is operated, the processor and the storage medium communicate with each other through the bus, and the processor executes the machine-readable instructions to perform the steps of the vehicle parking control method according to the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program for executing the steps of the vehicle parking control method according to the first aspect when the computer program is executed by a processor.
According to the scheme, the parking identification image in the preset management area is obtained firstly, then the current pose information of the vehicle is determined based on the parking identification image, the parking management information can be generated according to the current pose information, and finally the parking management information is sent to the target device, so that a user who prepares to park the vehicle can reasonably park the vehicle to the preset management area according to the parking management information.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a flow chart illustrating a vehicle parking control method according to an embodiment of the present disclosure;
FIG. 2 is a flow chart illustrating a vehicle parking control method according to a third embodiment of the present application;
FIG. 3 is a flow chart illustrating another vehicle parking control method according to a third embodiment of the present application;
FIG. 4 is a flow chart illustrating another vehicle parking control method according to a third embodiment of the present application;
fig. 5 is a schematic structural diagram illustrating a vehicle parking control device according to a fifth embodiment of the present application;
fig. 6 shows a schematic structural diagram of a vehicle according to a sixth embodiment of the present application.
Detailed Description
In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and steps without logical context may be performed in reverse order or simultaneously. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.
In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In order to enable a person skilled in the art to use the present disclosure, the following embodiments are given in connection with a specific application scenario "shared parking control of a vehicle". It will be apparent to those skilled in the art that the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the application. Although the present application is described primarily with respect to a specific application scenario of shared-bicycle parking control, it should be understood that this is merely one exemplary embodiment.
It should be noted that the vehicle in the embodiment of the present application mainly refers to a vehicle with electric drive, and the vehicle may be a bicycle, a tricycle, a car, or other vehicles, and the electric bicycle may be exemplified below in view of the wide application of the electric bicycle with the hybrid motion mode of human power and electric power in the field of shared vehicles.
Furthermore, the term "comprising" will be used in the embodiments of the present application to indicate the presence of the features hereinafter claimed, but not to exclude the addition of further features.
It is noted that, before the present application is filed, it is considered that the positioning drift phenomenon of the existing positioning technology causes the positioning accuracy of the vehicle position to be low, which further causes the vehicle not to be accurately parked in the parking area. In addition, even if the vehicle can be accurately parked, it is difficult to avoid the problem of the user being misplaced in the parking area. However, the vehicle parking control method, apparatus, vehicle and storage medium provided by the present application can determine the current pose information of the vehicle from the acquired parking marker image and can generate the parking management information based on the current position. Therefore, it is possible to ensure that the vehicle is not only parked at a reasonable position but also parked in a reasonable posture by the parking management information. The following examples are provided for the purpose of illustration.
Example one
As shown in fig. 1, for a flow of a vehicle parking control method provided in an embodiment of the present application, an execution subject of the method may be a processor provided on a vehicle, and may also be a server in communication connection with the vehicle, where the vehicle parking control method includes the following steps:
s101, obtaining a parking mark image in a preset management area.
Here, the preset management area may be preset, and may be set not only based on manual experience, but also based on an analysis result of the vehicle environment information, and may also be set based on other manners. Here, for the field of shared electric bicycle parking control, the present embodiment may perform setting based on an analysis result of vehicle environment information, that is, in the present embodiment, for a server connected to each shared electric bicycle, information such as a usage record and a driving track of each shared electric bicycle may be determined to determine a reasonable vehicle parking position area (i.e., a preset management area), where the vehicle parking position area may be an area determined to meet parking requirements of more users, such as an office dense place, near a subway, near a cell, and the like, and the preset management area may be set.
It should be noted that the preset management area may be an entity area, that is, an area selected by a frame of a mark frame, so that when parking is required, a user may park a vehicle according to an indication of the mark frame, and the preset management area may also be a virtual area, and when parking is required, the user may park the vehicle according to a guidance of a navigation system of the vehicle. The size and shape of the preset management area can be set according to management requirements, such as for an electric bicycle, the preset management area can be set to be a rectangular area of 0.5m × 1m, and for an electric vehicle, the preset management area can be set to be a square area of 2m × 2m, and further description of other setting modes is omitted here.
In order to ensure that a vehicle can reasonably stop in a preset management area, the parking mark can be arranged in the preset management area, however, the size of the parking mark is smaller compared with the preset management area, so that when the vehicle provided with the camera runs to the preset management area, an image acquired by the camera can be a parking mark or an image without the parking mark. Firstly, for the parking sign that has set up, its position relative to presetting the management area has been confirmed, when obtaining the parking sign image that has the parking sign, alright tentatively confirm that the vehicle has berthhed to the great preset management area of scope, here, can further ensure the vehicle to berth at the accurate position of presetting the management area in combination with the position information of parking sign in the parking sign image, secondly, for the parking sign that has set up, when confirming berthing basically to presetting the management area, can also further ensure the vehicle to berth at presetting the management area with reasonable gesture in combination with the rotatory information of parking sign in the parking sign image.
In the embodiment of the application, the parking mark can be a mark with direction indication, an arrow mark, an isosceles triangle mark, or other marks with direction indication. In order to ensure that the vehicle can be parked at a more accurate position, when the parking marker is set, a distance between the position of the set parking marker and a center position of the preset management area may be smaller than a preset distance value so that the user can park the vehicle to the center position or a nearby position of the center position. The preset distance value can be determined based on the specific size of the preset management area, the preset distance value can be set to be larger when the size of the preset management area is determined to be larger, and the preset distance value can be set to be smaller when the size of the preset management area is determined to be smaller.
And S102, determining the current pose information of the vehicle based on the parking mark image.
Here, after the parking marker image is acquired, a calibration marker image obtained by performing camera calibration and vehicle calibration on a preset management area may be determined, and then the current pose information of the vehicle may be determined based on a comparison result between the calibration marker image and the parking marker image.
In this embodiment, the current pose information may include current position information of the vehicle and current pose information of the vehicle, where the information about the current position may be determined based on a positional relationship between the calibration marker in the calibration marker image and the calibration marker image, and the information about the current pose may be determined based on an angular relationship between the calibration marker in the calibration marker image and the calibration marker image.
S103, generating parking management information of the vehicle in the preset management area according to the current pose information.
Here, upon determining that the current pose information does not match the calibrated pose information, embodiments of the present application may generate corresponding parking management information based on a hierarchical parking management policy. For example, when it is determined that the current pose deviates from the calibration pose less, parking management can be performed in a message reminding manner, when it is determined that the current pose deviates from the calibration pose more, parking management can be performed in an alarm manner, and when it is determined that the current pose deviates from the calibration pose more greatly, parking management can be performed in a locking prohibition manner. By means of the hierarchical parking management strategy, effective parking management is achieved, the service quality of a shared vehicle platform is improved, and the hierarchical parking management strategy is more practical.
It should be noted that the hierarchical parking-based management strategy can be adapted to a user side and can also be adapted to a server side, and at this time, it can be ensured that the user can park according to a calibration pose based on various management modes, and for the server side, the parking management information can also be recorded information related to parking, so that offline targeted management can be performed based on the recorded information.
And S104, sending the parking management information to target equipment.
Here, when the execution subject of the vehicle parking control method provided in the embodiment of the present application is a processor of a vehicle, the target device may be a client device, or may also be a server, and when the execution subject of the vehicle parking control method is a server, the target device may be a client device.
In the embodiment of the application, the camera arranged on the vehicle can be always in an image acquisition state to acquire images in real time and can also acquire images under certain trigger conditions. In order to take power saving and acquisition effects into account, the embodiment of the application can trigger image acquisition by utilizing the trigger condition. This is specifically illustrated by the following example two.
Example two
In consideration of a specific application scenario of the vehicle parking control method provided by the embodiment of the application, the embodiment of the application can not only trigger image acquisition based on a vehicle returning operation of a user, but also trigger image acquisition based on a state of a vehicle, and can trigger based on other triggering modes. For triggering image acquisition based on the car returning operation of the user, the camera may be triggered to perform image acquisition after a car returning control instruction sent by the user end device is received, and at this time, a parking identifier image in the preset management area may be acquired. For triggering image acquisition according to the state of the vehicle, the camera may be triggered to acquire an image when the vehicle is detected to be in a static state. In order to determine whether the vehicle is in a stationary state, the speed sensor arranged on the vehicle can be used for detecting the speed of the vehicle in real time.
In addition, the embodiment of the application can acquire the parking sign image when the vehicle is determined to fall into the preset management area. Here, the geographical location information of the vehicle may be first determined based on a vehicle positioning technology, and then it is determined whether there is an intersection between the geographical location information and the location range information of the preset management area, and if so, it is determined that the vehicle falls into the preset management area.
It should be noted that the Positioning technology used in the embodiments of the present application may be based on Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), COMPASS Navigation System (COMPASS), galileo Positioning System, Quasi-Zenith Satellite System (QZSS), Wireless Fidelity (WiFi) Positioning technology, or any combination thereof. One or more of the above-described positioning systems may be used interchangeably in this application.
In order to further ensure that the vehicle can accurately stop at a reasonable position according to a reasonable posture, after the vehicle is determined to fall into a preset management area, whether an included angle between a plane where front wheels of the vehicle are located and a plane where rear wheels of the vehicle are located is smaller than a preset included angle (such as a 30-degree included angle) or not can be determined, and whether the vehicle is in a locking state or not can be determined.
In the embodiment of the present application, considering the determination of the current pose of the vehicle as a key step of the parking management information generation, here, the process of determining the current pose can be specifically described by the following third embodiment.
EXAMPLE III
As shown in fig. 2, an embodiment of the present application provides a method for determining current pose information, where the method specifically includes the following steps:
s201, extracting identification characteristic information of the parking identification from the parking identification image;
and S202, determining the current pose information of the vehicle based on the identification characteristic information.
Here, in the embodiment of the present application, identification feature information of the parking marker may be first extracted from the parking marker image, where the identification feature information may be position information of the parking marker in the parking marker image, and may also be rotation angle information of the parking marker in the parking marker image, so that current position information of the vehicle may be determined based on the position information of the parking marker, and current posture information of the vehicle may be determined based on the rotation angle information of the parking marker. Next, the above-described current position information and current attitude information about the vehicle are described separately by the following two aspects.
In a first aspect: as shown in fig. 3, a flowchart of a method for determining current location information of a vehicle according to an embodiment of the present application is provided, where the method for determining the current location information of the vehicle includes the following steps:
s301, determining calibration position information of the parking marker in a calibration marker image; the calibration identification image is an image shot by a vehicle at a calibration position;
s302, determining deviation position information of the vehicle deviating from the calibration position based on position information of the parking mark in the parking mark image and a position change result between calibration position information of the parking mark in the calibration mark image;
and S303, determining the current position information of the vehicle based on the deviated position information.
Here, the embodiment of the present application may first determine the calibration position information of the parking marker in the calibration marker image, so that based on the position information of the parking marker in the parking marker image and the position change result between the calibration position information of the parking marker in the calibration marker image, the deviation position information of the vehicle from the calibration position may be determined, and based on the deviation position information, the current position information of the vehicle may be determined.
The calibration identification image may be an image containing a parking identification captured after a camera on the vehicle is calibrated. If an arrow is used as the parking mark, the calibration mark image may be an image in which the arrow mark is located at the center position, and at this time, the center position may be used as the calibration position, so that when it is determined that the position information of the parking mark in the parking mark image is changed in position relative to the calibration position information of the parking mark in the calibration mark image, it may be determined that the vehicle deviates from the calibration position, and the deviated position information may be determined by the position change information about the parking mark in the image, and the larger the position change information about the parking mark in the image is, the farther the vehicle deviates from the calibration position, the positive correlation between the vehicle and the calibration position is present.
In this embodiment of the present application, a function related to a position deviation may be fitted based on a plurality of sets of historical position change information and historical deviation position information, so that after determining a current position change, the deviation position information may be determined. Based on the determined deviation position information and the actual geographical position information of the calibration position, the current position information of the vehicle can be determined.
In a second aspect: as shown in fig. 4, a flowchart of a method for determining current posture information of a vehicle according to an embodiment of the present application is provided, where the method for determining a position includes the following steps:
s401, determining the calibration rotation angle information of the parking mark in a calibration mark image; the calibration identification image is an image shot by the vehicle in a calibration posture;
s402, determining deviation direction information of the vehicle relative to the calibration posture based on the angle change result between the rotation angle information of the parking mark in the parking mark image and the calibration rotation angle information of the parking mark in the calibration mark image;
and S403, determining the current attitude information of the vehicle based on the deviation direction information.
Here, the embodiment of the present application may first determine the calibration rotation angle information of the parking marker in the calibration marker image, so that based on the angle change result between the rotation angle information of the parking marker in the parking marker image and the calibration rotation angle information of the parking marker in the calibration marker image, the deviation direction information of the vehicle relative to the calibration posture may be determined, and based on the deviation direction information, the current posture information of the vehicle may be determined.
In addition to capturing the parking marker image containing the parking marker after calibrating the camera on the vehicle, the parking marker image may be captured in a calibration posture, for example, in the case of an electric bicycle, the electric bicycle takes a posture that a plane on which front wheels of the vehicle are located and a plane on which rear wheels of the wheels are located are on the same plane as each other as the calibration posture. Thus, when it is determined that the rotation angle information of the parking marker in the parking marker image has an angle change relative to the calibration rotation angle information of the parking marker in the calibration marker image, it can be determined that the vehicle deviates from the calibration posture, and the deviated deviation direction information can be determined by the angle change information about the parking marker in the image, and the larger the angle change information about the parking marker in the image is, the farther the vehicle deviates from the calibration posture, and the two present a positive correlation.
In the embodiment of the application, a function related to angle deviation can be fitted based on multiple sets of historical angle change information and historical deviation direction information, so that after the current angle change is determined, the deviation direction information can be determined. Based on the determined deviation direction information and the calibration posture, the current posture information of the vehicle can be determined.
Example four
The fourth embodiment of the application provides a method for generating parking management information, which can determine which parking management mode is selected based on a difference result between a current pose and a calibration pose of a vehicle and a comparison result between preset differences. In order to provide a richer parking management scheme to improve the service quality of a shared vehicle platform, the embodiment of the application can adopt a three-level parking management strategy for parking management. That is, when it is determined that the difference result between the current pose information and the calibration pose information of the vehicle is greater than a first preset difference and less than a second preset difference, message reminding information may be generated to remind the user that the vehicle is not parked according to the calibration pose according to the message reminding information and a corresponding message reminding mode, where the message reminding mode may be a short message reminding mode, an instant message reminding mode, or other reminding modes. In addition, when it is determined that the difference result between the current pose information and the calibration pose information of the vehicle is greater than the second preset difference and less than a third preset difference, alarm information may be generated to remind a user that the vehicle is not parked according to the calibration pose according to the alarm information and a corresponding alarm mode, where the alarm mode may be an alarm by using a color indicated by an indicator light, an alarm by using an alarm voice played by a voice playing device, or other alarm modes. In addition, when it is determined that the difference result between the current pose information and the calibration pose information of the vehicle is greater than the third preset difference, locking prohibition information corresponding to the vehicle returning control instruction sent by the target device is generated, so that the user is reminded that the vehicle cannot be locked according to the locking prohibition information.
The third preset difference is larger than the second preset difference, the second preset difference is larger than the first preset difference, a three-level parking management strategy from mild to emergency is constructed based on the three preset differences, and the adaptability is stronger.
Based on the above embodiments, the embodiments of the present application further provide a vehicle parking control device, and the following various devices may be implemented by referring to the implementation of the method, and repeated details are not repeated.
EXAMPLE five
As shown in fig. 5, a vehicle parking control apparatus provided in a fifth embodiment of the present application includes:
an obtaining module 501, configured to obtain a parking identifier image in a preset management area;
a determining module 502 for determining current pose information of the vehicle based on the parking marker image;
a generating module 503, configured to generate parking management information of the vehicle in the preset management area according to the current pose information;
and the control module 504 is configured to send the parking management information to the target device.
In an embodiment, the obtaining module 501 is specifically configured to:
after a returning control instruction of the target equipment is received, a parking identification image in a preset management area is obtained;
and/or acquiring a parking identification image in a preset management area when the vehicle is detected to be in a static state.
In another embodiment, the determining module 502 is specifically configured to:
extracting identification characteristic information of the parking identification from the parking identification image;
and determining the current pose information of the vehicle based on the identification characteristic information.
In some embodiments, the identification feature information includes position information of the parking identification in the parking identification image, and the current pose information includes current position information; the determining module 502 is specifically configured to:
before the current pose information of the vehicle is determined based on the identification characteristic information, determining calibration position information of the parking identification in a calibration identification image; the calibration identification image is an image taken by the vehicle at a calibration position;
determining deviation position information of the vehicle deviating from the calibration position based on a position change result between position information of the parking mark in the parking mark image and calibration position information of the parking mark in the calibration mark image;
determining current location information of the vehicle based on the deviated location information.
In some embodiments, the identification feature information includes rotation angle information of the parking identification in the parking identification image, and the current pose information includes current pose information; the determining module 502 is specifically configured to:
before the current pose information of the vehicle is determined based on the identification characteristic information, determining the calibration rotation angle information of the parking identification in a calibration identification image; the calibration identification image is an image shot by the vehicle in a calibration posture;
determining deviation direction information of the vehicle relative to the calibration posture based on angle change results between the rotation angle information of the parking mark in the parking mark image and the calibration rotation angle information of the parking mark in the calibration mark image;
determining current attitude information of the vehicle based on the deviation direction information.
In another embodiment, the generating module 503 is specifically configured to:
when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be larger than a first preset difference and smaller than a second preset difference, generating message reminding information to remind a user that the vehicle does not stop according to the calibration pose according to the message reminding information and a corresponding message reminding mode;
when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be larger than the second preset difference and smaller than a third preset difference, generating alarm information to remind a user that the vehicle is not parked according to the calibration pose according to the alarm information and a corresponding alarm mode;
and when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be greater than the third preset difference, generating locking prohibition information corresponding to the vehicle returning control instruction sent by the target device, so as to remind a user that the vehicle cannot be locked according to the locking prohibition information.
In some embodiments, the parking sign image includes a parking sign;
and the distance between the setting position of the parking mark and the central position of the preset management area is smaller than a preset distance value.
In some embodiments, the parking indicia comprises any one of the following:
arrow mark, isosceles triangle mark.
In another embodiment, the obtaining module 501 is specifically configured to:
before a parking identification image in a preset management area is acquired, judging whether a vehicle falls into the preset management area or not according to the acquired geographic position information of the vehicle and the position range information of the preset management area;
and if so, acquiring the parking identification image in the preset management area.
In some embodiments, the obtaining module 501 is specifically configured to:
after the vehicle is judged to fall into the preset management area and before a parking identification image in the preset management area is obtained, whether an included angle between a plane where front wheels of the vehicle are located and a plane where rear wheels of the vehicle are located is smaller than a preset included angle or not and whether the vehicle is in a locked state or not is determined;
when the included angle between the plane where the front wheels of the vehicle are located and the plane where the rear wheels of the vehicle are located is determined to be smaller than a preset included angle, and the vehicle is in a locking state, the parking identification image in the preset management area is obtained.
EXAMPLE six
As shown in fig. 6, for a structural schematic diagram of a vehicle provided in a sixth embodiment of the present application, the vehicle includes a vehicle body, and further includes a processor 601, a storage medium 602, and a bus 603, where the storage medium 602 stores machine-readable instructions executable by the processor 601 (such as execution instructions corresponding to the obtaining module 501, the determining module 502, the generating module 503, and the control module 504 in the vehicle parking apparatus in fig. 5, and the like), when the vehicle runs, the processor 601 communicates with the storage medium 602 through the bus 603, and the machine-readable instructions are executed by the processor 601 to perform the following processes:
acquiring a parking identification image in a preset management area;
determining current pose information of a vehicle based on the parking marker image;
generating parking management information of the vehicle in the preset management area according to the current pose information;
and sending the parking management information to the target equipment.
In one embodiment, the processing executed by the processor 601, acquiring the parking marker image in the preset management area includes:
after a returning control instruction of the target equipment is received, a parking identification image in a preset management area is obtained;
and/or acquiring a parking identification image in a preset management area when the vehicle is detected to be in a static state.
In another embodiment, the processor 601 performs the process of determining the current pose information of the vehicle based on the parking marker image, which includes:
extracting identification characteristic information of the parking identification from the parking identification image;
and determining the current pose information of the vehicle based on the identification characteristic information.
In some embodiments, the identification feature information includes position information of the parking identification in the parking identification image, and the current pose information includes current position information; before determining the current pose information of the vehicle based on the identification feature information, the processor 601 performs the following processing:
determining calibration position information of the parking marker in a calibration marker image; the calibration identification image is an image taken by the vehicle at a calibration position;
the processor 601 executes a process of determining the current pose information of the vehicle based on the identification feature information, which includes:
determining deviation position information of the vehicle deviating from the calibration position based on a position change result between position information of the parking mark in the parking mark image and calibration position information of the parking mark in the calibration mark image;
determining current location information of the vehicle based on the deviated location information.
In some embodiments, the identification feature information includes rotation angle information of the parking identification in the parking identification image, and the current pose information includes current pose information; before determining the current pose information of the vehicle based on the identification feature information, the processor 601 performs the following processing:
determining the calibration rotation angle information of the parking mark in a calibration mark image; the calibration identification image is an image shot by the vehicle in a calibration posture;
the processor 601 executes a process of determining the current pose information of the vehicle based on the identification feature information, which includes:
determining deviation direction information of the vehicle relative to the calibration posture based on angle change results between the rotation angle information of the parking mark in the parking mark image and the calibration rotation angle information of the parking mark in the calibration mark image;
determining current attitude information of the vehicle based on the deviation direction information.
In another embodiment, the above processing executed by the processor 601, the generating parking management information of the vehicle in the preset management area according to the current pose information includes:
when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be larger than a first preset difference and smaller than a second preset difference, generating message reminding information to remind a user that the vehicle does not stop according to the calibration pose according to the message reminding information and a corresponding message reminding mode;
when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be larger than the second preset difference and smaller than a third preset difference, generating alarm information to remind a user that the vehicle is not parked according to the calibration pose according to the alarm information and a corresponding alarm mode;
and when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be greater than the third preset difference, generating locking prohibition information corresponding to the vehicle returning control instruction sent by the target device, so as to remind a user that the vehicle cannot be locked according to the locking prohibition information.
In some embodiments, the parking sign image includes a parking sign;
and the distance between the setting position of the parking mark and the central position of the preset management area is smaller than a preset distance value.
In some embodiments, the parking indicia comprises any one of the following:
arrow mark, isosceles triangle mark.
In another embodiment, before acquiring the parking identification image in the preset management area, the processing executed by the processor 601 further includes:
judging whether the vehicle falls into the preset management area or not according to the acquired geographical position information of the vehicle and the position range information of the preset management area;
in the processing executed by the processor 601, the acquiring the parking identifier image in the preset management area includes:
and if so, acquiring the parking identification image in the preset management area.
In some embodiments, after determining that the vehicle has fallen into the preset management area, before acquiring the parking identification image in the preset management area, the processing performed by the processor 601 further includes:
determining whether an included angle between a plane where front wheels of the vehicle are located and a plane where rear wheels of the vehicle are located is smaller than a preset included angle and whether the vehicle is in a locked state;
in the processing executed by the processor 601, the acquiring the parking identifier image in the preset management area includes:
when the included angle between the plane where the front wheels of the vehicle are located and the plane where the rear wheels of the vehicle are located is determined to be smaller than a preset included angle, and the vehicle is in a locking state, the parking identification image in the preset management area is obtained.
EXAMPLE seven
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor 601, the steps of the vehicle parking control method are performed.
Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, and the like, and when a computer program on the storage medium is executed, the vehicle parking control method can be executed, so that the problem that the positioning accuracy of the position of the vehicle is low due to the positioning drift phenomenon existing in the existing positioning technology in the related art is solved, the vehicle cannot be accurately parked in a parking area, the problem that a user cannot randomly place the vehicle in the parking area is difficult to avoid is solved, and the effects of not only ensuring that the vehicle is parked at a reasonable position, but also ensuring that the vehicle is parked at a reasonable posture are achieved.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to corresponding processes in the method embodiments, and are not described in detail in this application. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and there may be other divisions in actual implementation, and for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or modules through some communication interfaces, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall cover the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (12)
1. A vehicle parking control method, characterized by comprising:
in response to the fact that a triggering condition is met, a camera on the vehicle is triggered to acquire a parking identification image in a preset management area, wherein the triggering condition comprises the fact that a vehicle returning control instruction sent by a user side is received;
generating parking management information of the vehicle in the preset management area according to the parking identification image;
and sending the parking management information to the target equipment.
2. The vehicle parking control method according to claim 1, wherein the trigger condition further includes at least one of:
detecting that the vehicle is in a stationary state; or
The geographical position information of the vehicle and the position range of the preset management area have intersection.
3. The vehicle parking control method according to claim 1, wherein the triggering a camera on the vehicle to acquire a parking identifier image in a preset management area in response to the satisfaction of the triggering mode specifically comprises:
and in response to receiving a car returning control instruction sent by the user side, detecting that the car is in a static state and/or intersection exists between the geographical position information of the car and the position range of the preset management area, and triggering a camera on the car to acquire a parking identifier image in the preset management area.
4. The vehicle parking control method according to claim 1, wherein the generating of the parking management information of the vehicle in the preset management area according to the parking identification image includes:
determining the current pose information of the vehicle according to the parking identifier image;
and generating parking management information of the vehicle in the preset management area according to the current pose information.
5. The vehicle parking control method according to claim 4, wherein the determining the current pose information of the vehicle according to the parking marker image specifically includes:
extracting identification characteristic information of the parking identification from the parking identification image;
and determining the current pose information of the vehicle according to the identification characteristic information.
6. The vehicle parking control method according to claim 5, wherein the sign feature information includes position information and rotation angle information of the parking sign in the parking sign image, and the current pose information includes current position information and current pose information; before determining the current pose information of the vehicle according to the identification characteristic information, the method further comprises the following steps:
determining calibration position information and calibration rotation angle information of the parking marker in a calibration marker image, wherein the calibration marker image is an image shot by the vehicle at a calibration position;
the determining the current pose information of the vehicle according to the identification feature information specifically comprises:
determining deviation position information of the vehicle deviating from the calibration position according to position information of the parking mark in the parking mark image and a position change result between calibration position information of the parking mark in the calibration mark image; and
determining deviation direction information of the vehicle relative to the calibration posture according to the angle change result between the rotation angle information of the parking mark in the parking mark image and the calibration rotation angle information of the parking mark in the calibration mark image;
and determining the current pose information of the vehicle according to the deviation position information and the deviation direction information.
7. The vehicle parking control method according to claim 1, wherein the generating of the parking management information of the vehicle in the preset management area according to the parking identification image includes:
determining the current pose information of the vehicle according to the parking identifier image;
comparing a difference result between the current pose information and the calibration pose information of the vehicle with a preset difference value to generate a comparison result;
the sending of the parking management information to the target device specifically includes:
and sending the comparison result to the target equipment.
8. A vehicle parking control method, characterized by comprising:
when the fact that the vehicle is located in a preset parking area and a returning instruction of the target electric vehicle sent by a mobile terminal is received, sending a camera starting instruction to the vehicle to enable the target electric vehicle to start a camera, and obtaining a target image through the camera;
analyzing the target image, and judging whether the target electric vehicle stops at the preset correct position according to an analysis result;
when the target electric vehicle stops at the preset correct position, carrying out a vehicle returning process on the target electric vehicle;
when the target electric vehicle stops at the preset correct position, the target electric vehicle is returned, and the method specifically comprises the following steps:
determining current pose information of the vehicle according to the target image;
and comparing a difference result between the current pose information and the calibration pose information of the vehicle with a preset difference value to generate a comparison result.
9. The vehicle parking control method according to claim 8, wherein the comparison result is generated by comparing a difference result between the current pose information and the calibration pose information of the vehicle with a preset difference, specifically:
when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be larger than a first preset difference and smaller than a second preset difference, generating message reminding information to remind a user that the vehicle does not stop according to the calibration pose according to the message reminding information and a corresponding message reminding mode;
when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be larger than the second preset difference and smaller than a third preset difference, generating alarm information to remind a user that the vehicle is not parked according to the calibration pose according to the alarm information and a corresponding alarm mode;
and when the difference result between the current pose information and the calibration pose information of the vehicle is determined to be greater than the third preset difference, generating locking prohibition information corresponding to the vehicle returning control instruction sent by the target device, so as to remind a user that the vehicle cannot be locked according to the locking prohibition information.
10. The vehicle parking control method as recited in claim 8, wherein the parking wire frame includes an arrow mark and/or an isosceles triangle mark.
11. A vehicle comprising a vehicle body, and further comprising a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, the processor and the storage medium communicate via the bus when the vehicle is running, and the processor executes the machine-readable instructions to perform the steps of the vehicle parking control method according to any one of claims 1 to 10.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, performs the steps of the vehicle parking control method according to any one of claims 1 to 10.
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| CN202210575315.3A CN114882453A (en) | 2019-07-26 | 2019-07-26 | Vehicle parking control method, vehicle and storage medium |
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| CN201910683627.4A CN111832377A (en) | 2019-07-26 | 2019-07-26 | Vehicle parking control method and device, vehicle and storage medium |
| CN202210575315.3A CN114882453A (en) | 2019-07-26 | 2019-07-26 | Vehicle parking control method, vehicle and storage medium |
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| CN112382125B (en) * | 2020-11-12 | 2022-11-04 | 中国船舶重工集团公司第七0三研究所 | Urban street roadside short-time parking management system |
| CN112950923A (en) * | 2021-04-13 | 2021-06-11 | 杭州云岛科技有限公司 | Riding vehicle, parking space and parking management system |
| CN115019498A (en) * | 2022-05-13 | 2022-09-06 | 深圳市锐明技术股份有限公司 | Parking management method and system |
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| CN109218337A (en) * | 2017-05-24 | 2019-01-15 | 上海朗尚科贸有限公司 | Control method for vehicle, server, vehicle termination and user terminal |
| CN109238293A (en) * | 2017-07-10 | 2019-01-18 | 李公健 | A kind of system and method for long-range management bicycle parking posture |
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