CN117168461A

CN117168461A - Automobile navigation method, computer device and storage medium in parking lot environment

Info

Publication number: CN117168461A
Application number: CN202311149300.1A
Authority: CN
Inventors: 吴秀冰; 陈海旋; 刘小锐; 陈英贤
Original assignee: GAC Honda Automobile Co Ltd; Guangqi Honda Automobile Research and Development Co Ltd
Current assignee: GAC Honda Automobile Co Ltd; Guangqi Honda Automobile Research and Development Co Ltd
Priority date: 2023-09-06
Filing date: 2023-09-06
Publication date: 2023-12-05

Abstract

The invention discloses a car navigation method, a computer device and a storage medium in a parking lot environment, which can guide a driver or an automatic car driving system to return to a departure place through a primary route by acquiring reverse driving operation information without depending on a satellite navigation technology and an indoor navigation technology based on wireless communication, so that the car navigation method is applicable to environments such as an underground parking lot with poor signals; the reverse driving operation information generated by the image analysis obtained by shooting in the approach process and the departure process can effectively guide a driver or an automatic driving system of the automobile to execute correct driving operation, so that the automobile is safely driven to return to the original path to realize departure; and the generated reverse driving operation information is easily linked with the automobile navigation technology and the automatic driving technology, so that data support is provided for the technologies such as voice navigation or automatic driving and the like. The invention can provide support for voice navigation or automatic driving and other technologies. The invention is widely applied to the technical field of automobiles.

Description

Automobile navigation method, computer device and storage medium in parking lot environment

Technical Field

The invention relates to the technical field of automobiles, in particular to an automobile navigation method, a computer device and a storage medium in a parking lot environment.

Background

Automobiles extend the travel range of people so that people have a greater likelihood of reaching places that have not been reached before, creating a need to guide the driver to the destination. The navigation technology can locate and navigate the terminal in real time, and provides great convenience for people to travel. The current navigation technology is mainly realized based on satellite positioning technology or indoor positioning technology and other technologies. However, there are a huge number of parking lots located indoors or even underground, and the like, and these positions are difficult to receive satellite positioning signals, so that it is impossible to navigate a car located inside the parking lots using a navigation technology based on satellite positioning technology; however, the indoor positioning technology generally needs to install a wireless communication device such as a bluetooth device in an indoor environment, which is a relatively high cost for a parking lot, so not all parking lots can be equipped with such devices, and the basis of the indoor positioning technology is not realized, and therefore, the navigation technology based on the indoor positioning technology cannot be used. Because the current navigation technology is generally difficult to apply in the parking lot environment, when a driver drives an automobile into the parking lot, searches for a parking space in the parking lot and drives out from the parking lot, the driver can only observe marks such as a sign and a marking line in the parking lot, and determine the position of the driver and arrange the approach and departure route by means of the memory and the space imagination of the driver, so that higher requirements are provided for the driving skill of the driver and the completeness of parking lot facilities. Because the high requirements are not easy to be met at the same time in the actual situation, the phenomenon that a driver drives an automobile to get lost in a parking lot often occurs, so that the time of the driver is wasted, and the traffic safety in the parking lot is influenced.

Disclosure of Invention

Aiming at the technical problems that the navigation technology is difficult to be applied in a parking lot environment at present, so that the navigation technology is usually lost in the parking lot environment to cause traffic confusion and the like, the invention aims to provide a car navigation method, a computer device and a storage medium in the parking lot environment.

In one aspect, an embodiment of the present invention includes a car navigation method in a parking lot environment, the car navigation method in the parking lot environment including the steps of:

acquiring an approach backward video stream and an approach driving operation time sequence; the approach backward video stream is a video stream acquired from a backward view angle of an automobile in the approach process of the parking lot, and the approach driving operation time sequence is a time sequence formed by recording the acquired driving operation information in the approach process of the parking lot;

in the departure process of a parking lot, acquiring a departure forward image; the departure forward image is an image acquired from a forward view angle of an automobile;

determining a first target video frame from the incoming backward video stream; the first target video frame is a frame in the incoming backward video stream, and is matched with the newly acquired off-field forward image;

Acquiring first driving operation information with corresponding time positions from the approach driving operation time sequence according to the time positions of the first target video frames in the approach backward video stream;

and generating corresponding reverse driving operation information according to the first driving operation information.

Further, the car navigation method in the parking lot environment further comprises the following steps:

and generating navigation information and/or an automatic driving instruction according to the reverse driving operation information.

starting from the position of the first target video frame, playing back the incoming backward video stream to obtain a playback video stream;

playing the playback video stream in synchronization with the generation process of the reverse driving operation information.

Further, the acquiring the time sequence of the approach backward video stream and the approach driving operation comprises:

and obtaining the approach backward video stream and the approach driving operation time sequence by receiving data transmitted by external equipment.

in the approach process of the parking lot, acquiring an approach backward video stream at the host vehicle;

And in the process of collecting the approach backward video stream, synchronously recording the driving operation information on the vehicle to obtain the approach driving operation time sequence.

and sharing the approach backward video stream acquired by the vehicle and the approach driving operation time sequence to external equipment.

searching out-of-field mark information of the incoming backward video stream;

when the departure mark information is not searched from the incoming backward video stream, acquiring a departure forward image and a departure backward image in the departure process of the parking lot; the off-field forward image is an image acquired from a forward view angle of the automobile, and the off-field backward image is an image acquired from a backward view angle of the automobile;

determining a second target video frame and a third target video frame from the incoming backward video stream; the second target video frame and the third target video frame are frames in the incoming backward video stream, the second target video frame is matched with the newly acquired off-field forward image, and the third target video frame is matched with the newly acquired off-field backward image;

Acquiring second driving operation information with corresponding time positions from the approach driving operation time sequence according to the time positions of the second target video frames in the approach backward video stream;

acquiring third driving operation information with corresponding time positions from the approach driving operation time sequence according to the time positions of the third target video frames in the approach backward video stream;

generating fourth driving operation information according to the second driving operation information and the third driving operation information; the fourth driving operation information is compatible with the second driving operation information or the third driving operation information;

and generating navigation information and/or automatic driving instructions according to the fourth driving operation information.

acquiring an approach forward video stream; the forward video stream of the approach is a video stream acquired from a forward view angle of an automobile in the approach process of the parking lot;

acquiring a mobile terminal image in the process of searching vehicles in a parking lot;

determining a fifth target video frame from the incoming backward video stream or the incoming forward video stream; the fifth target video frame is a frame in the incoming backward video stream or the incoming forward video stream, and is matched with the latest acquired mobile terminal image;

According to the time position of the fifth target video frame in the approach backward video stream or the approach forward video stream, fifth driving operation information with corresponding time positions is obtained from the approach driving operation time sequence;

determining a target position according to the fifth driving operation information;

and carrying out vehicle searching navigation according to the target position.

In another aspect, an embodiment of the present invention further includes a computer apparatus including a memory for storing at least one program and a processor for loading the at least one program to perform a car navigation method in a parking lot environment of the embodiment.

In another aspect, embodiments of the present invention further include a storage medium having stored therein a processor-executable program that, when executed by a processor, is configured to perform a car navigation method in a parking lot environment of the embodiments.

The beneficial effects of the invention are as follows: the car navigation method in the parking lot environment in the embodiment does not need to rely on satellite navigation technology and indoor navigation technology based on wireless communication, so the car navigation method can be applicable to environments such as underground parking lots with poor signals; the reverse driving operation information generated by the image analysis obtained by shooting in the approach process and the departure process can effectively guide a driver or an automatic driving system of the automobile to execute correct driving operation, so that the automobile is safely driven to return to the original path to realize departure; and the generated reverse driving operation information is easily linked with the automobile navigation technology and the automatic driving technology, so that data support is provided for the technologies such as voice navigation or automatic driving and the like.

Drawings

FIG. 1 is a schematic diagram of an automobile system to which an automobile navigation method in a parking lot environment can be applied in an embodiment;

FIG. 2 is a schematic diagram of mounting positions of a front camera and a rear camera in an embodiment;

FIG. 3 is a schematic diagram illustrating steps of a car navigation method in a parking lot environment according to an embodiment;

fig. 4 is a schematic diagram of comparing and matching an off-field forward image with an on-field backward video stream in the embodiment;

FIG. 5 is a schematic diagram of an embodiment in which the vehicle leaves the field in the form of an original return;

FIG. 6 is a schematic diagram of generating a playback video stream in an embodiment;

fig. 7 is a schematic diagram of the departure of the car in a non-primary return form in an embodiment.

Detailed Description

In this embodiment, the car navigation method in the parking lot environment may be applied to the car system shown in fig. 1. Referring to fig. 1, the system includes a control module, a storage module, a forward camera, a backward camera, a short-range communication module, a long-range communication module, and the like.

In the present embodiment, an electronic control unit ECU or the like may be used as the control module. The control module and other modules such as the forward camera, the backward camera and the like can be connected through a communication controller EVCC.

Referring to fig. 2, a forward camera may be installed at a position of a vehicle head, and a view angle of the forward camera is forward, that is, a photographing view of the forward camera is in front of the vehicle head; the backward camera can be arranged at the position of the tail of the vehicle, the view angle of the backward camera is backward, namely the shooting view field of the backward camera is the rear of the tail of the vehicle. The forward camera and the backward camera can shoot at any time of parking, advancing, backing, turning and the like of the automobile. The forward camera and the backward camera can continuously shoot, so that a video stream consisting of multiple frames of images is obtained, and the video stream can be periodically or aperiodically shot at a longer time interval, so that a single image is acquired.

The forward camera and the backward camera send the shot video stream or image to the control module, and the control module processes the shot video stream or image or stores the shot video stream or image in the storage module.

Referring to fig. 1, the short-range communication module may be a communication module based on a bluetooth or wifi protocol, through which the control module may communicate with a driver of the vehicle or a mobile phone carried by other on-vehicle personnel, or may communicate with a communication device in a parking lot or a communication device installed in another vehicle; the remote communication module can be a communication module based on communication standards such as 4G or 5G, and the control module can be connected with the cloud server through the remote communication module.

In this embodiment, the car navigation method in the parking lot environment may be executed by the control module. When the control module executes some steps in the car navigation method in the parking lot environment, some data needs to be acquired, or processed data or control instructions are sent out, the control module can call each module in fig. 1.

In this embodiment, referring to fig. 3, the car navigation method in the parking lot environment includes the following steps:

s1, acquiring an approach backward video stream and an approach driving operation time sequence;

s2, acquiring an off-field forward image in the off-field process of the parking lot;

s3, determining a first target video frame from the incoming video stream; the first target video frame is a frame in the incoming backward video stream, and is matched with the latest acquired off-field forward image;

s4, acquiring first driving operation information with corresponding time positions from an approach driving operation time sequence according to the time positions of the first target video frames in the approach backward video stream;

s5, generating corresponding reverse driving operation information according to the first driving operation information.

Steps S1-S5 may be performed by a control module. Specifically, the longitude and latitude coordinates of the entrance of a specific parking lot (such as a parking lot with the characteristics of larger area, more layers, unclear guiding information in the field, lost ways of a plurality of people at the place, etc.) can be stored in the storage module, the control module calls the satellite navigation module to detect real-time coordinate information of the automobile, reads the longitude and latitude coordinates of the specific parking lot from the storage module, compares the real-time coordinate information with the real-time coordinate information of the automobile, and when the real-time coordinate information of the automobile is consistent with or close to the longitude and latitude coordinates of a specific parking lot, the automobile is indicated to enter the specific parking lot, so that the requirement of executing the steps S1-S5 is generated, and the control module is triggered to start executing the steps S1-S5.

In step S1, the backward video stream to be acquired by the control module is a video stream obtained by shooting the host vehicle or other vehicles through the backward camera in the process of entering the parking lot when the host vehicle or other vehicles enter the parking lot where the host vehicle or other vehicles are currently located, that is, the content in the backward video stream of the entering host vehicle or other vehicles is a scene seen from the backward view angle in the process of entering the parking lot.

In this embodiment, the form of the incoming backward video stream is shown in fig. 4, and the incoming backward video stream may be decomposed into a plurality of video frames such as frame1, frame2, frame3 and … …, where frame1 is obtained by shooting at the moment 8:00:00 by the backward camera, frame2 is obtained by shooting at the moment 8:00:01 by the backward camera, and frame3 is … … obtained by shooting at the moment 8:00:02 by the backward camera. Specifically, the numbers of frame1 and frame2 etc. may only represent the sequential relationship between video frames, and do not limit that the next frame of frame1 must be frame2, but in the present embodiment, frame1, frame2, frame3 … … etc. may be understood as a video stream composed of one video frame shot per second for brevity.

In step S1, the control module obtains the time sequence of the approach driving operation, which is shown in table 1.

TABLE 1

Referring to table 1, the driving operation time series records driving operation information such as the accelerator opening and the steering wheel width acquired at each of a plurality of times such as 8:00:00, 8:00:01, 8:00:02 … …, and the like. For example, the accelerator opening corresponding to time 8:00:00 is 20%, and the steering wheel amplitude is-1 °, indicating that the current road condition of the vehicle in which the time series of approach driving operations is collected is a straight line at time 8:00:00, so that the vehicle is traveling straight with the steering wheel amplitude of-1 ° at the accelerator opening of 20%.

In table 1, the fact that the accelerator opening is positive indicates that the brake pedal is not depressed and the accelerator pedal with corresponding amplitude is depressed; the fact that the accelerator opening is zero indicates that the accelerator pedal is not stepped on, and the brake pedal is not stepped on; the negative accelerator opening represents that the accelerator pedal is not depressed, and the brake pedal with the corresponding absolute value magnitude is depressed.

In table 1, a positive steering wheel amplitude indicates that the steering wheel is rotating to the right, and the vehicle is turning to the right when running; the steering wheel amplitude being negative indicates that the steering wheel is rotating to the left and the vehicle is turning to the left when driving.

In table 1, after the automobile enters the parking lot, the control module may call a wheel rotation speed sensor or the like to record the number of turns of the wheel, so as to calculate the distance of the automobile after entering the parking lot, and the result is expressed as a relative position. The relative position is expressed in terms of the distance travelled, and the position of the vehicle in the parking lot is zero at the entrance of the parking lot.

In this embodiment, steps S1 to S5 may be applied in the parking lot environment shown in fig. 5, where the host vehicle (the vehicle with the system shown in fig. 1 installed) enters from the entrance to a parking space, and needs to return to the exit near the entrance for departure, and steps S1 to S5 may be performed during departure.

Before executing the steps S1-S5, the vehicle can call the backward camera and sensors installed on an accelerator pedal, a brake pedal, a steering wheel and the like by the control module in the process of approach, and synchronously detect to obtain an approach driving operation time sequence when an approach backward video stream is obtained through shooting by the backward camera. For example, at the time of 8:00:00, the control module calls the backward camera to shoot to obtain a video frame1, and meanwhile calls each sensor to detect to obtain driving operation information such as accelerator opening, steering wheel amplitude and the like, and the driving operation information is marked as driving operation information corresponding to the time of 8:00:00; at the moment 8:00:01, the control module calls the backward camera to shoot to obtain a video frame2, meanwhile calls each sensor to detect and obtain driving operation information such as the accelerator opening, the steering wheel amplitude and the like, and marks as driving operation information … … corresponding to the moment 8:00:01, the video frames frame1 and frame2 … … shot at a plurality of moments form an approach backward video stream, and driving operation information shown in table 1 acquired at a plurality of moments form an approach driving operation time sequence.

After the control module obtains the incoming backward video stream and the driving operation time sequence, the incoming backward video stream and the driving operation time sequence can be stored in the storage module, and can be sent to other automobiles which are going to enter the same parking lot through the short-range communication module, so that the other automobiles can also obtain the incoming backward video stream and the driving operation time sequence, and the steps S2-S5 and the like are executed; the control module of the vehicle can upload the incoming backward video stream and the driving operation time sequence to the cloud server for sharing through the remote communication module, so that when other vehicles enter the same parking lot, the cloud server can be requested to obtain the incoming backward video stream and the driving operation time sequence, and S2-S5 and other steps are executed.

In step S1, under the condition that other automobiles obtain the incoming backward video stream and the driving operation time sequence earlier than the host vehicle, the host vehicle can also directly receive the incoming backward video stream and the driving operation time sequence from other automobiles or from the cloud server without collecting the incoming backward video stream and the driving operation time sequence through the backward camera and each sensor, so as to realize sharing of the incoming backward video stream and the driving operation time sequence and reduce repeated data collection and processing processes.

In step S2, when the vehicle exits from the parking space in the parking lot, the vehicle needs to leave the parking lot in a departure process, and the control module invokes the forward camera to shoot, and the image shot by the forward camera at this time is a departure forward image. The forward camera sends the off-field forward image to the control module in real time.

In step S3, the control module may compare and match the off-field forward image with each video frame in the on-field backward video stream after receiving the off-field forward image sent by the forward camera. Referring to fig. 4, for the newly received off-field forward image, the control module may execute a comparison algorithm such as a self-encoder (AE), a pairwise similarity or a Hash on a local or call cloud server, respectively process each video frame such as frame1, frame2 … … in the off-field forward image and the on-field backward video stream, respectively calculate the similarity between the off-field forward image and frame1, frame2 … …, and determine the video frame with the highest similarity as the first target video frame; the control module may also operate a trained twin Network (Siamese Network) or a Triplet Network (Triplet Network) or other artificial intelligent model locally or call the cloud server, extract, through a convolution layer, features (such as a sign, a marking, a vehicle body color of a parked vehicle and a license plate number contained in a video frame) in each video frame of frame1, frame2 … … in the off-scene forward image and the on-scene backward video stream, and perform depth comparison, so as to identify a video frame closest to the off-scene forward image in frame1, frame2 … … as a first target video frame.

In step S3, the scene content in the identified first target video frame is the same as or is close to the scene content of the departure front image, and it may be determined that the first target video frame and the departure front image are captured by the rear camera and the front camera for the same scene in the parking lot.

In this embodiment, referring to fig. 4, for the off-field forward image obtained by the latest shooting, the video frames of frame1, frame2, etc. are not the first target video frames, i.e. the scene content in the video frames of frame1, frame2, etc. is different from the scene content in the off-field forward image, and are not obtained by shooting the same scene in the parking lot; the video frame7 is the first target video frame, that is, the scene content in the video frame7 is the same as the scene content in the departure forward image, and is obtained by shooting the same scene in the parking lot with the same view angle.

In step S4, referring to fig. 4, after determining that the video frame7 is the first target video frame, the time position of the video frame in the approach backward video stream may be determined by the marked shooting time 8:00:06, and then driving operation information (accelerator opening-10% and steering wheel amplitude 60 °) having the corresponding time position, that is, acquired at the same time 8:00:06, is obtained from the approach driving operation time sequence shown in table 1 as the first driving operation information.

In step S5, corresponding reverse driving operation information is generated according to the first driving operation information. Specifically, the data representing the direction in the first driving operation information may be subjected to the inverting operation, thereby obtaining the reverse driving operation information. For example, the first driving operation information obtained in step S4 is an accelerator opening of-10 ° and a steering wheel amplitude of 60 °, wherein the symbols of the accelerator opening and the steering wheel amplitude represent directions thereof, and the reverse operation is performed to obtain the accelerator opening of 10% and the steering wheel amplitude of-60 °, as reverse driving operation information.

For the reverse driving operation information (the accelerator opening is 10 percent and the steering wheel amplitude is-60 degrees) obtained in the step S5, the control module can generate navigation information in a manual driving mode; in the autopilot mode, the control module may generate autopilot instructions. For example, in the manual driving mode, the control mode may generate voice information, send the voice information to the speaker, and play the voice "please turn left 60 °" through the speaker; in the automatic driving mode, the control module generates a control command, and controls the engine to output 10% of power through the control command, and controls the steering mechanism to rotate leftwards by 60 degrees.

In this embodiment, the principle of performing steps S1-S5 is that: the forward visual angle of the automobile is the same as the backward visual angle in the process of entering, so that the automobile can be confirmed to reach the position where the first target video frame is located by detecting the first target video frame matched with the forward image in the forward visual angle of entering, and the first driving operation information represents the driving operation of the automobile in the process of entering at the position corresponding to the first target video frame, so that the driver or an automatic driving system of the automobile can be guided to return to the way for leaving by acquiring the backward driving operation information.

The car navigation method in the embodiment does not need to rely on satellite navigation technology and indoor navigation technology based on wireless communication, so the car navigation method can be applicable to environments such as underground parking lots with poor signals; through image analysis obtained through shooting in the approach process and the departure process, the generated reverse driving operation information can effectively guide a driver or an automatic driving system of the automobile to execute correct driving operation, so that the automobile is safely driven to return to the original path to realize departure.

In this embodiment, after determining the position of the first target video frame, video playback may also be performed. Referring to fig. 6, in the case where steps S1-S5 are performed to determine that frame7 is the first target video frame, the control module may generate the playback video stream with frame7 as the first frame, frame6 as the second frame … …, frame2 as the next to last frame, and frame1 as the last frame. The control module can send the playback video stream to terminals such as a central control display screen and the like for playing.

The playing effect of the playback video stream is equivalent to that of reverse playing of the video stream after entering, and the playback video stream can show the departure route from the forward visual angle under the condition of departure through the original route return, so that a driver is guided to carry out departure.

In this embodiment, when the car navigation method in the parking lot environment is executed, the following steps may be executed:

s6, searching out-of-field mark information of the incoming backward video stream;

s7, when no departure mark information is searched from the video stream after entering the parking lot, acquiring a departure forward image and a departure backward image in the departure process of the parking lot;

s8, determining a second target video frame and a third target video frame from the incoming video stream;

S9, acquiring second driving operation information with corresponding time positions from the approach driving operation time sequence according to the time positions of the second target video frames in the approach backward video stream;

s10, acquiring third driving operation information with corresponding time positions from an approach driving operation time sequence according to the time positions of third target video frames in the approach backward video stream;

s11, generating fourth driving operation information according to the second driving operation information and the third driving operation information;

s12, generating navigation information and/or an automatic driving instruction according to the fourth driving operation information.

The control module may execute the image detection algorithm locally or call the cloud server, for example, when capturing the incoming backward video stream by the backward camera of the host vehicle, the search process in step S6 is executed every time a frame of video frame is obtained.

In step S6, the departure flag information may be a flag such as a sign board written with a chinese "export" or an english "exit" indicating the departure flag. Because the content in the incoming backward video stream represents the scene of the route which the automobile has passed when entering, if the video frame in the incoming backward video stream contains departure mark information, it indicates that the parking lot exit is at the position near the route which the automobile has passed, the automobile is likely to leave in the form of returning through the original route, and steps S1-S5 can be executed; conversely, if none of the video frames in the incoming backward video stream contains departure flag information, indicating that there is no parking lot exit near the route that the car has traveled, the car cannot depart in the form of a return to the original route, the scenario of which is shown in fig. 7.

In the scenario shown in fig. 7, step S7 is executed, where the control module invokes the forward camera to shoot to obtain an off-field forward image and invokes the backward camera to shoot to obtain an off-field backward image in the off-field process.

The principle of step S8 is the same as that of step S3, and the control module may compare and match the off-field forward image with each video frame in the on-field backward video stream and compare and match the off-field backward image with each video frame in the on-field backward video stream each time an off-field forward image and an off-field backward image are received.

In step S8, if it is detected that there is a video frame in the incoming backward video stream that matches the off-field forward image, then marking this video frame in the incoming backward video stream as a second target video frame; if a video frame matching the off-field backward image is detected to be present in the on-field backward video stream, then this video frame in the on-field backward video stream is marked as a third target video frame.

The principle of steps S9 and S10 is the same as step S4.

In step S9, after the second target video frame is determined, the time position of the second target video frame in the incoming backward video stream may be determined by the capturing time of the second target video frame mark, and then driving operation information having a corresponding time position, that is, acquired at the same time, is acquired from the incoming driving operation time sequence shown in table 1 as the second driving operation information.

In step S10, after the third target video frame is determined, the time position of the third target video frame in the backward video stream may be determined by the capturing time of the third target video frame mark, and then driving operation information having a corresponding time position, that is, acquired at the same time, is acquired from the time sequence of the approach driving operation shown in table 1 as the third driving operation information.

In step S11, the fourth driving operation information generated by the control is compatible with the second driving operation information or with the third driving operation information. Specifically, the fourth driving operation information may guide the driver or control the automated driving system to perform the driving operation identical to or similar to the second driving operation information. This same may be emphasized in the operation with respect to the direction of travel. For example, if the second driving operation information or the third driving operation information indicates that forward or leftward traveling is performed, the fourth driving operation information may be set to be the same as "forward or leftward traveling", that is, also forward or leftward traveling in the current direction, or the fourth driving operation information may be set to be the case where "forward or leftward traveling" is simultaneously established, that is, left forward traveling in the current direction, or the fourth driving operation information may be set to be similar to "forward or leftward traveling", for example, left rearward traveling in the current direction.

In step S12, the control module may generate the navigation information and/or the automatic driving instruction according to the fourth driving operation information, so as to navigate the driver or perform the automatic driving, as in the principle of generating the navigation information and/or the automatic driving instruction according to the first driving operation information.

In this embodiment, the principle of performing steps S6 to S12 is that: by confirming that no departure mark information exists in the incoming backward video stream, the parking lot where the automobile is located can be determined to be in the form shown in fig. 7, and the automobile is required to find an exit of the departure in the form of avoiding the original return;

the second driving operation information indicates that the image of the automobile in the departure front direction is matched with the video stream in the departure rear direction, namely the driving operation information of the automobile in the condition of returning to travel according to the departure original route, and the correction of the travel route of the automobile is facilitated by setting fourth driving operation information compatible with the second driving operation information, so that the automobile does not continue to travel according to the departure original route, and the correct departure route is more likely to be found; the third driving operation information indicates that the automobile is matched with the incoming backward video stream in the outgoing backward image, namely the automobile is running in the opposite direction to the incoming original route, and the current running route of the automobile is maintained by setting fourth driving operation information compatible with the third driving operation information, so that the automobile is prevented from running back according to the incoming original route, and the correct outgoing route is more likely to be found.

s13, acquiring an approach forward video stream;

s14, acquiring a mobile terminal image in the vehicle searching process in the parking lot;

s15, determining a fifth target video frame from the incoming backward video stream or the incoming forward video stream;

s16, acquiring fifth driving operation information with corresponding time positions from the approach driving operation time sequence according to the time positions of the fifth target video frames in the approach backward video stream or the approach forward video stream;

s17, determining a target position according to fifth driving operation information;

s18, carrying out vehicle searching navigation according to the target position.

Steps S13-S18 may be performed in case the driver has already parked the vehicle in a parking space and left the vehicle, and needs to return to the parking space for looking for the vehicle.

In step S13, the control module may call the forward camera to shoot and obtain the incoming forward video stream when call the backward camera to shoot the incoming backward video stream in the incoming process.

In step S14, the driver may use his mobile terminal such as a mobile phone to keep connection with the control module through the short-range communication module in fig. 1 when seeking. The driver shoots the traveling direction of the driver by using the mobile terminal to obtain a mobile terminal image, and the mobile terminal sends the mobile terminal image to the control module.

The principle of step S15 is the same as that of steps S3 and S8, and the control module may compare and match the moving end image with each video frame in the incoming backward video stream or the incoming forward video stream whenever receiving a moving end image, so as to determine a video frame matched with the moving end image in the incoming backward video stream or the incoming forward video stream, that is, a fifth target video frame.

In step S16, the control module searches the table 1 (in the case that the fifth target video frame is a video frame in the incoming backward video stream) for the fifth driving operation information at the corresponding time according to the time position of the fifth target video frame in the incoming backward video stream or the incoming forward video stream, for example, the capturing time of the fifth target video frame, and in step S17, the corresponding relative position may be found according to the table 1 as the target position.

In step S18, the control module calculates the navigation route according to the target position obtained in step S17 and the relative position of the automobile after parking in the parking space, sends the navigation route to the mobile terminal through the short-range communication module, and displays the navigation route through the mobile terminal.

In this embodiment, the principle of performing steps S13 to S18 is that: the fifth target video frame is used for representing a video frame matched with the moving end image in the incoming backward video stream or the incoming forward video stream, and the moving end image is the image obtained by the current real-time shooting of the driver, so that the content in the fifth target video frame is the passing position of the automobile in the incoming process, and the passing position is the current position of the driver, the control module can calculate a navigation route according to the target position, and the navigation route points to the relative position of the automobile, so that the driver can be guided to find the automobile, and the automobile searching time and energy consumption of the driver in the environment of an unfamiliar parking lot are reduced.

The same technical effects as those of the car navigation method in the parking lot environment in the embodiment can be achieved by writing a computer program for executing the car navigation method in the parking lot environment in the embodiment, writing the computer program into a computer device or a storage medium, and executing the car navigation method in the parking lot environment in the embodiment when the computer program is read out to run.

It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly or indirectly fixed or connected to the other feature. Further, the descriptions of the upper, lower, left, right, etc. used in this disclosure are merely with respect to the mutual positional relationship of the various components of this disclosure in the drawings. As used in this disclosure, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. In addition, unless defined otherwise, all technical and scientific terms used in this example have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description of the embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used in this embodiment includes any combination of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could also be termed a second element, and, similarly, a second element could also be termed a first element, without departing from the scope of the present disclosure. The use of any and all examples, or exemplary language (e.g., "such as") provided herein, is intended merely to better illuminate embodiments of the invention and does not pose a limitation on the scope of the invention unless otherwise claimed.

It should be appreciated that embodiments of the invention may be implemented or realized by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer readable storage medium configured with a computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, in accordance with the methods and drawings described in the specific embodiments. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.

Furthermore, the operations of the processes described in the present embodiments may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes (or variations and/or combinations thereof) described in this embodiment may be performed under control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications), by hardware, or combinations thereof, that collectively execute on one or more processors. The computer program includes a plurality of instructions executable by one or more processors.

Further, the method may be implemented in any type of computing platform operatively connected to a suitable computing platform, including, but not limited to, a personal computer, mini-computer, mainframe, workstation, network or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and so forth. Aspects of the invention may be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optical read and/or write storage medium, RAM, ROM, etc., such that it is readable by a programmable computer, which when read by a computer, is operable to configure and operate the computer to perform the processes described herein. Further, the machine readable code, or portions thereof, may be transmitted over a wired or wireless network. When such media includes instructions or programs that, in conjunction with a microprocessor or other data processor, implement the above steps, the invention of this embodiment includes these and other different types of non-transitory computer-readable storage media. The invention also includes the computer itself when programmed according to the methods and techniques of the invention.

The computer program can be applied to the input data to perform the functions of the present embodiment, thereby converting the input data to generate output data that is stored to the non-volatile memory. The output information may also be applied to one or more output devices such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including specific visual depictions of physical and tangible objects produced on a display.

The present invention is not limited to the above embodiments, but can be modified, equivalent, improved, etc. by the same means to achieve the technical effects of the present invention without departing from the spirit and principle of the present invention. Various modifications and variations are possible in the technical solution and/or in the embodiments within the scope of the invention.

Claims

1. The car navigation method in the parking lot environment is characterized by comprising the following steps:

2. The car navigation method in a parking lot environment according to claim 1, characterized in that the car navigation method in a parking lot environment further comprises:

3. The car navigation method in the parking lot environment according to claim 2, characterized in that the car navigation method in the parking lot environment further comprises:

4. The car navigation method in the parking lot environment according to claim 1, wherein the acquiring of the incoming backward video stream and the incoming driving operation time series includes:

5. The car navigation method in the parking lot environment according to claim 1, wherein the acquiring of the incoming backward video stream and the incoming driving operation time series includes:

6. The car navigation method in a parking lot environment according to claim 5, characterized in that the car navigation method in a parking lot environment further comprises:

7. The car navigation method in a parking lot environment according to any one of claims 1 to 6, characterized in that the car navigation method in a parking lot environment further comprises:

searching out-of-field mark information of the incoming backward video stream;

8. The car navigation method in a parking lot environment according to any one of claims 1 to 6, characterized in that the car navigation method in a parking lot environment further comprises:

and carrying out vehicle searching navigation according to the target position.

9. A computer device comprising a memory for storing at least one program and a processor for loading the at least one program to perform the car navigation method in the parking area environment of any one of claims 1-8.

10. A computer-readable storage medium in which a processor-executable program is stored, characterized in that the processor-executable program, when executed by a processor, is for performing the car navigation method in the parking lot environment of any one of claims 1-8.