CN117275277A - Parking space detection display method, electronic equipment and storage medium - Google Patents
Parking space detection display method, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN117275277A CN117275277A CN202210670191.7A CN202210670191A CN117275277A CN 117275277 A CN117275277 A CN 117275277A CN 202210670191 A CN202210670191 A CN 202210670191A CN 117275277 A CN117275277 A CN 117275277A
- Authority
- CN
- China
- Prior art keywords
- parking space
- image
- vehicle
- point
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000001514 detection method Methods 0.000 title claims abstract description 37
- 239000013598 vector Substances 0.000 claims description 49
- 230000036544 posture Effects 0.000 abstract description 10
- 238000004891 communication Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000009877 rendering Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000000284 extract Substances 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
- G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
- G01S2015/934—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the depth, i.e. width, not length, of the parking space
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a parking space detection display method, electronic equipment and a storage medium. The parking space detection display method comprises the following steps: establishing a vehicle coordinate system based on the vehicle information; acquiring coordinates of four corner points of a parking space in a vehicle coordinate system, selecting one corner point from the four corner points of the parking space as a parking space reference point, and determining a parking space angle of the parking space in the vehicle coordinate system; and displaying an initial image of the parking space based on the parking space reference point, and rotating the initial image based on the parking space angle to obtain a final image of the parking space. According to the parking space display method, the parking space images are displayed based on the parking space reference points and the parking space angles, the types of the parking spaces are not required to be distinguished, the parking spaces with any postures can be displayed, a driver can better observe the surrounding environment of a vehicle body, stronger information sense is brought to the driver, and the overall experience of a parking function is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a parking space detection display method, electronic equipment and a storage medium.
Background
Most of the current automatic parking systems are designed based on traditional user scenarios, namely, to meet the user parking requirements: automatic parking in real scenes such as vertical parking spaces, parallel parking spaces and inclined parking spaces. Based on these scenes, the automatic parking system classifies and displays only the vertical parking space, the parallel parking space, the inclined parking space and the like.
Although the method is sufficient to meet the normal man-machine interaction requirement of the parking system, the parking spaces with any postures cannot be conveniently represented, a plurality of parking spaces are not strictly classified according to the three types in the actual reality scene, particularly, when in a turning process, the angle of the actual parking space can be changed in real time, so that the parking space types can be continuously changed, if the algorithm is improperly processed, the jump of the parking space occurs easily in the display process, and the method is insufficient for carrying out real-time reconstruction display on the actual scene.
With the increasing development of automatic driving technology, the automatic driving function also provides higher requirements for man-machine interaction, so that in order to enable a driver to better observe the surrounding environment of a vehicle body, the driver needs to be shown with real-time scene reconstruction based on the external environment, and challenges are provided for parking space detection and reconstruction display of a traditional automatic parking system.
Disclosure of Invention
Based on this, it is necessary to provide a parking space detection display method, an electronic device and a storage medium, which are aimed at the technical problem that the display of a parking space is easy to be misjudged when the parking space is automatically parked in the prior art.
The invention provides a parking space detection display method, which comprises the following steps:
establishing a vehicle coordinate system based on the vehicle information;
acquiring coordinates of four corner points of a parking space in a vehicle coordinate system, selecting one corner point from the four corner points of the parking space as a parking space reference point, and determining a parking space angle of the parking space in the vehicle coordinate system;
and displaying an initial image of the parking space based on the parking space reference point, and rotating the initial image based on the parking space angle to obtain a final image of the parking space.
According to the parking space display method, the parking space images are displayed based on the parking space reference points and the parking space angles, the types of the parking spaces are not required to be distinguished, the parking spaces with any postures can be displayed, a driver can better observe the surrounding environment of a vehicle body, stronger information sense is brought to the driver, and the overall experience of a parking function is improved.
Further, the establishing a vehicle coordinate system based on the vehicle information specifically includes:
and taking a point on the axis of the vehicle as an origin, taking the advancing direction of the vehicle as a first coordinate axis, taking the direction vertical to the first coordinate axis as a second coordinate axis, and establishing a two-dimensional coordinate system as the vehicle coordinate system.
According to the embodiment, the coordinate axis is established based on the vehicle advancing direction, so that the parking space image established based on the vehicle coordinate system can adapt to the vehicle advancing direction.
Further, the acquiring coordinates of the four corner points of the parking space in the own vehicle coordinate system, and selecting one corner point from the four corner points of the parking space as a parking space reference point specifically includes:
connecting the four corner points according to a preset sequence to obtain four direction vectors representing four edges of the parking space, and determining the directions of the direction vectors according to the connection sequence of two adjacent corner points, wherein the preset sequence is a clockwise sequence or a anticlockwise sequence;
selecting two selection points of two preset selection point types on two direction vectors corresponding to the preset edge types, wherein the preset edge types are long edges or short edges, and the preset point types are starting points of the direction vectors or ending points of the direction vectors;
and selecting one of the two selected points as a parking space reference point.
In this embodiment, by classifying the four corner points and the connected direction vectors, a suitable parking space reference point is obtained.
Further, the determining the parking space angle in the own vehicle coordinate system specifically includes:
selecting a direction vector with a selected point as the parking space reference point and a corresponding side type as the preset side type as a parking space angle direction vector;
and determining the angle of the parking space angle direction vector in the coordinate system of the vehicle as the parking space angle.
According to the embodiment, the parking space angle is determined based on the direction vector of the parking space reference point, so that the parking space angle is related to the parking space reference point, and when parking space information is stored, only the parking space reference point and the parking space angle are required to be stored, and the parking space can be accurately reconstructed.
Still further, the displaying the initial image of the parking space based on the parking space reference point specifically includes:
and placing a rectangular parking space image as an initial image of a parking space in an image displayed based on the coordinate system of the vehicle, wherein an image reference point of the rectangular parking space image is positioned at a coordinate position of the parking space reference point, a rectangular side passing through the image reference point in the rectangular parking space image is an image reference side, the point type of the image reference point in the image reference side is consistent with the preset point type, and the side type of the image reference side is consistent with the preset side type.
In the embodiment, the image reference point of the initial image of the parking space is set to be consistent with the coordinates of the parking space reference point, so that the initial image of the parking space is associated with the detected position of the parking space.
Still further, the rotating the initial image based on the parking space angle to obtain a final image of the parking space specifically includes:
and rotating the initial image by taking the image reference point as a round point until the angle of the image reference edge in the vehicle coordinate system is consistent with the parking space angle.
According to the embodiment, the initial image is rotated, so that the final image of the parking space is consistent with the angle outside the vehicle, and the parking space image is accurately reconstructed.
Still further, the preset sequence is clockwise, the preset edge type is long edge, the preset point type is end point, the left and right sides of the rectangular parking space image are long edges, the upper and lower sides of the rectangular parking space image are short edges, and the image reference point is the upper left corner point in the rectangular parking space image.
In the embodiment, the preset sequence is preset to be clockwise, the preset edge type is long edge, the preset point type is end point, and the image reference point is the upper left corner point in the rectangular parking space image, so that the calculated amount is reduced.
Still further, still include:
calculating and storing the length and width of the parking space according to the coordinates of the four corner points of the parking space in the coordinate system of the vehicle;
in the image displayed based on the own vehicle coordinate system, a rectangular parking space image is placed as an initial image of a parking space, and the method specifically comprises the following steps:
in the images displayed based on the vehicle coordinate system, a rectangular parking space image is used as an initial image of a parking space, and the length and the width of the rectangular parking space image are consistent with those of the saved parking space.
According to the embodiment, the length and the width of the parking space are saved, so that the parking space image can be quickly reconstructed when the corresponding vehicle of the parking space changes.
The present invention provides an electronic device including:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to at least one of the processors; wherein,
the memory stores instructions executable by at least one of the processors to enable the at least one processor to perform the stall detection display method as described above.
According to the parking space display method, the parking space images are displayed based on the parking space reference points and the parking space angles, the types of the parking spaces are not required to be distinguished, the parking spaces with any postures can be displayed, a driver can better observe the surrounding environment of a vehicle body, stronger information sense is brought to the driver, and the overall experience of a parking function is improved.
The present invention provides a storage medium storing computer instructions that, when executed by a computer, are operable to perform all the steps of the stall detection display method as described above.
According to the parking space display method, the parking space images are displayed based on the parking space reference points and the parking space angles, the types of the parking spaces are not required to be distinguished, the parking spaces with any postures can be displayed, a driver can better observe the surrounding environment of a vehicle body, stronger information sense is brought to the driver, and the overall experience of a parking function is improved.
Drawings
FIG. 1 is a workflow diagram of a parking space detection display method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a system for implementing a parking space detection display method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a parking space sensing method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a parking space detection display method according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a hardware structure of an electronic device according to the present invention.
Detailed Description
Specific embodiments of the present invention will be further described below with reference to the accompanying drawings. Wherein like parts are designated by like reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the words "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.
Fig. 1 is a workflow diagram of a parking space detection display method according to an embodiment of the present invention, including:
step S101, establishing a vehicle coordinate system based on vehicle information;
step S102, acquiring coordinates of four corner points of a parking space in a vehicle coordinate system, selecting one corner point from the four corner points of the parking space as a parking space reference point, and determining a parking space angle of the parking space in the vehicle coordinate system;
and step S103, displaying an initial image of the parking space based on the parking space reference point, and rotating the initial image based on the parking space angle to obtain a final image of the parking space.
In particular, the invention may be applied to an electronic controller unit (Electronic Control Unit, ECU) of a vehicle. Such as a controller of an automated parking system.
First, step S101 is executed to establish a host vehicle coordinate system based on host vehicle information. The vehicle coordinate system is a Cartesian two-dimensional coordinate system and comprises a first coordinate axis X and a second coordinate axis Y, and the intersection point of the X axis and the Y axis is the origin of the coordinate system.
However, step S102 is performed to obtain coordinates of four corner points of the parking space in the own vehicle coordinate system. The method for acquiring the coordinates of the four corner points of the parking space in the own vehicle coordinate system can be realized by adopting the prior art.
As shown in fig. 2, in the automatic parking system, a sensing module 210 for detecting a parking space, and a display module 220 for displaying information of the parking space are included. The sensing module 210 may be further divided into a sensing layer 211, a parking space management layer 212 and a sensing communication layer 213. The sensing layer 211 identifies the parking space and sends the original information of the parking space to the parking space management layer 212, the parking space management layer 212 filters after receiving the original information of the parking space, then calculates and extracts modularized information, and finally, the modularized information is sent to the display module 220 by the sensing communication layer 213 through whole vehicle communication.
After receiving the information, the display module 220 is first parsed by the display communication layer 221 and then uploaded to the application layer 222 for reconstruction display. In order to ensure a display effect during display, a 3D rendering engine generally performs real-time rendering, so as to achieve the effect of real-time display.
Thus, for an automatic parking system, the sensing layer 211 generally identifies four corner points of a parking space and outputs the corner points to the parking space management layer 212 for use, and the following parking space type identification and output. When the parking space is a space parking space, the system detects the space depth of the parking space through an ultrasonic radar, so that four corner points are obtained; when the parking space is the line drawing space, the system recognizes the right angle of the space through the looking-around camera, and four corner coordinates are calculated.
Thus, in step S102, coordinates of four corner points may be obtained from the perception layer 211 of the automatic parking system. Then, selecting one corner point from four corner points of the parking space as a parking space reference point, and determining the parking space angle of the parking space in the coordinate system of the vehicle.
Finally, step S103 is executed, where an initial image of the parking space is displayed based on the parking space reference point, and then the initial image is rotated to obtain a final image of the parking space. The final image of the parking space may be sent to a display module 220 as shown in fig. 2. After receiving the information, the display module 220 is first parsed by the display communication layer 221, and then uploaded to the application layer 222 for reconstruction display. In order to ensure a display effect during display, a 3D rendering engine generally performs real-time rendering, so as to achieve the effect of real-time display.
According to the parking space display method, the parking space images are displayed based on the parking space reference points and the parking space angles, the types of the parking spaces are not required to be distinguished, the parking spaces with any postures can be displayed, a driver can better observe the surrounding environment of a vehicle body, stronger information sense is brought to the driver, and the overall experience of a parking function is improved.
In one embodiment, the establishing the host vehicle coordinate system based on the host vehicle information specifically includes:
and taking a point on the axis of the vehicle as an origin, taking the advancing direction of the vehicle as a first coordinate axis, taking the direction vertical to the first coordinate axis as a second coordinate axis, and establishing a two-dimensional coordinate system as the vehicle coordinate system.
Specifically, based on the center of the rear axle of the host vehicle and the vehicle forward direction, a host vehicle coordinate system can be obtained as the host vehicle coordinate system using the reference system of the right-hand coordinate system, as shown in fig. 3. Preferably, the origin of the own vehicle coordinate system is the own vehicle rear axle center 311, the first coordinate axis is the own vehicle forward direction, the first coordinate axis is the X axis, the second coordinate axis is perpendicular to the vehicle width direction of the first coordinate axis, and the second coordinate axis is the Y axis.
According to the embodiment, the coordinate axis is established based on the vehicle advancing direction, so that the parking space image established based on the vehicle coordinate system can adapt to the vehicle advancing direction.
In one embodiment, the acquiring coordinates of four corner points of the parking space in the own vehicle coordinate system, and selecting one corner point from the four corner points of the parking space as the parking space reference point specifically includes:
connecting the four corner points according to a preset sequence to obtain four direction vectors representing four edges of the parking space, and determining the directions of the direction vectors according to the connection sequence of two adjacent corner points, wherein the preset sequence is a clockwise sequence or a anticlockwise sequence;
selecting two selection points of two preset selection point types on two direction vectors corresponding to the preset edge types, wherein the preset edge types are long edges or short edges, and the preset point types are starting points of the direction vectors or ending points of the direction vectors;
and selecting one of the two selected points as a parking space reference point.
Specifically, as shown in fig. 3, the vehicle 31 detects the parking space 32 as an example. When the sensing layer 211 detects the parking space 32, four corner points A, B, C, D of the parking space 32 are output, and at this time, the parking space management layer 212 is fixedly connected with the four points in a clockwise manner, so that the parking space 32 can be drawn. Four sides of the parking space 32 correspond to four direction vectors respectively, and the directions of the direction vectors can be determined according to the connection sequence of two adjacent corner points, namely in a clockwise manner. The four direction vectors are in turn Selecting a direction vector represented by the long side of the parking space +.>And->And then, respectively selecting the termination points B and D of the two vectors, wherein one point can be arbitrarily selected as a parking space reference point. Preferably, by comparing the difference between the two points in the X-axis direction and the Y-axis direction from the center of the rear axle of the vehicle (preferentially judging the Y-axis direction and secondly judging the X-axis direction), it is finally necessary to select the point closer to the vehicle, namely, D as the parking space reference point.
The selection mode is a preferable mode, according to actual needs, the side type can select a long side or a short side, and the point type can select a starting point or an ending point.
In this embodiment, by classifying the four corner points and the connected direction vectors, a suitable parking space reference point is obtained.
In one embodiment, the determining the parking space angle of the parking space in the own vehicle coordinate system specifically includes:
selecting a direction vector with a selected point as the parking space reference point and a corresponding side type as the preset side type as a parking space angle direction vector;
and determining the angle of the parking space angle direction vector in the coordinate system of the vehicle as the parking space angle.
Specifically, as shown in fig. 3, the parking space reference point is a point D, and the preset change type is a long side, so that the direction vector corresponding to the long side where the point D is located is usedAs the angular direction vector of the parking space. The angle between the parking space angle direction vector and the first coordinate axis or the second coordinate axis can be used as the angle of the parking space angle direction vector in the coordinate system of the vehicle. For example using an angular direction vector +>The included angle with the X axis is used as the parking space angle.
According to the embodiment, the parking space angle is determined based on the direction vector of the parking space reference point, so that the parking space angle is related to the parking space reference point, and when parking space information is stored, only the parking space reference point and the parking space angle are required to be stored, and the parking space can be accurately reconstructed.
In one embodiment, the displaying the initial image of the parking space based on the parking space reference point specifically includes:
and placing a rectangular parking space image as an initial image of a parking space in an image displayed based on the coordinate system of the vehicle, wherein an image reference point of the rectangular parking space image is positioned at a coordinate position of the parking space reference point, a rectangular side passing through the image reference point in the rectangular parking space image is an image reference side, the point type of the image reference point in the image reference side is consistent with the preset point type, and the side type of the image reference side is consistent with the preset side type.
Specifically, based on parking space reference point D and vectorAt this time, the sensing communication layer 213 sends out the point D based on the X, Y value of the coordinates of the host vehicle and sends out the vector +.>An included angle (-180 degrees to 180 degrees) with the X-axis direction, and then whether the current parking space is occupied (empty space or obstacle or other types) is sent; the attributes of a parking space are fully represented by the four signals: the parking space reference point X coordinate value, the parking space reference point Y coordinate value, the parking space angle and the parking space occupation state.
And the parking space detection rules of the sensing modules are corresponding to each parking space to be output, so that a parking space attribute set can be obtained, the set contains all the real-time information of the identified parking spaces around the vehicle at the moment, the real-time information is packaged and sent to the display module, and the real-time information can be analyzed and reconstructed to be displayed by the display module.
As shown in fig. 4, after receiving the parking space signal sent by the sensing module 210, the display module 220 analyzes the parking space signal by the display communication layer 221 and sends the parking space signal to the application layer 222 for reconstruction. The application layer 222 first needs to determine the own-vehicle rear-axle center 311 of the own-vehicle 31 position, and based thereon, establish the own-vehicle coordinate system. The vehicle coordinate system constructed by the display module 220 is consistent with the vehicle coordinate system constructed by the sensing module 210 when the parking space corner coordinates are acquired. In the own vehicle coordinate system, a rectangular parking space image with a fixed image reference point is placed according to the coordinate value of the parking space reference point, and the image reference point is placed at the position of the parking space reference point and is used as an image of the initial state of the parking space, namely an initial image 41 of the parking space. Wherein, the selection of the image reference point adopts the following standard:
the rectangular edge passing through the image reference point is an image reference edge, the point type of the image reference point in the image reference edge is consistent with the preset point type, and the edge type of the image reference edge is consistent with the preset edge type.
Specifically, for a rectangular parking space image with long sides on the left and right sides and short sides on the upper and lower sides:
when the preset sequence is clockwise, the preset edge type is long edge, the preset point type is termination point, and the image reference point is the upper left corner or the lower right corner in the rectangular parking space image;
when the preset sequence is clockwise, the preset edge type is long edge, the preset point type is starting point, and the image reference point is a lower left corner or an upper right corner in the rectangular parking space image;
when the preset sequence is clockwise, the preset edge type is a short edge, the preset point type is an ending point, and the image reference point is a lower left corner or an upper right corner in the rectangular parking space image;
when the preset sequence is clockwise, the preset edge type is a short edge, the preset point type is a starting point, and the image reference point is an upper left corner or a lower right corner in the rectangular parking space image;
when the preset sequence is anticlockwise, the preset edge type is long edge, the preset point type is termination point, and the image reference point is a lower left corner or an upper right corner in the rectangular parking space image;
when the preset sequence is anticlockwise, the preset edge type is a long edge, the preset point type is a starting point, and the image reference point is an upper left corner or a lower right corner in the rectangular parking space image;
when the preset sequence is anticlockwise, the preset edge type is a short edge, the preset point type is an ending point, and the image reference point is an upper left corner or a lower right corner in the rectangular parking space image;
when the preset sequence is anticlockwise, the preset edge type is a short edge, the preset point type is a starting point, and the image reference point is a lower left corner or an upper right corner in the rectangular parking space image.
Preferably, in the initial image, the vector direction of the rectangular parking space image is 0 degrees.
In the embodiment, the image reference point of the initial image of the parking space is set to be consistent with the coordinates of the parking space reference point, so that the initial image of the parking space is associated with the detected position of the parking space.
In one embodiment, the rotating the initial image based on the parking space angle to obtain a final image of the parking space specifically includes:
and rotating the initial image by taking the image reference point as a round point until the angle of the image reference edge in the vehicle coordinate system is consistent with the parking space angle.
Specifically, as shown in fig. 4, the parking stall as a whole is correspondingly rotated according to the parking stall angle signal to determine the final posture of the parking stall as a final image 42. Finally, displaying the empty parking space or the obstacle vehicles or other possible types according to the parking space occupation state.
According to the embodiment, the initial image is rotated, so that the final image of the parking space is consistent with the angle outside the vehicle, and the parking space image is accurately reconstructed.
In one embodiment, the preset sequence is clockwise, the preset edge type is long edge, the preset point type is end point, the left and right sides of the rectangular parking space image are long edges, the upper and lower sides of the rectangular parking space image are short edges, and the image reference point is the upper left corner point in the rectangular parking space image.
In the embodiment, the preset sequence is preset to be clockwise, the preset edge type is long edge, the preset point type is end point, and the image reference point is the upper left corner point in the rectangular parking space image, so that the calculated amount is reduced.
In one embodiment, the method further comprises:
calculating and storing the length and width of the parking space according to the coordinates of the four corner points of the parking space in the coordinate system of the vehicle;
in the image displayed based on the own vehicle coordinate system, a rectangular parking space image is placed as an initial image of a parking space, and the method specifically comprises the following steps:
in the images displayed based on the vehicle coordinate system, a rectangular parking space image is used as an initial image of a parking space, and the length and the width of the rectangular parking space image are consistent with those of the saved parking space.
Specifically, the length and width of the parking space can be stored as a preset value, or the angle point difference value can be calculated after the angle point coordinates are determined by the sensing module, and the length and width of the specific parking space are determined and stored. The attribute of a parking space can be completely represented by six signals: the parking space reference point X coordinate value, the parking space reference point Y coordinate value, the parking space angle, the parking space width, the parking space length and the parking space occupation state.
And the parking space detection rules of the sensing modules are corresponding to each parking space to be output, so that a parking space attribute set can be obtained, the set contains all the real-time information of the identified parking spaces around the vehicle at the moment, the real-time information is packaged and sent to the display module, and the real-time information can be analyzed and reconstructed to be displayed by the display module.
As shown in fig. 4, after receiving the parking space signal sent by the sensing module 210, the display module 220 analyzes the parking space signal by the display communication layer 221 and sends the parking space signal to the application layer 222 for reconstruction. The application layer 222 first needs to determine the own-vehicle rear-axle center 311 of the own-vehicle 31 position, and based thereon, establish the own-vehicle coordinate system. The vehicle coordinate system constructed by the display module 220 is consistent with the vehicle coordinate system constructed by the sensing module 210 when the parking space corner coordinates are acquired. In the own vehicle coordinate system, a rectangular parking space image with a fixed image reference point is placed according to the coordinate value of the parking space reference point, and the image reference point is placed at the position of the parking space reference point and is used as an image of the initial state of the parking space, namely an initial image 41 of the parking space. The length and width of the rectangular parking space image are set to be the width and length of the parking space uploaded by the sensing module.
According to the embodiment, the length and the width of the parking space are saved, so that the parking space image can be quickly reconstructed when the corresponding vehicle of the parking space changes.
As a preferred embodiment of the present invention, the automatic parking system includes a sensing module 210 for detecting a parking space, and a display module 220 for displaying information of the parking space. The sensing module 210 may be further divided into a sensing layer 211, a parking space management layer 212 and a sensing communication layer 213. The sensing layer 211 identifies the parking space and sends the original information of the parking space to the parking space management layer 212, the parking space management layer 212 filters after receiving the original information of the parking space, then calculates and extracts modularized information, and finally, the modularized information is sent to the display module 220 by the sensing communication layer 213 through whole vehicle communication.
After receiving the information, the display module 220 is first parsed by the display communication layer 221 and then uploaded to the application layer 222 for reconstruction display. In order to ensure a display effect during display, a 3D rendering engine generally performs real-time rendering, so as to achieve the effect of real-time display.
Thus, for an automatic parking system, the sensing layer 211 generally identifies four corner points of a parking space and outputs the corner points to the parking space management layer 212 for use, and the following parking space type identification and output. When the parking space is a space parking space, the system detects the space depth of the parking space through an ultrasonic radar, so that four corner points are obtained; when the parking space is the line drawing space, the system recognizes the right angle of the space through the looking-around camera, and four corner coordinates are calculated.
Then, based on the fact that four parking space corner points are detected as a basis, the embodiment is divided into a sensing module and a display module, and the parking space detection and reconstruction display work is completed respectively.
Perception module 210—parking space detection:
1. searching a parking space reference point: first, a host vehicle coordinate system can be obtained based on the center of the host vehicle rear axle and the vehicle forward direction using the reference frame of the right-hand coordinate system, as shown in fig. 3. Assuming that the sensing layer 211 detects a parking space 32 at this time, four corner points A, B, C, D of the parking space 32 are output, and at this time, the parking space management layer 212 fixedly connects 4 points in a clockwise manner, so that the parking space 32 can be drawn. Four sides of the parking space 32 correspond to four direction vectors respectively, and the directions of the direction vectors can be determined according to the connection sequence of two adjacent corner points, namely in a clockwise manner. The four direction vectors are in turnSelecting a direction vector represented by the long side of the parking space +.>And->Then, respectively selecting termination points B and D of the two vectors, and finally selecting a point closer to the vehicle, namely D as a parking space reference point by comparing the difference values of the two points from the X axis and the Y axis of the center of the rear axle of the vehicle (preferentially judging the Y axis and secondly judging the X axis);
2. transmitting a signal: based on the parking space reference point D and the vector, the sensing communication layer 213 is required to send out the coordinate X, Y value of the point D based on the own vehicle coordinate system, and send the included angle (-180 degrees to 180 degrees) between the vector and the X-axis direction, for example, 45 degrees in fig. 3, and then send out whether the current parking space is occupied (empty space or obstacle or other types); the attributes of a parking space are fully represented by the four signals: the parking space reference point X coordinate value, the parking space reference point Y coordinate value, the parking space angle and the parking space occupation state. In addition, after the sensing module 210 determines the coordinates of the corner points, the difference between the corner points may be calculated, and the length and width of the specific parking space may be determined and stored. The attribute of a parking space can be completely represented by six signals: the parking space reference point X coordinate value, the parking space reference point Y coordinate value, the parking space angle, the parking space width, the parking space length and the parking space occupation state.
The parking space detection rules of the sensing module 210 are corresponding to each parking space to be output, so that a parking space attribute set can be obtained, the set contains all the real-time information of the identified parking spaces around the vehicle at the moment, the real-time information is packaged and sent to the display module 220, and the real-time information can be analyzed and displayed again by the display module 220.
Display module 220- -reconstruction display:
as shown in fig. 4, after receiving the parking space signal sent by the sensing module 210, the display module 220 analyzes the parking space signal by the display communication layer 221 and sends the parking space signal to the application layer 222 for reconstruction. The application layer 222 first needs to determine the rear axle center of the own vehicle position and based thereon establish the own vehicle coordinate system. In this coordinate system, a rectangular parking space image with a vector direction of 0 degrees and an image reference point fixed to the upper left corner is placed according to the coordinate values of the parking space reference points, and is used as a parking space initial state, namely an initial image 41. The image reference point of the rectangular parking space image is placed on the coordinates of the parking space reference point. The length and width of the rectangular parking space image can be set according to the parking space length and width sent by the sensing module 210. And then, according to the parking space angle signal, correspondingly rotating the whole parking space to determine the final posture of the parking space, namely rotating by 45 degrees in fig. 4, so as to obtain a final image 42 of the parking space. Finally, displaying the empty parking space or the obstacle vehicles or other possible types according to the parking space occupation state.
Aiming at a single parking space, if the parking space can be accurately displayed, then the rule is deduced to all the parking spaces in the whole scene at the moment, and each parking space can be reconstructed and displayed according to the distribution condition in the actual scene.
Then, only the signal period output by the sensing module 210 to the display module 220 is adjusted according to the actual display frame rate, so that the scene reconstruction display of the environment outside the vehicle in the whole parking process can be completed.
The invention breaks through the parking space detection and display scheme of the prior art scheme, and cancels the mode of representing all parking spaces in the actual scene by certain fixed types (vertical, parallel and inclined rows); instead, angle attributes in the parking space types in the prior art are extracted, rectangles without attributes are left, all the parking spaces of the actual scene are represented by rotating and converting fixed rectangles, so that the scheme can adapt to more diversified parking space changes, and the requirements of reconstruction display of the actual scene are met.
Compared with the prior art, the scheme provided by the invention realizes the reconstruction display of the real-time scene outside the vehicle, solves the problem that the prior art cannot show the pain points of the parking spaces in any posture, can enable a driver to better observe the surrounding environment of the vehicle body, brings stronger information sense to the driver, and improves the overall experience of the parking function.
The scheme provided by the invention has the advantages that no additional sensor is added, the hardware performance is not required to be improved, the optimization can be realized by optimizing the internal software logic under the condition that the external conditions are basically consistent, the universality of different systems is better, the compatibility is higher, the implementation is stronger, and the optimization iteration of the different systems is convenient. Under the condition that the change amount is as small as possible, the change of hardware is avoided, and the whole scheme can be quickly developed and realized.
Fig. 5 is a schematic diagram of a hardware structure of an electronic device according to the present invention, including:
at least one processor 501; the method comprises the steps of,
a memory 502 communicatively coupled to at least one of the processors 501; wherein,
the memory 502 stores instructions executable by at least one of the processors to enable the at least one processor to perform the stall detection display method as described above.
One processor 501 is illustrated in fig. 5.
The electronic device may further include: an input device 503 and a display device 504.
The processor 501, memory 502, input device 503, and display device 504 may be connected by a bus or other means, the connection being illustrated by a bus.
The memory 502 is used as a non-volatile computer readable storage medium, and may be used to store a non-volatile software program, a non-volatile computer executable program, and modules, such as program instructions/modules corresponding to the parking space detection display method in the embodiment of the present application, for example, a method flow shown in fig. 1. The processor 501 executes various functional applications and data processing by running nonvolatile software programs, instructions and modules stored in the memory 502, that is, implements the parking space detection display method in the above-described embodiment.
Memory 502 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the parking space detection display method, and the like. In addition, memory 502 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 502 may optionally include memory located remotely from processor 501, which may be connected via a network to a device performing the method of parking spot detection display. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 503 may receive input user clicks and generate signal inputs related to user settings and function controls of the parking space detection display method. The display 504 may include a display device such as a display screen.
The one or more modules are stored in the memory 502, and when executed by the one or more processors 501, perform the parking space detection display method in any of the above-described method embodiments.
According to the parking space display method, the parking space images are displayed based on the parking space reference points and the parking space angles, the types of the parking spaces are not required to be distinguished, the parking spaces with any postures can be displayed, a driver can better observe the surrounding environment of a vehicle body, stronger information sense is brought to the driver, and the overall experience of a parking function is improved.
An embodiment of the present invention provides a storage medium storing computer instructions that, when executed by a computer, perform all the steps of the parking space detection display method as described above.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. The parking space detection and display method is characterized by comprising the following steps of:
establishing a vehicle coordinate system based on the vehicle information;
acquiring coordinates of four corner points of a parking space in a vehicle coordinate system, selecting one corner point from the four corner points of the parking space as a parking space reference point, and determining a parking space angle of the parking space in the vehicle coordinate system;
and displaying an initial image of the parking space based on the parking space reference point, and rotating the initial image based on the parking space angle to obtain a final image of the parking space.
2. The parking space detection display method according to claim 1, wherein the establishing a vehicle coordinate system based on the vehicle information specifically comprises:
and taking a point on the axis of the vehicle as an origin, taking the advancing direction of the vehicle as a first coordinate axis, taking the direction vertical to the first coordinate axis as a second coordinate axis, and establishing a two-dimensional coordinate system as the vehicle coordinate system.
3. The parking space detection display method according to claim 1, wherein the acquiring coordinates of four corner points of a parking space in a host vehicle coordinate system, and selecting one corner point from the four corner points of the parking space as a parking space reference point, specifically comprises:
connecting the four corner points according to a preset sequence to obtain four direction vectors representing four edges of the parking space, and determining the directions of the direction vectors according to the connection sequence of two adjacent corner points, wherein the preset sequence is a clockwise sequence or a anticlockwise sequence;
selecting two selection points of two preset selection point types on two direction vectors corresponding to the preset edge types, wherein the preset edge types are long edges or short edges, and the preset point types are starting points of the direction vectors or ending points of the direction vectors;
and selecting one of the two selected points as a parking space reference point.
4. The parking space detection and display method according to claim 3, wherein the determining the parking space angle of the parking space in the own vehicle coordinate system specifically comprises:
selecting a direction vector with a selected point as the parking space reference point and a corresponding side type as the preset side type as a parking space angle direction vector;
and determining the angle of the parking space angle direction vector in the coordinate system of the vehicle as the parking space angle.
5. The parking space detection display method according to claim 4, wherein the displaying the initial image of the parking space based on the parking space reference point specifically comprises:
and placing a rectangular parking space image as an initial image of a parking space in an image displayed based on the coordinate system of the vehicle, wherein an image reference point of the rectangular parking space image is positioned at a coordinate position of the parking space reference point, a rectangular side passing through the image reference point in the rectangular parking space image is an image reference side, the point type of the image reference point in the image reference side is consistent with the preset point type, and the side type of the image reference side is consistent with the preset side type.
6. The method for detecting and displaying a parking space according to claim 5, wherein the rotating the initial image based on the parking space angle to obtain a final image of the parking space specifically comprises:
and rotating the initial image by taking the image reference point as a round point until the angle of the image reference edge in the vehicle coordinate system is consistent with the parking space angle.
7. The parking space detection display method according to claim 5, wherein the preset sequence is clockwise, the preset edge type is long edge, the preset point type is end point, the left and right sides of the rectangular parking space image are long edges, the upper and lower sides are short edges, and the image reference point is an upper left corner point in the rectangular parking space image.
8. The parking space detection display method according to claim 5, further comprising:
calculating and storing the length and width of the parking space according to the coordinates of the four corner points of the parking space in the coordinate system of the vehicle;
in the image displayed based on the own vehicle coordinate system, a rectangular parking space image is placed as an initial image of a parking space, and the method specifically comprises the following steps:
in the images displayed based on the vehicle coordinate system, a rectangular parking space image is used as an initial image of a parking space, and the length and the width of the rectangular parking space image are consistent with those of the saved parking space.
9. An electronic device, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to at least one of the processors; wherein,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the parking space detection display method according to any one of claims 1 to 8.
10. A storage medium storing computer instructions which, when executed by a computer, are adapted to carry out all the steps of the parking space detection display method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210670191.7A CN117275277A (en) | 2022-06-14 | 2022-06-14 | Parking space detection display method, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210670191.7A CN117275277A (en) | 2022-06-14 | 2022-06-14 | Parking space detection display method, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117275277A true CN117275277A (en) | 2023-12-22 |
Family
ID=89204965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210670191.7A Pending CN117275277A (en) | 2022-06-14 | 2022-06-14 | Parking space detection display method, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117275277A (en) |
-
2022
- 2022-06-14 CN CN202210670191.7A patent/CN117275277A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210063577A1 (en) | Robot relocalization method and apparatus and robot using the same | |
| CN109657638B (en) | Obstacle positioning method and device and terminal | |
| CN111376895B (en) | Around-looking parking sensing method and device, automatic parking system and vehicle | |
| CN108629292B (en) | Curved lane line detection method and device and terminal | |
| CN112097732A (en) | Binocular camera-based three-dimensional distance measurement method, system, equipment and readable storage medium | |
| CN114913506A (en) | 3D target detection method and device based on multi-view fusion | |
| CN111627001B (en) | Image detection method and device | |
| CN114170826B (en) | Automatic driving control method and device, electronic device and storage medium | |
| CN113246858B (en) | Vehicle running state image generation method, device and system | |
| CN112172670B (en) | Image recognition-based rear view image display method and device | |
| CN117275277A (en) | Parking space detection display method, electronic equipment and storage medium | |
| CN110827337B (en) | Method and device for determining posture of vehicle-mounted camera and electronic equipment | |
| CN118107563A (en) | Parking control method and device for vehicle and storage medium | |
| CN114897987A (en) | Method, device, equipment and medium for determining vehicle ground projection | |
| CN113850881A (en) | Image generation method, device, equipment and readable storage medium | |
| CN112389459A (en) | Man-machine interaction method and device based on panoramic looking-around | |
| CN117818587B (en) | Vehicle control method, apparatus, computer-readable storage medium, and electronic device | |
| CN112498338B (en) | Stock level determination method and device and electronic equipment | |
| CN115063772B (en) | Method for detecting vehicles after formation of vehicles, terminal equipment and storage medium | |
| CN116259029B (en) | Target detection method and device and vehicle | |
| CN117437611A (en) | Obstacle visual perception method, obstacle visual perception device and processing equipment | |
| CN114274948A (en) | Automatic parking method and device based on 360-degree panorama | |
| CN114495572A (en) | Vehicle and parking space determining device and method thereof | |
| WO2024074360A1 (en) | Computing height information of a curb in an environment of a vehicle | |
| CN117409395A (en) | Vehicle control method, device, system, vehicle and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |