CN115848358B - Vehicle parking method, device, electronic equipment and computer readable medium - Google Patents
Vehicle parking method, device, electronic equipment and computer readable medium Download PDFInfo
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Abstract
Embodiments of the present disclosure disclose a vehicle parking method, apparatus, electronic device, and computer readable medium. One embodiment of the method comprises the following steps: in response to receiving the geofence prompt information, acquiring first positioning coordinates, a first pose matrix, a current road image sequence and parking route information of the current vehicle; generating first matching information based on the first positioning coordinates, the first pose matrix, the current road image sequence and the parking route information; in response to determining that the first matching information meets a first preset matching condition, tracking the current road image sequence to obtain a key feature frame information sequence; generating second matching information based on the key feature frame information sequence; and transmitting driving track information included in the parking route information to the control server for parking the vehicle in response to determining that the second matching information meets a second preset matching condition. This embodiment allows the vehicle to be positioned to the point of origin of the parking route on the ground and activates the memory parking function.
Description
Technical Field
Embodiments of the present disclosure relate to the field of computer technology, and in particular, to a vehicle parking method, apparatus, electronic device, and computer readable medium.
Background
A vehicle parking method is a technology for memorizing parking. At present, when a memory is carried out, the following modes are generally adopted: the user drives the vehicle to the vicinity of the starting point of the parking route at the entrance of the parking lot, activates the memory parking function, or actively positions the vehicle by the background and activates the memory parking function after driving the vehicle to the underground parking lot, so that the vehicle can park.
However, the inventors found that when the above manner is adopted for memory parking, the following technical problems often exist:
firstly, because the positioning of a vehicle on the ground is influenced by multipath effect, the GPS (Global Positioning System ) is inaccurate in positioning, and the deviation of the vehicle position is larger, so that the vehicle is easy to cause that the vehicle cannot be positioned to a parking route starting point on the ground, and further, the memory parking function cannot be activated;
second, even though the vehicle may perform the key image frame matching at the starting point of the parking route to improve the positioning accuracy, the vehicle may delay activation of the memory parking function because the vehicle often has already driven away from the starting point or does not reach the starting point at this time, or may not start parking according to the parking route matched with inaccurate positioning information because the memory parking function is activated prematurely, thereby resulting in lower parking efficiency of the vehicle.
The above information disclosed in this background section is only for enhancement of understanding of the background of the inventive concept and, therefore, may contain information that does not form the prior art that is already known to those of ordinary skill in the art in this country.
Disclosure of Invention
The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose a vehicle parking method, apparatus, electronic device, and computer-readable medium to solve one or more of the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a vehicle parking method, the method comprising: in response to receiving the geofence prompt information, acquiring first positioning coordinates, a first pose matrix, a current road image sequence and parking route information of a current vehicle, wherein the parking route information comprises vehicle pose information, initial frame characteristic information and driving track information; generating first matching information based on the first positioning coordinates, the first pose matrix, the current road image sequence and the parking route information; in response to determining that the first matching information meets a first preset matching condition, performing target tracking processing on the current road image sequence to obtain a key feature frame information sequence; generating second matching information based on the key feature frame information sequence; and transmitting the driving track information included in the parking route information to a control server for parking the vehicle in response to determining that the second matching information meets a second preset matching condition.
In a second aspect, some embodiments of the present disclosure provide a vehicle parking apparatus, the apparatus comprising: an acquisition unit configured to acquire first positioning coordinates, a first pose matrix, a current road image sequence and parking route information of a current vehicle in response to receiving geofence prompt information, wherein the parking route information comprises vehicle pose information, start frame feature information and driving track information; a first generation unit configured to generate first matching information based on the first positioning coordinates, the first pose matrix, the current road image sequence, and the parking route information; the tracking processing unit is configured to respond to the fact that the first matching information meets a first preset matching condition, and perform target tracking processing on the current road image sequence to obtain a key feature frame information sequence; a second generation unit configured to generate second matching information based on the key feature frame information sequence; and a transmitting unit configured to transmit travel track information included in the parking route information to a control server for parking the vehicle in response to determining that the second matching information satisfies a second preset matching condition.
In a third aspect, some embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors causes the one or more processors to implement the method described in any of the implementations of the first aspect above.
In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method described in any of the implementations of the first aspect.
The above embodiments of the present disclosure have the following advantageous effects: by the vehicle parking method of some embodiments of the present disclosure, the vehicle may be positioned to a parking route start point on the ground and the memory parking function is activated. Specifically, the reason why the vehicle cannot be positioned to the parking route start point on the ground and the memory parking function is activated is that: because the vehicle positioning on the ground is affected by the multipath effect, the GPS positioning is inaccurate, and the vehicle position deviation is larger, so that the vehicle is easy to cause that the vehicle cannot be positioned to the starting point of the parking route on the ground, and the memory parking function cannot be activated. Based on this, the vehicle parking method of some embodiments of the present disclosure first obtains the first positioning coordinates, the first pose matrix, the current road image sequence, and the parking route information of the current vehicle in response to receiving the geofence prompt information. The parking route information may include vehicle pose information, start frame feature information, and travel track information. Therefore, after the user vehicle enters the geofence of the parking lot, the current information of the vehicle and the road environment and the corresponding parking route information are actively acquired, so that the current information of the vehicle and the road environment can be conveniently matched with the parking route information later, the problem of inaccurate positioning by using the GPS is solved, and further, whether the memory parking function is activated or not for parking of the vehicle can be determined. And generating first matching information based on the first positioning coordinates, the first pose matrix, the current road image sequence and the parking route information. Thus, it is possible to determine whether the current position, posture, and road environment of the vehicle match the existing parking route. And then, in response to determining that the first matching information meets a first preset matching condition, performing target tracking processing on the current road image sequence to obtain a key feature frame information sequence. Therefore, when the current position, the gesture and the road environment of the vehicle are matched with the existing parking route, the track information of each key feature in the current road image sequence can be obtained, and whether each key feature can be continuously matched in the key feature frame information sequence or not can be conveniently determined later. And then, generating second matching information based on the key characteristic frame information sequence. Thus, it can be determined whether each key feature can be continuously matched in the key feature frame information sequence. And finally, in response to determining that the second matching information meets a second preset matching condition, transmitting the driving track information included in the parking route information to a control server for parking the vehicle. Thus, when each key feature can be continuously matched in the key feature frame information sequence, the memory parking function can be activated, and the control server is used for controlling the vehicle to park along the corresponding driving track of the parking route. Therefore, the vehicle parking method of some embodiments of the present disclosure can reduce the influence of the multipath effect on the vehicle positioning and reduce the vehicle positioning deviation by combining the GPS positioning and the road environment matching. Thus, the vehicle can be accurately positioned to the parking route start point on the ground. Further, a memory parking function may be activated for parking the vehicle.
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The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
FIG. 1 is a flow chart of some embodiments of a vehicle parking method according to the present disclosure;
FIG. 2 is a schematic structural view of some embodiments of a vehicle parking apparatus according to the present disclosure;
fig. 3 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 illustrates a flow 100 of some embodiments of a vehicle parking method according to the present disclosure. The vehicle parking method comprises the following steps:
In some embodiments, in response to receiving the geofence prompt, the execution subject of the vehicle parking method (e.g., the end-of-vehicle server) may obtain, via a wired connection or a wireless connection, a first location coordinate, a first pose matrix, a current road image sequence, and parking route information of the current vehicle. The geofence prompt information may be information sent by the field end server that the vehicle has entered the geofence range of the parking lot. The above-described field end server may be a server that detects whether a vehicle enters a parking lot geofence. The first positioning coordinates may be GPS coordinates acquired by a car navigation device. The first pose matrix may be a pose matrix of a vehicle combining inertial navigation outputs. The current road image sequence may be images of a road of consecutive frames photographed by an on-vehicle camera. The parking route information may include vehicle pose information, start frame feature information, and travel track information. The above-described vehicle pose information may be information of coordinates, heading angle, and roll angle of the vehicle at the start point of the route. The start frame feature information may be information of a road image at the start of a route. The travel track information may be information of a track on which the vehicle is parked. It should be noted that the wireless connection may include, but is not limited to, 3G/4G connections, wiFi connections, bluetooth connections, wiMAX connections, zigbee connections, UWB (ultra wideband) connections, and other now known or later developed wireless connection means.
Optionally, before the step of obtaining the first positioning coordinates, the first pose matrix, the current road image sequence, and the parking route information of the current vehicle in response to receiving the geofence prompt information, the execution body may further execute the following steps:
the first step is to acquire a second positioning coordinate, a second pose matrix and an initial road image. Wherein, the second positioning coordinate may be a GPS coordinate of the vehicle at a start point of the parking route. The second pose matrix may be a pose matrix of the vehicle at a start point of a parking route of the vehicle combined with the inertial navigation output. The starting road image may be an image of a road of the vehicle at a starting point of the parking route. The second positioning coordinates, the second pose matrix and the initial road image can be acquired through a wired connection mode or a wireless connection mode.
In some optional implementations of some embodiments, the executing body may acquire the second positioning coordinates, the second pose matrix, and the starting road image by:
step 1, sending preset pose request information to integrated navigation equipment to obtain pose measurement data of a vehicle. The preset pose request information may be preset information requesting to obtain the position and the pose of the vehicle. The above-described pose may be represented by a pose matrix of the vehicle. The above-described pose measurement data may be information of the position and pose of the vehicle output by the integrated navigation apparatus. The preset pose request information can be sent to the integrated navigation equipment in a wired connection mode or a wireless connection mode to acquire pose measurement data of the vehicle.
And step 2, searching a preset positioning log table in response to receiving the acquisition failure information aiming at the pose request information, and obtaining a second positioning coordinate and a second pose matrix. The acquisition failure information may be information that the pose measurement data is not acquired, or may be information that the acquired pose measurement data is empty. The preset positioning log table may be a preset data table for daily recording of vehicle positioning information. The above-described vehicle positioning information may be information of a position and an attitude of the vehicle. The preset positioning log table may be a set of positioning log records arranged in chronological order. The location log record may include time, vehicle coordinates, and a vehicle pose matrix. The vehicle coordinates and the vehicle pose matrix may be a GPS coordinate and pose matrix of the vehicle output by the integrated navigation apparatus. Firstly, the last positioning log record can be found out from a preset positioning log table. Then, the vehicle coordinates included in the found location log record may be determined as the second location coordinates, and the vehicle pose matrix included in the found location log record may be determined as the second pose matrix.
And step 3, acquiring an initial road image from a preset front-view camera.
And a second step of determining the second positioning coordinates and the second pose matrix as vehicle pose information.
And thirdly, carrying out feature extraction processing on the initial road image to obtain initial frame feature information. And carrying out feature extraction processing on the initial road image through a preset image feature extraction method to obtain initial frame feature information.
The preset image feature extraction method may include, but is not limited to, at least one of the following: LBP (Local Binary Patterns, local binary pattern) algorithm, HOG (Histogram of Oriented Gradient, directional gradient histogram) feature extraction algorithm, SIFT (Scale-invariantfeature transform ) operator.
And a fourth step of generating driving track information based on the second positioning coordinates and preset end point coordinates. The preset destination coordinates may be coordinates of a preset parking space. Each track point on which the vehicle runs from the second positioning coordinate to the preset end point coordinate can be recorded, and the recorded information of each track point is determined as running track information. The trajectory point may be a point constituting a vehicle travel path.
And fifthly, determining the vehicle pose information, the initial frame characteristic information and the driving track information as parking route information.
Sixth, generating geofence information corresponding to the parking route information based on the second positioning coordinates. The geofence information corresponding to the parking route information may be generated in an area centered on the second location coordinates and having a radius of a predetermined distance length by a predetermined geofence technique. The preset distance length may be a preset distance value. For example, the distance value may be 10 meters.
As an example, the pre-set geofencing techniques described above may include, but are not limited to, at least one of: ray method, rotation angle method, included angle and method.
In some embodiments, the execution body may generate the first matching information based on the first location coordinates, the first pose matrix, the current road image sequence, and the parking route information. Wherein, the first matching information may be used to characterize whether the vehicle is at the start point of the parking route.
In some optional implementations of some embodiments, the executing body may generate the first matching information based on the first positioning coordinate, the first pose matrix, the current road image sequence, and the parking route information by:
and the first step is to extract the characteristics of the first current road image in the current road image sequence to obtain the target road characteristic information. The target road characteristic information may be information of a road-fixed obstacle ahead of the vehicle. The fixed barrier may include, but is not limited to, at least one of: ground signs, poster bars, and the like. And extracting the characteristics of the first current road image in the current road image sequence by the preset image characteristic extraction method to obtain the target road characteristic information.
And step two, matching the initial frame characteristic information included in the parking route information with the target road characteristic information to obtain image characteristic matching information. The image feature matching information may be used to characterize that the initial frame feature information is identical to the fixed obstacle corresponding to the target road feature information. And matching the initial frame characteristic information included in the parking route information with the target road characteristic information through a preset image characteristic matching algorithm to obtain image characteristic matching information.
As an example, the above-mentioned preset image feature matching algorithm may include, but is not limited to, at least one of the following: PCA-SIFT (Principal Components Analysis-Scale-Invariant Feature Transform, principal component analysis Scale invariant feature transform) algorithm, mo Lawei grams of operator.
And thirdly, generating first matching information based on the first positioning coordinates, the first pose matrix and the vehicle pose information in response to determining that the image feature matching information meets a preset starting point image matching condition. The preset starting point image matching condition may be that the image feature matching information characterizes that the starting frame feature information is identical to the fixed obstacle described by the target road feature information.
In some optional implementations of some embodiments, the executing body may generate the first matching information based on the first positioning coordinates, the first pose matrix, and the vehicle pose information by:
and a first step of performing matching processing on the first positioning coordinates and second positioning coordinates included in the vehicle pose information to obtain position matching information. The position matching information may be used to characterize whether there is a match between the first positioning coordinate and a second positioning coordinate included in the vehicle pose information. First, a difference between the first positioning coordinates and a second positioning coordinate included in the vehicle pose information is determined as a position error value. Then, in response to determining that the position error value is less than a preset error threshold, the preset matching success information is determined as position matching information. The preset error threshold may be a preset error threshold. For example, the preset error threshold may be 0.1 meters. The preset matching success information may be used to characterize matching between the first positioning coordinate and the second positioning coordinate included in the vehicle pose information. And finally, in response to determining that the position error value is greater than or equal to a preset error threshold, determining preset matching failure information as position matching information. The preset matching failure information may be used to characterize a mismatch between the first positioning coordinate and a second positioning coordinate included in the vehicle pose information.
And a second step of generating a first heading angle and a first roll angle based on the first pose matrix in response to determining that the position matching information meets a preset position condition. The preset position condition may be that the position matching information characterizes matching between a first positioning coordinate and a second positioning coordinate included in the vehicle pose information. The first heading angle may be an angle of a heading angle of the vehicle after entering the geofence. The first roll angle may be the angle of the roll angle of the vehicle after entering the geofence. The first heading angle and the first roll angle may be generated based on the first pose matrix described above by an euler angle method.
And thirdly, generating a second heading angle and a second roll angle based on a second pose matrix included in the vehicle pose information. The second heading angle may be an angle of a heading angle of the vehicle at a starting point when the parking route is generated. The second roll angle may be an angle of a roll angle of the vehicle at a start point when the parking route is generated. The second heading angle and the second roll angle may be generated based on a second pose matrix included in the vehicle pose information by an euler angle method.
And step four, determining the absolute value of the difference between the first heading angle and the second heading angle as a heading angle error.
And fifthly, determining an absolute value of a difference between the first roll angle and the second roll angle as a roll angle error.
And a sixth step of generating first matching information based on the heading angle error and the roll angle error. First, in response to determining that the heading angle error and the roll angle error are both smaller than a preset angle threshold, preset starting point matching success information is determined as first matching information. The preset angle threshold may be a preset angle threshold. For example, the preset angle threshold may be 5 degrees. The preset starting point matching success information can be used for representing that the vehicle is at the starting point of the parking route. Then, in response to determining that either one of the heading angle error and the roll angle error is greater than a preset angle threshold, preset starting point matching failure information is determined as first matching information. The preset starting point matching failure information may be used to indicate that the vehicle is not at the starting point of the parking route.
And step 103, performing target tracking processing on the current road image sequence to obtain a key feature frame information sequence in response to determining that the first matching information meets a first preset matching condition.
In some embodiments, the executing body may perform target tracking processing on the current road image sequence to obtain a key feature frame information sequence in response to determining that the first matching information meets a first preset matching condition. The first preset matching condition may be that the first matching information indicates that the vehicle is at a start point of the parking route. The key feature frame information in the key feature frame information sequence may be information of a fixed obstacle of a continuous frame. And performing target tracking processing on the current road image sequence through a preset target tracking algorithm to obtain a key feature frame information sequence.
As an example, the above-mentioned preset target tracking algorithm may include, but is not limited to, at least one of: boundary tracking algorithm, KCF (Kernelized Correlation Filters, kernel correlation filtering) algorithm.
Optionally, the executing body may further control the vehicle to correct the pose of the vehicle body based on the roll angle error in response to determining that the first matching information does not satisfy the first preset matching condition. Wherein if the difference between the first roll angle and the second roll angle is a positive value, the vehicle is controlled to correct the roll angle in the clockwise direction, and the value of the corrected roll angle is determined according to the value of the roll angle error. If the difference between the first roll angle and the second roll angle is negative, the vehicle may be controlled to correct the roll angle in the counterclockwise direction, and the value of the corrected roll angle may be determined according to the value of the roll angle error.
In some embodiments, the executing entity may generate the second matching information based on the key feature frame information sequence. The second matching information may be used to characterize whether information of the fixed obstacle corresponding to the target road feature information exists in each key feature frame information included in the key feature frame information sequence.
In some optional implementations of some embodiments, the executing entity may generate the second matching information based on the key feature frame information sequence by:
first, determining the first key feature frame information in the key feature frame information sequence as target feature frame information.
And secondly, intercepting the key feature frame information sequence to obtain the key feature frame information sequence to be matched. The key feature frame information to be matched in the key feature frame information sequence to be matched may be key feature frame information matched with the target feature frame information in the key feature frame information sequence. And intercepting the key feature frame information at the tail of the key feature frame information sequence from the second key feature frame information of the key feature frame information sequence, and determining each intercepted key feature frame information as key feature frame information to be matched to obtain the key feature frame information sequence to be matched.
And thirdly, generating a matched numerical value based on the target characteristic frame information and the key characteristic frame information sequence to be matched. The number of the matched values may be the number of key feature frame information to be matched with the target feature frame information. Firstly, selecting key feature frame information to be matched with target feature frame information from the key feature frame information sequence to be matched as target matching key feature frame information, and obtaining a target matching key feature frame information set. The matching with the target feature frame information may be that a fixed obstacle corresponding to the key feature frame information to be matched is the same as a fixed obstacle corresponding to the target feature frame information. Then, the number of each target matching key feature frame information in the target matching key feature frame information set is determined as a matched number value.
And fourthly, determining the number of the key feature frame information to be matched in the key feature frame information sequence to be matched as a numerical value to be matched.
And fifthly, determining preset matching success information as second matching information in response to determining that the number to be matched is equal to the matched number. The preset successful matching information may be used to characterize that the information of the fixed obstacle corresponding to the target road feature information exists in each key feature frame information included in the key feature frame information sequence.
Optionally, the execution body may further determine, as the second matching information, preset matching failure information in response to determining that the number to be matched is not equal to the number matched. The preset matching failure information may be used to characterize that information of a fixed obstacle corresponding to the target road feature information does not exist in each key feature frame information included in the key feature frame information sequence.
The second matching information generating step and the related content thereof are taken as an invention point of the embodiment of the disclosure, and solve the second technical problem that the vehicle parking efficiency is lower in the background art. Factors that lead to lower vehicle parking efficiency tend to be as follows: even if the vehicle can perform key image frame matching at the starting point of the parking route to improve the positioning accuracy, the vehicle is easy to delay to activate the memory parking function because the vehicle often moves away from the starting point or does not reach the starting point at the moment, or the vehicle cannot start to park according to the parking route matched with inaccurate positioning information because the memory parking function is activated too early, so that the parking efficiency of the vehicle is low. If the above factors are solved, the effect of improving the parking efficiency of the vehicle can be achieved. In order to achieve the effect, first, on the premise that the first matching information meets a first preset matching condition, target tracking processing can be performed on the current road image sequence to obtain track information with a certain duration of each key feature in the current road image of the first frame in the current road image sequence. It may then be determined whether the vehicle has reached a starting point and whether the memory parking function is activated based on whether the respective key features can be continuously matched in the current sequence of road images. Finally, if each key feature can be continuously matched in the current road image sequence, the memory parking function can be activated for parking the vehicle. Therefore, the track tracking matching of a certain time length can be carried out on the key image frames, so that the accuracy of vehicle positioning is improved, and the delay or early activation of the memory parking function of the vehicle is avoided. Thus, the vehicle parking efficiency can be improved.
And step 105, transmitting the driving track information included in the parking route information to the control server for parking the vehicle in response to determining that the second matching information meets the second preset matching condition.
In some embodiments, the executing body may send the driving track information included in the parking route information to the control server for parking the vehicle in response to determining that the second matching information satisfies a second preset matching condition. The second preset matching condition may be that information of the fixed obstacle corresponding to the second matching information characterizing the target road feature information exists in each key feature frame information included in the key feature frame information sequence. The control server may be a server that controls movement of the vehicle by a control instruction and completes parking. The control instructions may include, but are not limited to, at least one of: acceleration and deceleration instructions, and parking instructions.
Optionally, the executing body may further control the associated vehicle body posture controller to adjust the vehicle body posture in response to determining that the second matching information does not satisfy the second preset matching condition. The vehicle body posture controller may be a controller for adjusting the vehicle body direction.
The above embodiments of the present disclosure have the following advantageous effects: by the vehicle parking method of some embodiments of the present disclosure, the vehicle may be positioned to a parking route start point on the ground and the memory parking function is activated. Specifically, the reason why the vehicle cannot be positioned to the parking route start point on the ground and the memory parking function is activated is that: because the vehicle positioning on the ground is affected by the multipath effect, the GPS positioning is inaccurate, and the vehicle position deviation is larger, so that the vehicle is easy to cause that the vehicle cannot be positioned to the starting point of the parking route on the ground, and the memory parking function cannot be activated. Based on this, the vehicle parking method of some embodiments of the present disclosure first obtains the first positioning coordinates, the first pose matrix, the current road image sequence, and the parking route information of the current vehicle in response to receiving the geofence prompt information. The parking route information may include vehicle pose information, start frame feature information, and travel track information. Therefore, after the user vehicle enters the geofence of the parking lot, the current information of the vehicle and the road environment and the corresponding parking route information are actively acquired, so that the current information of the vehicle and the road environment can be conveniently matched with the parking route information later, the problem of inaccurate positioning by using the GPS is solved, and further, whether the memory parking function is activated or not for parking of the vehicle can be determined. And generating first matching information based on the first positioning coordinates, the first pose matrix, the current road image sequence and the parking route information. Thus, it is possible to determine whether the current position, posture, and road environment of the vehicle match the existing parking route. And then, in response to determining that the first matching information meets a first preset matching condition, performing target tracking processing on the current road image sequence to obtain a key feature frame information sequence. Therefore, when the current position, the gesture and the road environment of the vehicle are matched with the existing parking route, the track information of each key feature in the current road image sequence can be obtained, and whether each key feature can be continuously matched in the key feature frame information sequence or not can be conveniently determined later. And then, generating second matching information based on the key characteristic frame information sequence. Thus, it can be determined whether each key feature can be continuously matched in the key feature frame information sequence. And finally, in response to determining that the second matching information meets a second preset matching condition, transmitting the driving track information included in the parking route information to a control server for parking the vehicle. Thus, when each key feature can be continuously matched in the key feature frame information sequence, the memory parking function can be activated, and the control server is used for controlling the vehicle to park along the corresponding driving track of the parking route. Therefore, the vehicle parking method of some embodiments of the present disclosure can reduce the influence of the multipath effect on the vehicle positioning and reduce the vehicle positioning deviation by combining the GPS positioning and the road environment matching. Thus, the vehicle can be accurately positioned to the parking route start point on the ground. Further, a memory parking function may be activated for parking the vehicle.
With further reference to fig. 2, as an implementation of the method illustrated in the above figures, the present disclosure provides embodiments of a vehicle parking apparatus, which apparatus embodiments correspond to those illustrated in fig. 1, and which apparatus is particularly applicable in a variety of electronic devices.
As shown in fig. 2, a vehicle parking device 200 of some embodiments includes: an acquisition unit 201, a first generation unit 202, a tracking processing unit 203, a second generation unit 204, and a transmission unit 205. Wherein, the obtaining unit 201 is configured to obtain, in response to receiving the geofence prompt information, a first positioning coordinate, a first pose matrix, a current road image sequence and parking route information of the current vehicle, where the parking route information includes vehicle pose information, start frame feature information and driving track information; a first generation unit 202 configured to generate first matching information based on the first positioning coordinates, the first pose matrix, the current road image sequence, and the parking route information; a tracking processing unit 203 configured to perform target tracking processing on the current road image sequence to obtain a key feature frame information sequence in response to determining that the first matching information meets a first preset matching condition; a second generating unit 204 configured to generate second matching information based on the key feature frame information sequence; and a transmitting unit 205 configured to transmit the travel track information included in the parking route information to the control server for parking the vehicle in response to determining that the second matching information satisfies a second preset matching condition.
It will be appreciated that the elements described in the apparatus 200 correspond to the various steps in the method described with reference to fig. 1. Thus, the operations, features and resulting benefits described above for the method are equally applicable to the apparatus 200 and the units contained therein, and are not described in detail herein.
With further reference to fig. 3, a schematic structural diagram of an electronic device 300 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic device shown in fig. 3 is merely an example and should not impose any limitations on the functionality and scope of use of embodiments of the present disclosure.
As shown in fig. 3, the electronic device 300 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 301 that may perform various suitable actions and processes in accordance with a program stored in a Read Only Memory (ROM) 302 or a program loaded from a storage means 308 into a Random Access Memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the electronic apparatus 300 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input/output (I/O) interface 305 is also connected to bus 304.
In general, the following devices may be connected to the I/O interface 305: input devices 306 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 307 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 308 including, for example, magnetic tape, hard disk, etc.; and communication means 309. The communication means 309 may allow the electronic device 300 to communicate with other devices wirelessly or by wire to exchange data. While fig. 3 shows an electronic device 300 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 3 may represent one device or a plurality of devices as needed.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via communications device 309, or from storage device 308, or from ROM 302. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing means 301.
It should be noted that, in some embodiments of the present disclosure, the computer readable medium may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be embodied in the apparatus; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: in response to receiving the geofence prompt information, acquiring first positioning coordinates, a first pose matrix, a current road image sequence and parking route information of a current vehicle, wherein the parking route information comprises vehicle pose information, initial frame characteristic information and driving track information; generating first matching information based on the first positioning coordinates, the first pose matrix, the current road image sequence and the parking route information; in response to determining that the first matching information meets a first preset matching condition, performing target tracking processing on the current road image sequence to obtain a key feature frame information sequence; generating second matching information based on the key feature frame information sequence; and transmitting the driving track information included in the parking route information to a control server for parking the vehicle in response to determining that the second matching information meets a second preset matching condition.
Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in some embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes an acquisition unit, a first generation unit, a tracking processing unit, a second generation unit, and a transmission unit. The names of these units do not constitute limitations on the unit itself in some cases, and for example, the acquisition unit may also be described as "a unit that acquires the first positioning coordinates of the current vehicle, the first pose matrix, the current road image sequence, and the parking route information including the vehicle pose information, the start frame feature information, and the travel track information in response to receiving the geofence prompt information".
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (9)
1. A vehicle parking method, comprising:
in response to receiving the geofence prompt information, acquiring first positioning coordinates, a first pose matrix, a current road image sequence and parking route information of a current vehicle, wherein the parking route information comprises vehicle pose information, starting frame characteristic information and driving track information, the vehicle pose information is pose information of the vehicle at a starting point of a parking route, and the starting frame characteristic information is information of a road image at the starting point of the parking route;
generating first matching information based on the first positioning coordinates, the first pose matrix, the current road image sequence and the parking route information, wherein the first matching information represents whether a vehicle is at a starting point of a parking route;
In response to determining that the first matching information meets a first preset matching condition, performing target tracking processing on the current road image sequence to obtain a key feature frame information sequence, wherein key feature frame information in the key feature frame information sequence is information of a fixed obstacle of a continuous frame;
generating second matching information based on the key feature frame information sequence, wherein the second matching information represents whether information of a fixed obstacle corresponding to target road feature information exists in each key feature frame information included in the key feature frame information sequence, and the target road feature information is feature information of the fixed obstacle corresponding to a first current road image in the current road image sequence;
in response to determining that the second matching information meets a second preset matching condition, transmitting driving track information included in the parking route information to a control server for parking of the vehicle;
wherein the generating second matching information based on the key feature frame information sequence includes:
determining first key feature frame information in the key feature frame information sequence as target feature frame information;
Intercepting the key feature frame information sequence to obtain a key feature frame information sequence to be matched;
generating a matched numerical value based on the target feature frame information and the key feature frame information sequence to be matched;
determining the number of key feature frame information to be matched in the key feature frame information sequence to be matched as a numerical value to be matched;
determining preset matching success information as second matching information in response to determining that the number to be matched is equal to the matched number;
wherein the method further comprises:
and controlling the vehicle to correct the pose of the vehicle body based on the roll angle error corresponding to the first matching information in response to determining that the first matching information does not meet the first preset matching condition.
2. The method of claim 1, wherein prior to the acquiring the first location coordinates, the first pose matrix, the current road image sequence, and the parking route information of the current vehicle in response to receiving the geofence prompt information, the method further comprises:
acquiring a second positioning coordinate, a second pose matrix and an initial road image, wherein the second positioning coordinate is a navigation coordinate of the vehicle at the starting point of the parking route, the second pose matrix is a pose matrix of the vehicle at the starting point of the parking route, which is output by combined inertial navigation, and the initial road image is an image of a road of the vehicle at the starting point of the parking route;
Determining the second positioning coordinates and the second pose matrix as vehicle pose information;
performing feature extraction processing on the initial road image to obtain initial frame feature information;
generating driving track information based on the second positioning coordinates and preset end point coordinates;
determining the vehicle pose information, the initial frame characteristic information and the driving track information as parking route information;
and generating geofence information corresponding to the parking route information based on the second positioning coordinates.
3. The method of claim 2, wherein the acquiring the second positioning coordinates, the second pose matrix, and the starting road image comprises:
transmitting preset pose request information to integrated navigation equipment to acquire pose measurement data of a vehicle;
searching a preset positioning log table in response to receiving acquisition failure information aiming at the pose request information to obtain a second positioning coordinate and a second pose matrix;
and acquiring an initial road image from a preset front-view camera.
4. The method of claim 2, wherein the generating first matching information based on the first location coordinates, the first pose matrix, the current road image sequence, and the parking route information comprises:
Extracting features of a first current road image in the current road image sequence to obtain target road feature information;
matching the initial frame characteristic information included in the parking route information with the target road characteristic information to obtain image characteristic matching information;
and generating first matching information based on the first positioning coordinates, the first pose matrix and the vehicle pose information in response to determining that the image feature matching information meets a preset starting point image matching condition.
5. The method of claim 4, wherein the generating first matching information based on the first positioning coordinates, the first pose matrix, and the vehicle pose information comprises:
matching the first positioning coordinates with second positioning coordinates included in the vehicle pose information to obtain position matching information;
generating a first heading angle and a first roll angle based on the first pose matrix in response to determining that the position matching information meets a preset position condition;
generating a second heading angle and a second roll angle based on a second pose matrix included in the vehicle pose information;
determining an absolute value of a difference between the first heading angle and the second heading angle as a heading angle error;
Determining an absolute value of a difference between the first roll angle and the second roll angle as a roll angle error;
and generating first matching information based on the heading angle error and the roll angle error.
6. The method of claim 1, wherein the method further comprises:
and determining preset matching failure information as second matching information in response to determining that the value to be matched is not equal to the matched value.
7. A vehicle parking apparatus comprising:
an obtaining unit configured to obtain, in response to receiving the geofence prompt information, first positioning coordinates of a current vehicle, a first pose matrix, a current road image sequence, and parking route information, wherein the parking route information includes vehicle pose information, start frame feature information, and driving track information, the vehicle pose information is pose information of the vehicle at a start point of a parking route, and the start frame feature information is information of a road image at the start point of the parking route;
a first generation unit configured to generate first matching information based on the first positioning coordinates, the first pose matrix, the current road image sequence, and the parking route information, wherein the first matching information characterizes whether a vehicle is at a parking route start point;
The tracking processing unit is configured to respond to the fact that the first matching information meets a first preset matching condition, and perform target tracking processing on the current road image sequence to obtain a key feature frame information sequence, wherein key feature frame information in the key feature frame information sequence is information of a fixed obstacle of a continuous frame;
a second generating unit configured to generate second matching information based on the key feature frame information sequence, wherein the second matching information characterizes whether information of a fixed obstacle corresponding to target road feature information exists in each key feature frame information included in the key feature frame information sequence, and the target road feature information is feature information of the fixed obstacle corresponding to a first current road image in the current road image sequence;
a transmission unit configured to transmit travel track information included in the parking route information to a control server for parking of the vehicle in response to determining that the second matching information satisfies a second preset matching condition;
wherein the generating second matching information based on the key feature frame information sequence includes:
Determining first key feature frame information in the key feature frame information sequence as target feature frame information;
intercepting the key feature frame information sequence to obtain a key feature frame information sequence to be matched;
generating a matched numerical value based on the target feature frame information and the key feature frame information sequence to be matched;
determining the number of key feature frame information to be matched in the key feature frame information sequence to be matched as a numerical value to be matched;
determining preset matching success information as second matching information in response to determining that the number to be matched is equal to the matched number;
wherein, the vehicle parking device further includes:
and controlling the vehicle to correct the pose of the vehicle body based on the roll angle error corresponding to the first matching information in response to determining that the first matching information does not meet the first preset matching condition.
8. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon,
when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-6.
9. A computer readable medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the method of any of claims 1-6.
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| CN113112526B (en) * | 2021-04-27 | 2023-09-22 | 北京百度网讯科技有限公司 | Target tracking method, device, equipment and medium |
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| CN115140090A (en) * | 2022-06-28 | 2022-10-04 | 禾多科技（北京）有限公司 | Vehicle control method, device, electronic equipment and computer readable medium |
| CN115408609A (en) * | 2022-08-29 | 2022-11-29 | 禾多科技（北京）有限公司 | Parking route recommendation method and device, electronic equipment and computer readable medium |
| CN115578386B (en) * | 2022-12-02 | 2023-06-06 | 小米汽车科技有限公司 | Parking image generation method and device, electronic equipment and storage medium |
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