CN208069533U - Equipment, intelligent automobile and the computer storage media of automatic parking - Google Patents
Equipment, intelligent automobile and the computer storage media of automatic parking Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims abstract description 33
- 230000000877 morphologic effect Effects 0.000 claims abstract description 19
- 238000000605 extraction Methods 0.000 claims abstract description 9
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 5
- 230000002000 scavenging effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 22
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 230000004807 localization Effects 0.000 description 4
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- 238000006243 chemical reaction Methods 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
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Abstract
The utility model provides a kind of equipment of automatic parking, including：Identification device, for identification vehicle be in presumptive area, the presumptive area is limited by multiple limits mark；Video acquisition device is mounted on the vehicle both sides, for carrying out video extraction to the environment of the vehicle-surroundings in real time；Positioning device is identified for orienting the first limit in the video with color space；Detection device, for obtaining the real time position of the vehicle according to the feature of the first limit mark by morphologic detection；And the vehicle is directed to target area by guiding device for the real time position according to the vehicle.The utility model additionally provides a kind of intelligent automobile and computer storage media.
Description
Technical field
The utility model is related to automobile technical field, more particularly to the method and apparatus of automatic parking, intelligent automobile and
Computer storage media.
Background technology
Electric vehicle has low noise, efficiency of energy utilization height, without mobile discarded row as a kind of new energy vehicles
The features such as putting, it has also become one of the strategic emerging industries that China's emphasis is supported.
The power mode that changes based on rentable battery coordinates extensive concentrated charging to have become current Development of Electric Vehicles tool
Competitive commercial technology pattern.It is exactly with the vehicle electrical that will or have been exhausted under fully charged battery altering to change power mode
Pond, under mechanical working, it only needs a few minutes that can complete the replacement of battery, and compared to charge mode, it reduces charging
Time grows the trouble brought.
More electric charging stations have had been established in the country at present, and charging and conversion electric service is provided for the power battery of electric vehicle.But by
In electric charging station to the more demanding of vehicle parking position, the vehicle location precision for relying primarily on ultrasonic technology at present is difficult to completely
Foot actual needs.
Chinese patent CN106004515A discloses a kind of method for controlling driving speed for electric vehicle automatic parking and is
System.The system includes vehicle speed sensor module, ultrasonic sensor, vehicle localization module, park controller and speed controller,
Vehicle speed sensor module is used to detect the movement speed of electric vehicle, and ultrasonic sensor is used to acquire the barrier around electric vehicle
Object information, vehicle localization module is hindered to be used to acquire the current location information for obtaining electric vehicle, controller of parking is used for basis and adopts
The obstacle information of collection, current location information and preset track setting ideal of parking are parked speed, and speed controller is used for
The Motor torque of electric vehicle is adjusted according to movement speed and ideal speed of parking.
Above-mentioned patent is although the smaller speed controlling function of parking of error, supersonic sensing can be realized at low speeds
For the vehicle location trueness error of device generally in 10-20cm, which, which is not achieved, changes electric requirement.
Above disclosure is merely intended to increase the general background to the utility model in the information of the utility model background parts
Understanding, and be not construed as recognizing or imply in any form the information constitute by persons skilled in the art public affairs
The prior art known.
Utility model content
In order to solve the problems, such as that at least one of multiple of the above prior art, the utility model provide a kind of automatic pool
The method of vehicle, the method includes：Identification vehicle is in presumptive area, and the presumptive area is limited by multiple limits mark；
Video extraction is carried out to the environment of the vehicle-surroundings in real time using the video acquisition device mounted on the vehicle both sides；With
Color space orients the first limit mark in the video；By morphologic detection, according to the first limit mark
Feature obtains the real time position of the vehicle；And the real time position according to the vehicle, the vehicle is directed to target area
Domain.
In the above-mentioned methods, the presumptive area is the parking stall of rectangle, and four angles on the parking stall are respectively by corresponding to
L-shaped limit mark limited.
In the above-mentioned methods, the multiple limit mark has the color characteristic for the environment for being different from the vehicle-surroundings,
And it orients the first limit mark in the video with color space and includes：By color lump analysis, from the video
Orient the first limit mark.
In the above-mentioned methods, the vehicle is obtained according to the feature of the first limit mark by morphologic detection
Real time position includes：By morphologic detection, the feature of the first limit mark is determined；According to the first limit mark
Unfilled corner feature determines the absolute position of the first limit mark；By to the calibration of the pixel of the video and according to described the
The absolute position of one limit mark, estimates distance of the video acquisition device relative to target area；And according at least to institute
Distance of the video acquisition device relative to target area is stated, determines the real time position of the vehicle.
In the above-mentioned methods, the video acquisition device is mounted on the rearview mirror of the vehicle, visual range covering
At least one of multiple limit marks limit mark.
Another aspect according to the present utility model provides a kind of equipment of automatic parking, including：Identification device is used
It is in presumptive area in identification vehicle, the presumptive area is limited by multiple limits mark；Video acquisition device is mounted on
The vehicle both sides, for carrying out video extraction to the environment of the vehicle-surroundings in real time；Positioning device, for empty with color
Between orient in the video first limit mark；Detection device, for by morphologic detection, being limited according to described first
The feature of mark obtains the real time position of the vehicle；And guiding device will for the real time position according to the vehicle
The vehicle is directed to target area.
In above equipment, the presumptive area is the parking stall of rectangle, and four angles on the parking stall are respectively by corresponding to
L-shaped limit mark limited.
In above equipment, the multiple limit mark has the color characteristic for the environment for being different from the vehicle-surroundings,
And the positioning device is configured to, by color lump analysis, the first limit mark be oriented from the video.
In above equipment, the detection device includes：First determination unit, for by morphologic detection, determining institute
State the feature of the first limit mark；Second determination unit, for according to it is described first limit mark unfilled corner feature, determine described in
The absolute position of first limit mark；Scavenging valve, for limiting by the pixel calibration to the video and according to described first
The absolute position of bit identification estimates distance of the video acquisition device relative to target area；And third determination unit, it uses
In the distance according at least to the video acquisition device relative to target area, the real time position of the vehicle is determined.
In above equipment, the video acquisition device is mounted on the rearview mirror of the vehicle, visual range covering
At least one of multiple limit marks limit mark.
Another aspect according to the present utility model provides a kind of intelligent automobile comprising foregoing automatic pool
The equipment of vehicle.
Another aspect according to the present utility model provides a kind of computer storage media comprising instruction, the finger
Enable the method that aforementioned automatic parking is executed when being run.
The technical solution of the utility model can provide high accuracy positioning for new energy vehicle in electrical changing station automatic parking.
Traditional localization method relies primarily on ultrasonic technology, higher to the physics material and shape dependency degree on periphery, in addition positioning accurate
It spends relatively low.The technical solution of the utility model is by the positioning of the Technology application of video location to vehicle location, in the areas Huan electricity
Parking stall is arranged in domain designated position, with the video acquisition device on the vehicle whole body（Such as camera）Extract video and to parking stall
Feature extracts, and for the high accuracy positioning of vehicle location, the error finally positioned is only 1 ~ 2cm.
In addition, the utility model when can utilize current setting parking stall common L-shaped mark be used as the pass of detection video
Key position information, to be positioned to vehicle present position during automatic parking.Since this L-shaped mark generally exists
Can all it be arranged when delimiting parking stall, so the embodiment of the utility model is applicable to various practical application scenes, including but it is unlimited
In Parking, community parking, electrical changing station parking etc., without other positioning marks are extraly arranged.
The specific of certain principles for illustrating the utility model is played by include this paper attached drawing and then with attached drawing 1
Embodiment, other feature and advantage possessed by the method and apparatus of the utility model will more specifically become apparent or
To illustrate.
Description of the drawings
Fig. 1 is the schematic diagram of the automatic parking method of the one embodiment for indicating the utility model；
Fig. 2 is the structural schematic diagram of the automatic parking equipment of the one embodiment for indicating the utility model；
Fig. 3 is the design drawing of the limit mark of the one embodiment for indicating the utility model；And
Fig. 4 is the schematic diagram of a scenario of the automatic parking of the one embodiment for indicating the utility model.
Specific implementation mode
Following description describe the particular implementation of the utility model with instruct those skilled in the art how to manufacture and
Use the optimal mode of the utility model.In order to instruct utility model principle, some conventional aspects are simplified or have been omitted.Ability
Field technique personnel should be appreciated that the modification from these embodiments will be fallen in the scope of the utility model.People in the art
Member is it should be appreciated that following characteristics can be engaged in various ways to form multiple modifications of the utility model.This practicality is new as a result,
Type is not limited to following particular implementations, and is only limited by the claims and their equivalents.
In the present specification, the term expression of such as "comprising" and " comprising " etc is wanted in addition to having in specification and right
Asking has in book directly and other than the unit clearly stated and step, and the technical solution of the utility model is also not excluded for having not straight
The situation of other units and step for connecing or clearly stating.
The term of such as " first " and " second " etc be not offered as unit time, space, size etc. sequence
And it is only to make differentiation each unit to be used.
In the context of this description, " morphologic detection " refers to the form to target object（Including direction, shape etc.）Into
Row detection.In one embodiment, limit is identified and carries out the shape feature that morphologic detection indicates extraction limit mark.
Fig. 1 is the schematic diagram of the automatic parking method 1000 of the one embodiment for indicating the utility model.Wherein, automatic pool
Vehicle method 1000 includes the following steps：
In step 110, identification vehicle is in presumptive area, and the presumptive area is limited by multiple limits mark；
In step 130, using the video acquisition device mounted on the vehicle both sides in real time to the vehicle-surroundings
Environment carries out video extraction；
In step 150, orients the first limit in the video with color space and identify；
In step 170, the vehicle is obtained according to the feature of the first limit mark by morphologic detection
Real time position；And
In step 190, according to the real time position of the vehicle, the vehicle is directed to target area.
Above-mentioned video locating method be based on color space detect and morphologic detection, for the vehicle in presumptive area into
Row positioning to moor automatically into target area, such as is moored into electrical changing station to carry out moving electricity certainly.Based on video location
Positioning accuracy can be increased substantially, to meet requirement of the vehicle in electrical changing station automatic parking for positioning accuracy.
In one embodiment, the presumptive area is the parking stall of rectangle, and four angles on the parking stall are respectively by right
The L-shaped limit mark answered is limited.Common L-shaped mark is used as the pass of detection video when by using current setting parking stall
Key position information, the embodiment of the utility model are applicable to various practical application scenes, including but not limited to Parking, small
Area's parking, electrical changing station parking etc., without other positioning marks are extraly arranged.
In one embodiment, the multiple limit mark has the color for the environment for being different from the vehicle-surroundings special
Sign.Limit mark is identified from video in this way, can be more advantageous to, and improves the accuracy of identification.In this embodiment, step
150 can orient the first limit mark by color lump analysis from the video.
In one embodiment, step 170 includes：By morphologic detection, the feature of the first limit mark is determined；
According to the unfilled corner feature of the first limit mark, the absolute position of the first limit mark is determined；By to the video
Pixel calibration and according to it is described first limit mark absolute position, estimate the video acquisition device relative to target area
Distance；And the distance according at least to the video acquisition device relative to target area, determine the real-time position of the vehicle
It sets.In one embodiment, vehicle can obtain the cartographic information of electrical changing station from high in the clouds, which includes each limit mark
Absolute position.By color space detection and morphologic detection, the first limit in video is determined from multiple limit marks
Bit identification, and information determines the absolute position of the first limit mark according to the map.Determining the absolute of the first limit mark
Behind position, relative position transformation can be carried out, i.e., according to the absolute position of the mark detected and the position of its opposite vehicle body, is obtained
Go out the absolute position of current vehicle and relative to target area（Such as change electric car position）Relative position, to providing vehicle in real time
The specific location of in parking process.
In one embodiment, the video acquisition device is mounted on the rearview mirror of the vehicle, and visual range covers
Cover at least one of multiple limit marks limit mark.With reference to figure 4, if vehicle 400 is parked in the middle part of presumptive area 410
When, due to video acquisition device（It is not shown）On the rearview mirror of vehicle 400 and its visual field can generally cover a semicircle
The region of shape, so the limit that the video acquisition device positioned at left side can collect positioned at left side identifies 402 and 406.It is similar
Ground, the limit that the video acquisition device positioned at right side can collect positioned at right side identify 404 and 408.Limit mark 402-408
Limit the shape of presumptive area 410.In another embodiment, if vehicle 400 is parked in the lower half of presumptive area 410
When, due to video acquisition device（It is not shown）On the rearview mirror of vehicle 400, the video acquisition device in the both sides of vehicle
The limit positioned at presumptive area left back and right back can only be collected respectively identifies 406 and 408, the i.e. video acquisition of side
Device can only collect the video of a limit mark.In another embodiment, if vehicle 400 is parked in presumptive area 410
When the first half, the video acquisition device in the both sides of vehicle can only be collected respectively positioned at presumptive area left front and right front
Limit mark 402 and 404.Finally, vehicle 400 is automatic moors into target area 420.
Fig. 2 provides a kind of equipment 2000 of automatic parking.The equipment 2000 includes：Identification device 210, video acquisition dress
Set 220, positioning device 230, detection device 240 and guiding device 250.Wherein, vehicle is in identification device 210 for identification
Presumptive area, the presumptive area are limited by multiple limits mark.Video acquisition device 220 is mounted on the vehicle both sides,
It is used for the environment to the vehicle-surroundings in real time and carries out video extraction.Positioning device 230 with color space for orienting
The first limit mark in the video.Detection device 240 is used for through morphologic detection, according to the first limit mark
Feature obtains the real time position of the vehicle.Guiding device 250 is used for the real time position according to the vehicle, by the vehicle
It is directed to target area.
In one embodiment, the presumptive area is the parking stall of rectangle, and four angles on the parking stall are respectively by right
The L-shaped limit mark answered is limited.Common L-shaped mark is used as the pass of detection video when by using current setting parking stall
Key position information, the embodiment of the utility model are applicable to various practical application scenes, including but not limited to Parking, small
Area's parking, electrical changing station parking etc., without other positioning marks are extraly arranged.
In one embodiment, the multiple limit mark has the color for the environment for being different from the vehicle-surroundings special
Sign.Limit mark is identified from video in this way, can be more advantageous to, and improves the accuracy of identification.In this embodiment, it positions
Device 230 can be further configured into through color lump analysis, and the first limit mark is oriented from the video.
In one embodiment, detection device 240 may include：First determination unit, for by morphologic detection, determining
The feature of the first limit mark；Second determination unit determines institute for the unfilled corner feature according to the first limit mark
State the absolute position of the first limit mark；Scavenging valve, for by the pixel calibration to the video and according to described first
The absolute position for limiting mark, estimates distance of the video acquisition device relative to target area；And third determination unit,
For the distance according at least to the video acquisition device relative to target area, the real time position of the vehicle is determined.
In one embodiment, the video acquisition device 220 is mounted on the rearview mirror of the vehicle, visual range
Cover at least one of multiple limit marks limit mark.
It should be understood by those skilled in the art that, the preceding method embodiment of the utility model can be realized as computer program
Product.Therefore, the utility model for example can be used in one or more wherein include computer usable program code calculating
Machine usable storage medium（Including but not limited to magnetic disk storage and optical memory etc.）The computer program product of upper implementation
Form.
Fig. 3 illustrates the design drawing of the oriented identification detected for vehicle location.Make a reservation for as shown in figure 3, this is identified as one
The limit in region identifies.Such as, it is contemplated that it is arranged in the position that for example electrical changing station is specified（If no limit mark）, to
Limit the parking area for the vehicle that will carry out changing electricity.In one embodiment, by with the camera on vehicle mirrors
Video is acquired, with the method for color space detection and morphologic detection, the parking stall feature in video is detected.
As shown in figure 4, region 410 is vehicle parking initiation region（That is presumptive area）, the region is by four corners
Limit identifies 402 to 408 to be defined, and region 420 is electrical changing station parking stall（That is target area）.Limit mark will be at two
Stage plays a role, first, vehicle, is parked in the region of parking stall by initial alignment region when changing electricity, identifying system is by automatic identification
Vehicle initial position, which provides to park, starts information；Second is that during parking, as shown in figure 4, identifying system will identify vehicle parking
Track assists vehicle safety to enter electrical changing station.
To sum up, the embodiment of the utility model mainly use the video acquisition device of vehicle both sides installation to the environment on periphery into
Row video extraction detects location information important in video by the method that color space detects volume and morphologic detection, including
Limit mark, target area position etc., according to these positions carry out spatial alternation calculating, further calculate out vehicle relative to
The position of target area, to be positioned to vehicle present position during automatic parking.
Compared with tradition relies primarily on the localization method of ultrasonic technology, the technical solution of the utility model is by video location
Technology application to the positioning of vehicle location on, parking stall is set changing electric region designated position, with the video on the vehicle whole body
Harvester（Such as camera）Extraction video simultaneously extracts parking stall feature, for the high-precision fixed of vehicle location
Position, the error finally positioned is only 1 ~ 2cm.
Example above primarily illustrates the method and apparatus, intelligent automobile and computer of the automatic parking of the utility model
Storage medium.Although only one or more embodiments of some of the utility model are described, this field is general
Logical technical staff is it is to be appreciated that the utility model can implemented in range in the form of many other without departing from its spirit.
Therefore, the example shown is considered as illustrative and not restrictive with embodiment, is wanted not departing from appended each right such as
In the case of the spirit of the present invention and range defined in asking, the utility model may cover various modification and replacement.
Claims (7)
1. a kind of equipment of automatic parking, including：
Identification device, for identification vehicle be in presumptive area, the presumptive area is limited by multiple limits mark；
Video acquisition device is mounted on the vehicle both sides, is carried for carrying out video to the environment of the vehicle-surroundings in real time
It takes；
Positioning device is identified for orienting the first limit in the video with color space；
Detection device, for obtaining the real-time of the vehicle according to the feature of the first limit mark by morphologic detection
Position；And
The vehicle is directed to target area by guiding device for the real time position according to the vehicle.
2. equipment as described in claim 1, wherein the presumptive area be rectangle parking stall, four of the parking stall
Angle is limited by corresponding L-shaped limit mark respectively.
3. equipment as claimed in claim 1 or 2, wherein the multiple limit mark, which has, is different from the vehicle-surroundings
The color characteristic of environment, and the positioning device is configured to, by color lump analysis, described first be oriented from the video
Limit mark.
4. equipment as claimed in claim 1 or 2, wherein the detection device includes：
First determination unit, for by morphologic detection, determining the feature of the first limit mark；
Second determination unit determines the exhausted of the first limit mark for the unfilled corner feature according to the first limit mark
To position；
Scavenging valve, for by the pixel calibration to the video and according to the absolute position of the first limit mark, pushing away
Fixed distance of the video acquisition device relative to target area；And
Third determination unit determines the vehicle for the distance according at least to the video acquisition device relative to target area
Real time position.
5. equipment as described in claim 1, wherein the video acquisition device is mounted on the rearview mirror of the vehicle,
Visual range covers at least one of multiple limit marks limit mark.
6. a kind of intelligent automobile comprising the equipment of the automatic parking as described in any one of claim 1-5.
7. a kind of computer storage media comprising instruction, described instruction execute following steps when being run：
Identification vehicle is in presumptive area, and the presumptive area is limited by multiple limits mark；
Video extraction is carried out to the environment of the vehicle-surroundings in real time using the video acquisition device mounted on the vehicle both sides；
The first limit mark in the video is oriented with color space；
The real time position of the vehicle is obtained according to the feature of the first limit mark by morphologic detection；And
According to the real time position of the vehicle, the vehicle is directed to target area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721751513.1U CN208069533U (en) | 2017-12-15 | 2017-12-15 | Equipment, intelligent automobile and the computer storage media of automatic parking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721751513.1U CN208069533U (en) | 2017-12-15 | 2017-12-15 | Equipment, intelligent automobile and the computer storage media of automatic parking |
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| Publication Number | Publication Date |
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| CN208069533U true CN208069533U (en) | 2018-11-09 |
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ID=64032157
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| CN201721751513.1U Active CN208069533U (en) | 2017-12-15 | 2017-12-15 | Equipment, intelligent automobile and the computer storage media of automatic parking |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108569280A (en) * | 2017-12-15 | 2018-09-25 | 蔚来汽车有限公司 | Method and apparatus, intelligent automobile and the computer storage media of automatic parking |
| CN109466546A (en) * | 2018-11-20 | 2019-03-15 | 广州小鹏汽车科技有限公司 | Automatic parking method and system |
| CN112489481A (en) * | 2020-12-01 | 2021-03-12 | 百度国际科技（深圳）有限公司 | Parking method, device, equipment and storage medium |
-
2017
- 2017-12-15 CN CN201721751513.1U patent/CN208069533U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108569280A (en) * | 2017-12-15 | 2018-09-25 | 蔚来汽车有限公司 | Method and apparatus, intelligent automobile and the computer storage media of automatic parking |
| CN108569280B (en) * | 2017-12-15 | 2020-03-24 | 上海蔚来汽车有限公司 | Method and device for automatic parking, intelligent automobile and computer storage medium |
| CN109466546A (en) * | 2018-11-20 | 2019-03-15 | 广州小鹏汽车科技有限公司 | Automatic parking method and system |
| CN109466546B (en) * | 2018-11-20 | 2020-09-18 | 广州小鹏汽车科技有限公司 | Automatic parking method and system |
| CN112489481A (en) * | 2020-12-01 | 2021-03-12 | 百度国际科技（深圳）有限公司 | Parking method, device, equipment and storage medium |
| CN112489481B (en) * | 2020-12-01 | 2022-06-10 | 阿波罗智联(北京)科技有限公司 | Parking method, device, equipment and storage medium |
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Effective date of registration: 20200729 Address after: Susong Road West and Shenzhen Road North, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Weilai (Anhui) Holding Co., Ltd Address before: Room 502, Minsheng Bank Building, 12 Cecil Harcourt Road, central, Hongkong, China Patentee before: NIO NEXTEV Ltd. |