CN115042806A - Method and device for displaying paths of passenger car parking and electronic equipment - Google Patents
Method and device for displaying paths of passenger car parking and electronic equipment Download PDFInfo
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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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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Abstract
The application relates to a path display method and device for passenger-assistant parking and an electronic device, which are used for solving the problem that the existing passenger-assistant parking scheme cannot remotely provide real-time position information or state information of a vehicle and has safety risk. The method comprises the steps of obtaining a reference driving track of a vehicle, periodically receiving real-time driving information of the vehicle which automatically drives based on the reference driving track, comparing the real-time driving information with reference driving information contained in the reference driving track, constructing an actual driving path of the vehicle in real time, and placing the actual driving path in a first display area for visual display. Based on the method, the user can master the actual driving path and the actual environment information of the vehicle through the remote equipment, and the use requirements of the user in some scenes are further met.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a method and a device for displaying a path of passenger car parking and an electronic device.
Background
The existing passenger-replacing parking scheme can enable a vehicle to automatically finish parking and parking in a garage and parking out of the parking space according to a memory parking route, namely the existing passenger-replacing parking scheme has already realized that the vehicle automatically drives to finish the passenger-replacing parking.
However, the passenger car parking requires the automatic driving of the car, which has a certain potential safety hazard in practical application. In view of this, a driver or an operator may want to obtain the driving position information of the vehicle automatically driving in real time during the process of the vehicle memorizing the parking, and a path display method for the valet parking is still lacking to solve the above problem.
Disclosure of Invention
The application provides a path display method, a path display device and electronic equipment for passenger-riding parking, which are used for expanding the existing passenger-riding parking scheme on the premise of not changing controller hardware and a controller, and further providing real-time position information or state information for a driver or an operator in real time.
In a first aspect, the present application provides a path display method for valet parking, the method including:
the method comprises the steps of responding to a received starting instruction of the vehicle for passenger-riding parking, and obtaining a reference driving track of the vehicle;
periodically receiving driving information of the vehicle after determining that the vehicle drives based on the reference driving track;
constructing an actual driving path of the vehicle on the reference driving track based on the driving information of the vehicle, and placing the actual driving path in a first display area for visual display; receiving a display instruction for displaying the running state information of a specified position in the actual running path; acquiring environmental information of the specified position based on the display instruction; the environment information is information collected by the vehicle at the specified position based on a sensing device, and the environment information at least comprises 3D view information of the surrounding environment of the vehicle at the specified position; and placing the environment information in a second display area for visual display.
In some embodiments, the obtaining the reference trajectory of the vehicle includes: acquiring N reference coordinates of a vehicle; wherein N is an integer greater than 1, and the reference coordinate is a position coordinate periodically acquired aiming at the running process of the vehicle; acquiring M sub-reference coordinates corresponding to each reference coordinate in the N reference coordinates; wherein M is an integer greater than 1, and the sub-reference coordinates are vehicle body contour coordinates periodically acquired in the driving process of the vehicle; and constructing a reference driving track of the vehicle based on the N reference coordinates and the M sub-reference coordinates corresponding to each reference coordinate.
In some embodiments, the obtaining M sub-reference coordinates corresponding to each of the N reference coordinates includes: for each of the N reference coordinates, performing the following operations: determining M sub-reference coordinates corresponding to each reference coordinate, and determining priority identifications corresponding to the M sub-reference coordinates respectively to obtain M priority identifications; and sequentially acquiring sub-reference coordinates corresponding to the M priority identifications on the basis of the arrangement order of the M priority identifications until M sub-reference coordinates corresponding to each reference coordinate are acquired.
In some embodiments, the periodically receiving the driving information of the vehicle includes: in response to meeting a preset time period, receiving a relative driving position and a course angle of the vehicle; wherein the relative driving position represents an offset between the actual driving path of the vehicle compared to the reference driving track; receiving environmental information collected by the vehicle based on sensing equipment; and taking the relative driving position, the course angle and the environment information as the driving information of the vehicle which is received periodically.
In some embodiments, the constructing an actual travel path of the vehicle on the reference trajectory based on the travel information of the vehicle includes:
acquiring a relative driving position and a course angle of the vehicle from the driving information of the vehicle;
and constructing an actual running path of the vehicle on the reference running track based on the relative running position and the heading angle.
In some embodiments, the placing the actual driving path in the first display area for visual display includes: placing the actual driving path superposed with the reference driving track in a first display area for visual display; in response to a periodic re-reception of the travel information of the vehicle, updating the actual travel path in the first display area based on the re-received travel information.
In a second aspect, the present application provides a path display device for a valet parking, the device including:
the acquisition module is used for responding to a received starting instruction of the vehicle for the passenger to park and acquiring a reference driving track of the vehicle;
a receiving module that periodically receives travel information of the vehicle after determining that the vehicle travels based on the reference trajectory;
the display module is used for constructing an actual driving path of the vehicle on the reference driving track based on the driving information of the vehicle and placing the actual driving path in a first display area for visual display; receiving a display instruction for displaying the running state information of a specified position in the actual running path; acquiring environmental information of the specified position based on the display instruction; the environment information is information collected by the vehicle at the specified position based on a sensing device, and the environment information at least comprises 3D view information of the surrounding environment of the vehicle at the specified position; and placing the environment information in a second display area for visual display.
In some embodiments, the obtaining module is specifically configured to: acquiring N reference coordinates of a vehicle; wherein N is an integer greater than 1, and the reference coordinate is a position coordinate periodically acquired aiming at the running process of the vehicle; acquiring M sub-reference coordinates corresponding to each reference coordinate in the N reference coordinates; wherein M is an integer greater than 1, and the sub-reference coordinates are vehicle body contour coordinates periodically acquired in the driving process of the vehicle; and constructing a reference driving track of the vehicle based on the N reference coordinates and the M sub-reference coordinates corresponding to each reference coordinate.
In some embodiments, the obtaining module is specifically configured to obtain M sub-reference coordinates corresponding to each of the N reference coordinates, and the obtaining module is configured to: for each of the N reference coordinates, performing the following operations: determining M sub-reference coordinates corresponding to each reference coordinate, and determining priority identifications corresponding to the M sub-reference coordinates respectively to obtain M priority identifications; and sequentially acquiring sub-reference coordinates corresponding to the M priority identifiers based on the arrangement order of the M priority identifiers until M sub-reference coordinates corresponding to each reference coordinate are acquired.
In some embodiments, the periodically receiving the driving information of the vehicle, and the receiving module is specifically configured to: in response to meeting a preset time period, receiving a relative driving position and a course angle of the vehicle; wherein the relative driving position represents an offset between the actual driving path of the vehicle compared to the reference driving track; receiving environmental information collected by the vehicle based on sensing equipment; and taking the relative driving position, the course angle and the environment information as the driving information of the vehicle which is received periodically.
In some embodiments, the actual driving path of the vehicle is constructed on the reference trajectory based on the driving information of the vehicle, and the display module is specifically configured to: acquiring a relative driving position and a course angle of the vehicle from the driving information of the vehicle; and constructing an actual running path of the vehicle on the reference running track based on the relative running position and the heading angle.
In some embodiments, the step of placing the actual traveling path in a first display area for visual display includes the step of: placing the actual driving path superposed with the reference driving track in a first display area for visual display; in response to a periodic re-reception of the travel information of the vehicle, updating the actual travel path in the first display area based on the re-received travel information.
In a third aspect, the present application provides an electronic device, comprising:
a memory for storing a computer program;
and the processor is used for realizing the steps of the route display method for the passenger car park when executing the computer program stored in the memory.
In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of a route display method for passenger parking.
For each of the second to fourth aspects and possible technical effects of each aspect, please refer to the above description of the first aspect or the possible technical effects of each of the possible solutions in the first aspect, and no repeated description is given here.
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Fig. 1 is a first schematic diagram of a possible application scenario provided in the present application;
fig. 2 is a second schematic diagram of a possible application scenario provided in the present application;
fig. 3 is a flowchart of a path display method for passenger car parking according to the present application;
fig. 4 is a schematic diagram of a path display device for passenger car parking according to the present application;
fig. 5 is a schematic diagram of a structure of an electronic device provided in the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clear, the present application will be further described in detail with reference to the accompanying drawings. The particular methods of operation in the method embodiments may also be applied to apparatus embodiments or system embodiments.
In the description of the present application "plurality" is understood to mean "at least two". "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. A is connected with B and can represent: a and B are directly connected and A and B are connected through C. In addition, in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not intended to indicate or imply relative importance nor order to be construed.
The scheme provided by the embodiment of the application relates to an intelligent driving technology. Specifically, the embodiment of the application is applied to a remote device, and in response to receiving a start instruction of vehicle valet parking, a reference trajectory of a vehicle is obtained, and after it is determined that the vehicle travels based on the reference trajectory, the travel information of the vehicle is periodically received, and then based on the travel information of the vehicle, an actual travel path of the vehicle is constructed on the reference trajectory, and the actual travel path is placed in a first display area for visual display.
Furthermore, if a display instruction for displaying the travel state information at the specified position in the actual travel path is received, based on the display instruction, the environment information at the specified position is acquired, the environment information is acquired based on the sensing device at the specified position, and the environment information is displayed in a second display area for visualization, wherein the environment information includes 3D (3D) view information of the surrounding environment of the vehicle at the specified position.
The following briefly introduces the design concept of the embodiments of the present application.
The existing passenger-replacing parking scheme can record a route created by a driver driving a vehicle on the basis of a vehicle system, namely a reference driving track, wherein the reference driving track at least comprises starting point information, target parking space information and end point information. In the practical application of the passenger-replacing parking scheme, in response to the passenger-replacing parking, a vehicle can be controlled to drive into a target parking space based on a reference driving track so as to finish the operation of parking and warehousing; in addition, the vehicle can be controlled to be parked out of the target parking space so as to automatically drive to the end point of the reference driving track.
Further, the existing passenger-riding parking scheme provides a method for recording a reference driving track and automatically driving, and although the scheme brings great convenience for transportation and vehicle control of users, certain potential safety hazards still exist in practical application.
In addition, a driver or an operator can acquire real-time position information or state information of the vehicle in real time only by being located at a driving position or following the vehicle in the process of the valet parking, and under some application scenes such as reserved pickup, the valet parking scheme cannot meet the requirements of users.
In other words, in practical application, the existing passenger-assistant parking scheme cannot provide real-time position information or state information for a driver or an operator in real time, so that not only is a safety risk present, but also the problem that the use requirements of users cannot be met exists.
In view of this, an embodiment of the present application provides a route method for parking a car in a passenger car, in which a remote device may acquire a reference trajectory of a vehicle, that is, the vehicle may automatically travel based on the reference trajectory, then the remote device periodically receives real-time travel information of the vehicle, then compares the real-time travel information with reference travel information included in the reference trajectory, constructs an actual travel route of the vehicle in real time, and places the actual travel route in a first display area for visual display.
That is to say, in the embodiment of the application, the remote device periodically receives the real-time driving information of the vehicle, the actual driving path of the vehicle is constructed on the reference driving track, and the actual driving path is placed in the first display area for visual display, so that the user can grasp the actual driving path of the vehicle through the remote device, and the use requirements of the user in some scenes are met.
In addition, when a display instruction for displaying the running state information at the specified position in the actual running path is received, the embodiment of the application can also acquire the environment information at the specified position and place the environment information in the second display area for visual display. The environment information is information collected by the vehicle at the specified position based on the sensing device, and the environment information at least comprises 3D view information of the surrounding environment of the vehicle at the specified position. In this way, the user may be enabled to view environment information of the vehicle, including 3D view information of the surroundings of the vehicle, obstacle information, and the like, in real time through the remote device. If the user can master the information in real time, under some remote control scenes, the system is helpful for assisting the user to check whether obstacles exist around the vehicle in the process of passenger parking or not, whether the surrounding environment is correct or not, and the like. Optionally, if the user finds that potential safety hazards exist in the current vehicle passenger-riding parking process, the user can control the vehicle to stop the automatic driving process through the remote device.
Some brief descriptions are given below to application scenarios to which the technical solution of the embodiment of the present application can be applied, and it should be noted that the application scenarios described below are only used for describing the embodiment of the present application and are not limited. In a specific implementation process, the technical scheme provided by the embodiment of the application can be flexibly applied according to actual needs.
The scheme provided by the embodiment of the application can be suitable for most of passenger car parking scenes, and is particularly suitable for remote monitoring scenes of passenger car parking.
As shown in fig. 1, an application scenario provided for the embodiment of the present application may include a smart driving vehicle 101, an environment sensor 102, and a remote terminal 103, where the smart driving vehicle 101 may be in a valet parking in a smart driving mode.
It should be noted that fig. 1 is only an example, actually, the intelligent driving vehicle 101 is any vehicle capable of running with an intelligent driving mode, referring to fig. 2, the intelligent driving vehicle 101 may be mounted with a valet parking system 20, and when the valet parking is started, the intelligent driving vehicle 101 may be instructed to enter the valet parking, more specifically, in this embodiment, the valet parking system 20 may include a sensing sensor 201, a parking controller 202, a high-precision positioning module 203, a correlation system signal module 204, and a vehicle body control module 205, and functions of each module are as follows.
The perception sensor 201 is a physical sensor for detecting and tracking a moving target in a parking environment in which the smart driving vehicle 101 is located, and includes: any one or combination of environment perception related physical sensors such as a vision sensor, a millimeter wave radar, an ultrasonic radar and a laser radar.
For example, the perception sensor 201 may include any visual sensor having an image capturing and/or video capturing function, such as a Camera, an infrared Camera, a video Camera, a Digital Still Camera (DSC), a Single Lens Reflex Camera (SLRC), and the like, and the visual sensor may be mounted outside the compartment of the intelligent driving vehicle 101, so that in the valet parking of the intelligent driving vehicle 101, image data including a moving object in the parking environment where the visual sensor is mounted may be captured based on the mounted visual sensor.
Further, the perception sensor 201 may further include a radio positioning device having a target detection function and a spatial position finding function, such as a millimeter wave radar, an ultrasonic radar, and a laser radar. For example, in the embodiment of the present application, the perception sensor 201 may further include a laser radar, and the laser radar may be configured to reflect a laser signal to a moving target in a parking environment where the smart driving vehicle 101 is located, and analyze and obtain displacement data, such as a moving speed, a moving position, and the like of the moving target relative to the smart driving vehicle 101 according to the received corresponding reflected signal.
In an alternative embodiment, the sensing sensor 201 may be connected to the parking controller 202 of the valet parking system 20 in a wired connection manner and/or a wireless connection manner, so that the sensing sensor 201 transmits the acquired data to the parking controller 202, where the wired connection manner and/or the wireless connection manner include: a data line connection, a cellular mobile communication connection, a Wireless Fidelity (Wi-Fi) connection, etc., which is not limited in this application.
The parking controller 202 is an electronic device for performing data storage and data analysis functions, and the parking controller 202 may store a movement rule and a movement model set corresponding to the parking environment, and when the parking controller 202 receives target displacement information related to the parking environment, may analyze a target prediction trajectory of a corresponding moving target based on the stored movement rule and movement model.
Illustratively, in this embodiment, the parking controller 202 implements the related functions of constructing and saving the reference trajectory mentioned in this embodiment through its internal processor, which includes a Central Processing Unit (CPU) or other devices or computing units with data processing functions.
In an alternative embodiment, the parking controller 202 may also be connected to the high-precision positioning module 203, the associated system signal module 204, and the vehicle body control module 205 of the valet parking system 20 in a wired connection manner and/or a wireless connection manner, which are not described herein again.
The high-precision positioning module 203 is an electronic device for accurately positioning a moving target in the intelligent driving vehicle 101 and its parking environment, and includes: any one or combination of accurate positioning equipment such as an inertial navigation positioning unit (RTK), an Inertial Measurement Unit (IMU), a Global Navigation Satellite System (GNSS) and the like.
For example, in the embodiment of the present application, the high-precision positioning module 203 may be an inertial navigation positioning unit RTK and an inertial measurement unit IMU, which may perform precise positioning on a moving target in the intelligent driving vehicle 101 and its parking environment in the automatic cruising or automatic parking of the intelligent driving vehicle 101.
The associated system signal module 204 and the vehicle body control module 205 may be connected to a control panel and electronic controls such as vehicle-mounted devices in the smart driving vehicle 101. For example, in the embodiment of the present application, the association system signal module 204 and the vehicle body control module 205 may implement a user control and a vehicle driving function related to valet parking based on connected electronic controls.
Further, in the above application scenario, one or more environment sensors 102 may also be deployed in a parking environment where the smart vehicle 101 is located, and are configured to detect an environment road condition in the parking environment and a movement condition of each moving object existing therein in real time, where the environment sensors 102 may include: any one or combination of electronic devices with detection and positioning functions, such as a camera, an infrared camera, a video camera, a Digital Still Camera (DSC), a millimeter wave radar, an ultrasonic radar, and a laser radar, which is not limited in this application.
In an optional embodiment, the remote terminal 103 may further obtain and store a movement rule and a movement model set corresponding to the parking environment, and analyze respective target prediction trajectories of the moving targets included in the environment by using the movement rule and the movement model; further, the remote terminal 103 may further generate a control instruction that conforms to the analyzed target predicted trajectory, so that when the intelligent driving vehicle 101 is in automatic driving, the intelligent driving vehicle 101 is controlled to avoid an obstacle through the created information interaction, thereby reducing the instruction analysis time of the valet parking system 20, and further improving the user experience.
It is understood that, in practical situations, the above application scenarios are only examples, and the number of the smart driving vehicles, the moving targets, the environmental sensors, and the servers that can be included in the above application scenarios may also be any number specified, which is not limited in this application.
Further, based on the application scenario, an embodiment of the present application provides a valet parking method, which may be applied to the intelligent driving vehicle 101 and/or the remote terminal 103, and taking the intelligent driving vehicle 101 as an example for description, as shown in fig. 3, the method specifically includes:
step 301: the method comprises the steps of responding to a received starting instruction of the vehicle for passenger-riding parking, and obtaining a reference driving track of the vehicle;
specifically, N reference coordinates of a vehicle are obtained, the reference coordinates are position coordinates periodically collected aiming at the running process of the vehicle, M sub-reference coordinates corresponding to each reference coordinate in the N reference coordinates are obtained, the sub-reference coordinates are vehicle body outline coordinates periodically collected aiming at the running process of the vehicle, and then a reference driving track of the vehicle is constructed based on the N reference coordinates and the M sub-reference coordinates corresponding to each reference coordinate.
For example, the remote device needs to construct a reference trajectory based on N reference coordinates, which are coordinates of vehicle travel, which means that the travel may be (X, Y, Z) × N, which may include, but is not limited to, the center of the vehicle or the center of the rear axle of the vehicle. In addition, to improve the visualization experience, each reference coordinate may also correspond to M sub-reference coordinates, which are denoted as (X, Y, Z) × M, and in general, the vehicle includes four corners, so M generally takes a value of 4.
In some embodiments, the M sub-reference coordinates corresponding to each reference coordinate may be obtained by, for example, for each reference coordinate in the N reference coordinates, performing the following operations: determining M sub-reference coordinates corresponding to each reference coordinate, determining priority identifications corresponding to the M sub-reference coordinates respectively to obtain M priority identifications, and sequentially obtaining the sub-reference coordinates corresponding to the M priority identifications based on the arrangement order of the M priority identifications until obtaining the M sub-reference coordinates corresponding to each reference coordinate.
Illustratively, the remote device receives a periodic signal transmitted in a certain sequence, wherein the periodic signal includes N reference coordinates and M sub-reference coordinates corresponding to each reference coordinate, and the coordinates together form a reference trajectory of the vehicle.
In summary, the remote device synchronously obtains a reference trajectory of the vehicle through the network, where the reference trajectory is a stored parking route of the vehicle.
Step 302: periodically receiving driving information of the vehicle after determining that the vehicle drives based on the reference driving track;
specifically, in response to the preset time period being met, the relative driving position and the heading angle of the vehicle are received, the environment information collected by the vehicle based on the sensing device is received, and then the relative driving heading angle and the environment information are used as the driving information of the vehicle. And the relative driving position represents the offset of the actual driving path of the vehicle compared with the reference driving track.
For example, a virtual path picture identical to the reference trajectory is constructed, and then the distance traveled by the vehicle is calculated based on the real-time traveling speed and the traveling direction of the vehicle, so that the relative position of the vehicle at the reference trajectory in real time is calculated, and the relative traveling position between the actual traveling path of the vehicle and the reference trajectory is determined. For the remote device, the travel information including the relative travel position may be acquired periodically.
For example, during the automatic driving of the vehicle based on the reference driving track, the surrounding environment reference object is detected by the configured environment sensor, the position information of the surrounding environment reference object relative to the vehicle itself is obtained in real time, the 3D view information of the surrounding environment reference object is obtained, and the like. In addition, the vehicle transmits the environment information containing the position information and the 3D view information to the remote device in real time. For the remote device, the travel information including the environmental information may be acquired periodically.
Step 303: and constructing an actual driving path of the vehicle on the reference driving track based on the driving information of the vehicle, and placing the actual driving path in a first display area for visual display.
Specifically, the relative driving position and the heading angle of the vehicle are obtained from the driving information of the vehicle, and then the actual driving path of the vehicle is constructed on the reference driving track based on the relative driving position and the heading angle. Then, the actual travel path superimposed on the reference trajectory is visually displayed in the first display area, and in response to the periodic re-reception of the travel information of the vehicle, the actual travel path in the first display area is updated based on the re-received travel information.
In addition, when the actual driving path in the first display area is updated based on the latest received driving information, the display position of the two-dimensional icon representing the vehicle in the first display area is also updated, and smooth movement processing is performed, so that the reference driving track of the vehicle in the first display area is ensured to be in a slow movement advancing effect aiming at the user view angle.
Illustratively, the remote device will display the real-time location of the vehicle during the valet parking, the vehicle being displayed in the first area as a representation of a two-dimensional icon that is determined based on the respective angular coordinates of the vehicle.
Further, if a display instruction for displaying the running state information of a specified position in the actual running path is received, the environment information of the specified position is obtained, the environment information is the information collected by the vehicle at the specified position based on the sensing device, the environment information at least comprises the 3D view information of the surrounding environment of the vehicle at the specified position, and then the environment information is placed in the second display area for visual display.
In summary, the driver can use a remote device, such as a mobile phone, to control the vehicle to automatically drive based on the reference trajectory, in this process, the remote device can obtain the actual driving path constructed based on the reference trajectory by the vehicle in real time, so that the user can obtain the actual position of the vehicle on the map generated based on the reference trajectory, the dynamic change of the actual driving path of the vehicle, and the environmental information around the vehicle, including but not limited to information of other vehicles, intersections, and other reference objects, in real time through the remote device.
Further, the actual travel track of the vehicle will be displayed as a global view on the first display area, and the environment information of the vehicle will be displayed as a local view on the second display area. The global view is a global 2D view for displaying real-time position information of the vehicle at the reference driving track, and the local view is a specific three-dimensional 3D view for displaying the vehicle at the designated position. In the embodiment of the application, the global view and the local view can be switched and displayed based on a switching instruction.
Based on the same inventive concept, the present application further provides a path display device for passenger-assisted parking, which is used to provide real-time location information or state information for a driver or an operator in real time, and solve the problem that the existing passenger-assisted parking scheme cannot remotely provide real-time location information or state information of a vehicle, and has a safety risk, and the device periodically receives real-time driving information of the vehicle through a remote device, constructs an actual driving path of the vehicle on a reference driving track, and places the actual driving path in a first display area for visual display, so that a user can master the actual driving path and actual environment information of the vehicle through the remote device, and further meets the use requirements of the user in some scenes, as shown in fig. 4, and the device comprises:
the obtaining module 401, in response to receiving a starting instruction for parking a vehicle in a passenger riding mode, obtains a reference trajectory of the vehicle;
a receiving module 402, configured to periodically receive driving information of the vehicle after determining that the vehicle drives based on the reference driving track;
a display module 403, configured to construct an actual driving path of the vehicle on the reference trajectory based on the driving information of the vehicle, and place the actual driving path in a first display area for visual display; receiving a display instruction for displaying the running state information of a specified position in the actual running path; acquiring environmental information of the specified position based on the display instruction; the environment information is information collected by the vehicle at the specified position based on a sensing device, and the environment information at least comprises 3D view information of the surrounding environment of the vehicle at the specified position; and placing the environment information in a second display area for visual display.
In some embodiments, the obtaining module 401 is specifically configured to: acquiring N reference coordinates of a vehicle; wherein N is an integer greater than 1, and the reference coordinate is a position coordinate periodically acquired aiming at the running process of the vehicle; acquiring M sub-reference coordinates corresponding to each reference coordinate in the N reference coordinates; wherein M is an integer greater than 1, and the sub-reference coordinates are vehicle body contour coordinates periodically acquired in the driving process of the vehicle; and constructing a reference driving track of the vehicle based on the N reference coordinates and the M sub-reference coordinates corresponding to each reference coordinate.
In some embodiments, the obtaining module 401 is specifically configured to obtain M sub-reference coordinates corresponding to each of the N reference coordinates, where: for each of the N reference coordinates, performing the following operations: determining M sub-reference coordinates corresponding to each reference coordinate, and determining priority identifications corresponding to the M sub-reference coordinates respectively to obtain M priority identifications; and sequentially acquiring sub-reference coordinates corresponding to the M priority identifiers based on the arrangement order of the M priority identifiers until M sub-reference coordinates corresponding to each reference coordinate are acquired.
In some embodiments, the periodically receiving the driving information of the vehicle, and the receiving module 402 is specifically configured to: in response to meeting a preset time period, receiving a relative driving position and a course angle of the vehicle; wherein the relative driving position represents an offset between the actual driving path of the vehicle compared to the reference driving track; receiving environmental information collected by the vehicle based on sensing equipment; and taking the relative driving position, the course angle and the environment information as the driving information of the vehicle which is received periodically.
In some embodiments, the actual driving path of the vehicle is constructed on the reference trajectory based on the driving information of the vehicle, and the display module 403 is specifically configured to: acquiring a relative driving position and a course angle of the vehicle from the driving information of the vehicle; and constructing an actual running path of the vehicle on the reference running track based on the relative running position and the heading angle.
In some embodiments, the step of placing the actual traveling path in a first display area for visual display is performed by the display module 403, which is specifically configured to: placing the actual driving path superposed with the reference driving track in a first display area for visual display; in response to a periodic re-reception of the travel information of the vehicle, updating the actual travel path in the first display area based on the re-received travel information.
Based on the device, the remote equipment can acquire the reference driving track of the vehicle, namely the vehicle can automatically drive based on the reference driving track, then the remote equipment periodically receives the real-time driving information of the vehicle, then the real-time driving information is compared with the reference driving information contained in the reference driving track, the actual driving path of the vehicle is constructed in real time, and the actual driving path is placed in the first display area to be visually displayed.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, where the electronic device can implement the function of the aforementioned path display device for passenger car parking, and with reference to fig. 5, the electronic device includes:
at least one processor 501 and a memory 502 connected to the at least one processor 501, in this embodiment, a specific connection medium between the processor 501 and the memory 502 is not limited in this application, and fig. 5 illustrates an example where the processor 501 and the memory 502 are connected through a bus 500. The bus 500 is shown in fig. 5 by a thick line, and the connection manner between other components is merely illustrative and not limited thereto. The bus 500 may be divided into an address bus, a data bus, a control bus, etc., and is shown in fig. 5 with only one thick line for ease of illustration, but does not represent only one bus or type of bus. Alternatively, the processor 501 may also be referred to as a controller, without limitation to name a few.
In the embodiment of the present application, the memory 502 stores instructions executable by the at least one processor 501, and the at least one processor 501 may execute the method for displaying a route of a valet parking lot, which is discussed above, by executing the instructions stored in the memory 502. The processor 501 may implement the functions of the various modules in the apparatus shown in fig. 4.
The processor 501 is a control center of the apparatus/system, and may connect various parts of the entire control device by using various interfaces and lines, and perform various functions and process data of the apparatus/system by executing or executing instructions stored in the memory 502 and calling data stored in the memory 502, thereby performing overall monitoring on the apparatus/system.
In one possible design, processor 501 may include one or more processing units and processor 501 may integrate an application processor that handles primarily operating systems, user interfaces, application programs, and the like, and a modem processor that handles primarily wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 501. In some embodiments, processor 501 and memory 502 may be implemented on the same chip, or in some embodiments, they may be implemented separately on separate chips.
The processor 501 may be a general-purpose processor, such as a Central Processing Unit (CPU), digital signal processor, application specific integrated circuit, field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, that may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method for displaying the route of the valet parking, which is disclosed by the embodiment of the application, can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
By programming the processor 501, the code corresponding to the path display method for a valet parking vehicle described in the foregoing embodiment may be solidified into the chip, so that the chip can execute the steps of the path display method for a valet parking vehicle in the embodiment shown in fig. 4 when running. How to program the processor 501 is well known to those skilled in the art and will not be described in detail herein.
Based on the same inventive concept, the embodiment of the present application further provides a storage medium, where the storage medium stores computer instructions, and when the computer instructions run on a computer, the computer executes the method for displaying a route for passenger parking as discussed above.
In some possible embodiments, the various aspects of the method for displaying a path for a valet parking provided by the present application may also be implemented in the form of a program product including program code for causing the control apparatus to perform the steps of the method for displaying a path for a valet parking according to various exemplary embodiments of the present application described above in this specification when the program product is run on an apparatus.
It should be apparent to one skilled in the art that embodiments of the present application may be provided as a method, apparatus/system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (9)
1. A method for displaying a route for a valet parking, the method comprising:
the method comprises the steps of responding to a received starting instruction of the vehicle for passenger-riding parking, and obtaining a reference driving track of the vehicle;
periodically receiving driving information of the vehicle after determining that the vehicle drives based on the reference driving track;
constructing an actual driving path of the vehicle on the reference driving track based on the driving information of the vehicle, and placing the actual driving path in a first display area for visual display;
receiving a display instruction for displaying the running state information of a specified position in the actual running path;
acquiring environmental information of the specified position based on the display instruction; the environment information is information collected by the vehicle at the specified position based on a sensing device, and the environment information at least comprises 3D view information of the surrounding environment of the vehicle at the specified position; and placing the environment information in a second display area for visual display.
2. The method of claim 1, wherein the obtaining a reference trajectory for the vehicle comprises:
acquiring N reference coordinates of a vehicle; wherein N is an integer greater than 1, and the reference coordinate is a position coordinate periodically acquired aiming at the running process of the vehicle;
acquiring M sub-reference coordinates corresponding to each reference coordinate in the N reference coordinates; wherein M is an integer greater than 1, and the sub-reference coordinates are vehicle body contour coordinates periodically acquired in the driving process of the vehicle;
and constructing a reference driving track of the vehicle based on the N reference coordinates and the M sub-reference coordinates corresponding to each reference coordinate.
3. The method of claim 2, wherein the obtaining M sub-reference coordinates corresponding to each of the N reference coordinates comprises:
for each of the N reference coordinates, performing the following operations:
determining M sub-reference coordinates corresponding to each reference coordinate, and determining priority identifications corresponding to the M sub-reference coordinates respectively to obtain M priority identifications;
and sequentially acquiring sub-reference coordinates corresponding to the M priority identifiers based on the arrangement order of the M priority identifiers until M sub-reference coordinates corresponding to each reference coordinate are acquired.
4. The method of claim 1, wherein the periodically receiving travel information for the vehicle comprises:
in response to meeting a preset time period, receiving a relative driving position and a course angle of the vehicle; wherein the relative driving position represents an offset between the actual driving path of the vehicle compared to the reference driving track;
receiving environmental information collected by the vehicle based on sensing equipment;
and taking the relative driving position, the course angle and the environment information as the driving information of the vehicle which is received periodically.
5. The method of claim 1, wherein the constructing an actual travel path of the vehicle on the reference trajectory based on the travel information of the vehicle comprises:
acquiring a relative driving position and a course angle of the vehicle from the driving information of the vehicle;
and constructing an actual running path of the vehicle on the reference running track based on the relative running position and the heading angle.
6. The method of claim 1, wherein visually displaying the actual travel path in a first display area comprises:
placing the actual driving path superposed with the reference driving track in a first display area for visual display;
in response to a periodic re-reception of the travel information of the vehicle, updating the actual travel path in the first display area based on the re-received travel information.
7. A path display device for a valet parking, the device comprising:
the acquisition module is used for responding to a received starting instruction of the vehicle for the passenger to park and acquiring a reference driving track of the vehicle;
a receiving module that periodically receives travel information of the vehicle after determining that the vehicle travels based on the reference trajectory;
the display module is used for constructing an actual driving path of the vehicle on the reference driving track based on the driving information of the vehicle and placing the actual driving path in a first display area for visual display; receiving a display instruction for displaying the running state information of a specified position in the actual running path; acquiring environmental information of the specified position based on the display instruction; the environment information is information collected by the vehicle at the specified position based on a sensing device, and the environment information at least comprises 3D view information of the surrounding environment of the vehicle at the specified position; and placing the environment information in a second display area for visual display.
8. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the method steps of any one of claims 1-6 when executing the computer program stored on the memory.
9. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1-6.
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