TWI832598B - Intelligent parking assistance device and display method of intelligent parking assistance information - Google Patents

Abstract

An intelligent parking assistance device and a display method of an intelligent parking assistance information are provided. The smart parking assistance device includes an image capturing unit, a processing unit and a display unit. The image capturing unit is arranged on a fixed base. The image capturing unit is used for capturing an image of a vehicle entering a parking space. The processing unit includes a tire identifier, a vehicle orientation analyzer, and a graphics renderer. The tire identifier is used for identifying a first tire and a second tire of the vehicle. The vehicle orientation analyzer is used for analyzing a vehicle orientation and a vehicle position of the vehicle relative to the parking space. The graphics renderer is used to render a top view of the vehicle relative to the parking space. The display unit is arranged on the fixed base. The display unit is used for displaying the top view.

Description

Smart parking assistance device and display of smart parking assistance information method

The present disclosure relates to an electronic device and an information display method, and in particular, to a smart parking auxiliary device and a smart parking auxiliary information display method.

In cities, in order to facilitate driving and parking, parking spaces are usually planned on the edge of the road. Due to the limited space in urban areas, parking spaces are usually quite dense, and it is not easy to park a vehicle smoothly into the parking spaces.

In addition, although some vehicles are currently equipped with reversing radar and auxiliary photography lenses, most of them focus on the distance between the vehicle and other vehicles or walls, and do not detect and judge parking spaces. For drivers, how to smoothly park a vehicle into a parking space is still a headache.

The present disclosure relates to a smart parking auxiliary device and a method for displaying smart parking auxiliary information, which use image processing and analysis technology to smoothly analyze the vehicle orientation when various vehicles enter the parking grid to draw a top view. In this way, when the vehicle enters the parking space, the information provided by the display unit can be used to assist the driver in successfully parking the vehicle into the parking space.

According to one aspect of the present disclosure, a smart parking assistance device is provided. The smart parking assistance device includes an image capture unit, a processing unit and a display unit. The image capturing unit is installed on a fixed base. The fixed base is fixedly arranged on one side of a parking grid. The image capturing unit is used to capture an image of the parking space and a vehicle entering the parking space. The processing unit includes a tire identifier, a vehicle orientation analyzer and a graphics renderer. The tire identifier is used to identify a first tire and a second tire of the vehicle based on the image. The vehicle orientation analyzer is used to analyze a vehicle direction and a vehicle position of the vehicle relative to the parking grid based on the first tire, the second tire and the parking grid in the image. The graphics renderer is used to draw a top view of the vehicle relative to the parking grid based on the vehicle direction and vehicle position relative to the parking grid. The display unit is arranged on the fixed base. The display unit is used to display a top view.

According to another aspect of the present disclosure, a method for displaying smart parking assistance information is proposed. The method of displaying smart parking assistance information includes the following steps. An image is taken of a parking grid and a vehicle entering the parking grid with an image capturing unit installed on the fixed base. The fixed base is fixedly arranged on one side of the parking grid. Based on the image, a first tire and a second tire of the vehicle are identified. Based on the first tire, second tire and parking grid in the image, analyze the direction of the vehicle relative to the parking grid and a vehicle Location. Based on the vehicle direction and vehicle position relative to the parking grid, draw a top view of the vehicle relative to the parking grid. The top view is displayed with a display unit arranged on the fixed base.

In order to have a better understanding of the above and other aspects of the present disclosure, embodiments are given below and described in detail with reference to the accompanying drawings:

100,200:Smart parking assist device

110:Image capture unit

120,220: Processing unit

122,222: Car model identifier

123,226:Corrector

124,224: Tire identifier

125,225: Vehicle orientation analyzer

127,227:Graphics plotter

130:Display unit

700:Vehicle

800:Parking space

900: Fixed seat

A7: direction angle

BX11, BX21: first object frame

BX12, BX22: Second object frame

CR: Scheduled calibration information

DR1, DR2: vehicle direction

FV: visual range

IM11,IM11’:Image

IM11”: top view

L1: first sideline

L2: Second sideline

L3: Third sideline

L4: Fourth sideline

LC1, LC2: vehicle position

LC11, LC21: first tire position

LC12, LC22: Second tire position

M7: Steering prompts

MD1: Car model

P7: Vehicle pattern

P8: Parking grid pattern

S110, S120, S130, S140, S150, S170, S180, S210, S220, S240, S250, S260, S270, S280: Steps

TR1: No. 1 Tire

TR2: Second tire

X11,X12,X21,X22,Y11,Y12,Y21,Y22: distance

Figure 1 is a schematic diagram of a smart parking assistance device according to an embodiment.

Figure 2 illustrates a schematic diagram of a vehicle entering a parking space.

Figure 3 illustrates a schematic diagram of a display unit.

Figure 4 illustrates a block diagram of a smart parking assistance device according to an embodiment.

Figure 5 illustrates a flow chart of a method for displaying smart parking assistance information according to an embodiment.

Figure 6 illustrates the image obtained in step S110.

Figure 7 illustrates the corrected image in step S130.

Figure 8 illustrates the vehicle direction and vehicle position obtained in step S150.

Figure 9 illustrates the top view obtained in step S170.

Figure 10 illustrates the display unit of step S180.

Figure 11 illustrates a block diagram of a smart parking assistance device according to another embodiment.

Figure 12 illustrates a flow chart of a method for displaying smart parking assistance information according to another embodiment.

Figure 13 illustrates the image obtained in step S210.

Figure 14 illustrates step S240.

Figure 15 illustrates the vehicle direction and vehicle position obtained in step S250.

Figure 16 illustrates the top view obtained in step S270.

Figure 17 illustrates the display unit of step S280.

Please refer to FIG. 1 , which illustrates a schematic diagram of a smart parking assistance device 100 according to an embodiment. The smart parking assistance device 100 includes an image capture unit 110, a processing unit 120 and a display unit 130. The smart parking assistance device 100 is, for example, installed in a smart parking toll post. The image capturing unit 110 is, for example, a video camera, a camera, an infrared sensor, or a lidar scanner. The processing unit 120 is, for example, a circuit, a chip, a circuit board, a computer program product, or a storage device that stores program code. The display unit 130 is, for example, a liquid crystal screen or an OLED screen. The image capture unit 110 and the display unit 130 are disposed on a fixed base 900 instead of being disposed on any vehicle. The fixed base 900 is, for example, located at a corner of the parking space 800 , especially a corner close to the edge of the road or the sidewalk.

Please refer to Figure 2, which illustrates a schematic diagram of a vehicle 700 entering the parking space 800. The image capturing unit 110 has a visual range FV. The visual range FV covers the parking space 800 and the vehicle 700 entering the parking space 800.

Please refer to FIG. 3 again, which illustrates a schematic diagram of the display unit 130. In this embodiment, when the vehicle 700 enters the parking grid 800, the display unit 130 can display a vertical view of the vehicle 700 (shown in Figure 2) relative to the parking grid 800 (shown in Figure 2). view. As shown in FIG. 3 , the display unit 130 presents a top-view parking grid pattern P8 and a top-view vehicle pattern P7, and can even display the direction angle A7 and steering prompt M7 of the vehicle pattern P7. In this way, when the vehicle 700 enters the parking space 800, the information provided by the display unit 130 can be used to assist the driver in parking the vehicle 700 into the parking space 800 smoothly.

Please refer to FIG. 4 , which illustrates a block diagram of a smart parking assistance device 100 according to an embodiment. The smart parking assistance device 100 includes the above-mentioned image capture unit 110, the above-mentioned processing unit 120, and the above-mentioned display unit 130. The processing unit 120 includes a vehicle type identifier 122, a corrector 123, a tire identifier 124, a vehicle orientation analyzer 125 and a graph renderer 127. In this embodiment, the processing unit 120 uses these components to correct the image, identify the vehicle model and tires, and then analyzes the vehicle orientation to draw a top view as shown in Figure 3 . The following describes the operation of each component in detail through a flow chart.

Please refer to FIG. 5 , which illustrates a flow chart of a method for displaying smart parking assistance information according to an embodiment. In step S110, as shown in Figures 4 and 6, an image IM11 is captured by the image capturing unit 110 provided on the fixed base 900 of the parking grid 800 and the vehicle 700 entering the parking grid 800. Figure 6 illustrates the image IM11 obtained in step S110. The image IM11 is the actual captured image IM11. Since the visual range FV (shown in Figure 2 ) of the image capturing unit 110 covers the parking grid 800 and the vehicle 700 entering the parking grid 800, the image IM11 can display the parking grid 800 and the vehicle 700. Because the image capturing unit 110 is located at one corner of the parking grid 800, the parking grid 800 in the image IM11 does not appear to be a rectangle.

Next, in step S120 , as shown in FIG. 4 , the vehicle model identifier 122 identifies a vehicle model MD1 of the vehicle 700 based on the image IM11 . In this step, the vehicle model identifier 122 can identify the vehicle model MD1 of the vehicle 700 through a machine learning model. With the model MD1, you can know the size, tire position and other information of the vehicle 700.

Then, in step S130, as shown in Figures 4 and 7, the corrector 123 performs a deformation correction process on the image IM11, so that the parking grid 800 in the image IM11 is converted into a rectangle. Figure 7 illustrates the corrected image IM11' in step S130. After the correction process, the parking grid 800 is converted into a rectangular shape, and the vehicle 700 will be deformed accordingly. In one embodiment, the correction step S130 can also be omitted.

Next, in step S140, as shown in Figures 4 and 7, the tire identifier 124 identifies one of the first tires of the vehicle 700 based on the image IM11' (or image IM11, the image IM11' will be used as an example below). TR1 with a second tire TR2. In this step, the tire identifier 124 identifies the first tire TR1 and the second tire TR2, for example, through a machine learning model, and marks the first object frame BX11 and the second object frame BX12 respectively.

Then, in step S150, as shown in Figures 4 and 8, the vehicle orientation analyzer 125 is based on the first object frame BX11 and the second object frame BX11 of the first tire TR1 (shown in Figure 7) in the image IM11'. The second object frame BX12 of the tire TR2 (shown in FIG. 7 ) and the parking grid 800 analyze a vehicle direction DR1 and a vehicle position LC1 of the vehicle 700 relative to the parking grid 800 . Figure 8 illustrates the vehicle direction DR1 and vehicle position LC1 obtained in step S150. The parking grid 800 has a first side line L1, a second side line L2, a third side line L3 and a fourth side line L4 that are connected in sequence. In this step In the image IM11', the vehicle orientation analyzer 125 is based on the distance X11 between the first object frame BX11 of the first tire TR1 and the first edge L1 and the distance X11 between the first object frame BX11 and the second edge L2 of the first tire TR1 Distance Y11, analyze the first tire position LC11 of the first tire TR1 relative to the parking grid 800, and based on the distance X12 between the second object frame BX12 of the second tire TR2 in the image IM11' and the second side line L2 and the second tire The distance Y12 between the second object frame BX12 of TR2 and the third side line L3 is analyzed to determine the second tire position LC12 of the second tire TR2 relative to the parking space 800 . The vehicle position LC1 and the vehicle direction DR1 can be located based on the first tire position LC11 and the second tire position LC12.

In one embodiment, the vehicle orientation analyzer 125 can further analyze the vehicle direction DR1 of the vehicle 700 relative to the parking space 800 based on the ratio of the first object frame BX11 of the first tire TR1 and the second object frame BX12 of the second tire TR2. .

Next, in step S170, as shown in Figures 4 and 9, the graphics plotter 127 draws a top view IM11 of the vehicle 700 relative to the parking space 800 based on the vehicle direction DR1 and the vehicle position LC1 of the vehicle 700 relative to the parking space 800. ". Figure 9 illustrates the top view IM11" obtained in step S170. The top view IM11" presents a top-view parking grid pattern P8 and a top-view vehicle pattern P7. The parking grid pattern P8 and the vehicle pattern P7 can be drawn using simple lines to clearly show the relative relationship between the two.

In this step, the graphics plotter 127 may adjust the top view IM11″ according to the vehicle model MD1. For example, the graphics plotter 127 may plot the size of the vehicle pattern P7 according to the vehicle width and vehicle length.

In addition, the graphics plotter 127 can also plot the direction angle A7 and the steering hint M7 of the vehicle pattern P7 for the convenience of the user's reference.

Then, in step S180, as shown in Figure 4 and Figure 10, it is assumed that The display unit 130 placed on the fixed base 900 displays the top view IM11". Figure 10 illustrates the display unit 130 in step S180. In this step, the display unit 130 turns the top view IM11" so that the front of the vehicle faces forward for easy driving reference. .

In the above embodiment, the deformation correction program is used for correction. Since the relationship between the image capturing unit 110 and the parking grid 800 will not change, in another embodiment, a predetermined correction can be directly performed without performing a deformation correction procedure.

Please refer to FIG. 11 , which illustrates a block diagram of a smart parking assistance device 200 according to another embodiment. The smart parking assistance device 100 includes the above-mentioned image capture unit 110, a processing unit 220 and the above-mentioned display unit 130. The processing unit 220 includes a vehicle type identifier 222, a tire identifier 224, a vehicle orientation analyzer 225, a corrector 226 and a graph renderer 227. In this embodiment, the processing unit 220 uses these components to correct the image, identify the vehicle model and tires, and then analyzes the vehicle orientation to draw a top view as shown in Figure 3 . The following describes the operation of each component in detail through a flow chart.

Please refer to FIG. 12 , which illustrates a flow chart of a method for displaying smart parking assistance information according to another embodiment. In step S210, as shown in Figures 11 and 13, an image IM11 is captured by the image capturing unit 110 provided on the fixed base 900 of the parking grid 800 and the vehicle 700 entering the parking grid 800. Figure 13 illustrates the image IM11 obtained in step S210. Image IM11 is the actual captured image IM11. Since the visual range FV (shown in Figure 2 ) of the image capturing unit 110 covers the parking grid 800 and the vehicle 700 entering the parking grid 800, the image IM11 can display the parking grid 800 and the vehicle 700. Because the image capturing unit 110 is located at one corner of the parking grid 800, the parking grid 800 in the image IM11 does not appear to be a rectangle.

Next, in step S220, as shown in FIG. 11, the vehicle model identifier 222 identifies the vehicle model MD1 of the vehicle 700 based on the image IM11. In this step, the vehicle model identifier 222 can identify the vehicle model MD1 of the vehicle 700 through a machine learning model. With the model MD1, you can know the size, tire position and other information of the vehicle 700.

Then, in step S240, as shown in FIGS. 11 and 14, the tire identifier 224 identifies the first tire TR11 and the second tire TR12 of the vehicle 700 based on the image IM11. Figure 14 illustrates step S240. In this step, the tire identifier 124 identifies the first tire TR11 and the second tire TR12, for example, through a machine learning model, and marks the first object frame BX21 and the second object frame BX22 respectively.

Next, in step S250, as shown in FIGS. 11 and 15, the vehicle orientation analyzer 225 is based on the first object frame BX21 and the second tire of the first tire TR11 (shown in FIG. 14) in the image IM11. The second object frame BX22 and the parking grid 800 of TR12 (shown in Figure 14) analyze a vehicle direction DR2 and a vehicle position LC2 of the vehicle 700 relative to the parking grid 800. Figure 15 illustrates the vehicle direction DR2 and vehicle position LC2 obtained in step S250. The parking grid 800 has a first side line L1, a second side line L2, a third side line L3 and a fourth side line L4 that are connected in sequence. In this step, the vehicle orientation analyzer 225 is based on the distance X21 between the first object frame BX21 of the first tire TR11 and the first edge L1 in the image IM11 and the first object frame BX21 and the second edge of the first tire TR11 The distance Y21 of L2 is analyzed, and the position LC21 of the first tire TR11 relative to the first tire of the parking grid 800 is analyzed, and the distance X22 and the second object frame BX22 of the second tire TR12 in the image IM11' are analyzed and The distance Y22 between the second object frame BX22 of the second tire TR12 and the third side line L3 is analyzed to determine the second tire position LC22 of the second tire TR12 relative to the parking space 800 . According to the first The tire position LC21 and the second tire position LC22 can locate the vehicle position LC2 and the vehicle direction DR2.

In one embodiment, the vehicle orientation analyzer 225 can further analyze the vehicle direction DR2 of the vehicle 700 relative to the parking space 800 based on the ratio of the first object frame BX21 of the first tire TR11 and the second object frame BX22 of the second tire TR12 .

Then, in step S260, as shown in FIG. 11, the corrector 226 corrects the vehicle direction DR2 and the vehicle position LC2 of the vehicle 700 relative to the parking space 800 according to a predetermined correction information CR to obtain the vehicle direction DR1 and the vehicle position LC1. .

Next, in step S270, as shown in Figures 11 and 16, the graphics plotter 127 draws a top view IM11 of the vehicle 700 relative to the parking space 800 based on the vehicle direction DR1 and the vehicle position LC1 of the vehicle 700 relative to the parking space 800. ". Figure 16 illustrates the top view IM11" obtained in step S270. The top view IM11" presents a top-view parking grid pattern P8 and a top-view vehicle pattern P7. The parking grid pattern P8 and the vehicle pattern P7 can be drawn using simple lines to clearly show the relative relationship between the two.

In this step, the graphics plotter 227 can adjust the top view IM11" according to the vehicle model MD1. For example, the graphics plotter 227 can plot the size of the vehicle pattern P7 according to the vehicle width and vehicle length.

In addition, the graphics plotter 227 can also plot the direction angle A7 and the steering hint M7 of the vehicle pattern P7 for the convenience of the user's reference.

Then, in step S280, as shown in Figures 11 and 17, the top view IM11" is displayed with the display unit 130 provided on the fixed base 900. Figure 17 illustrates the display unit 130 of step S280. In this step , the display unit 130 turns the top view IM11″ so that the front of the vehicle faces forward for convenient driving reference.

According to the above embodiment, no matter what kind of vehicle 700 enters the parking space, At 800 hours, the vehicle orientation can be successfully analyzed to draw a top view as shown in Figure 3. In this way, when the vehicle 700 enters the parking space 800, the information provided by the display unit 130 can be used to assist the driver in parking the vehicle 700 into the parking space 800 smoothly.

In summary, although the present disclosure has been disclosed in the above embodiments, they are not used to limit the present disclosure. Those with ordinary knowledge in the technical field to which this disclosure belongs can make various modifications and modifications without departing from the spirit and scope of this disclosure. Therefore, the protection scope of the present disclosure shall be subject to the scope of the appended patent application.

100:Smart parking assistance device

110:Image capture unit

120: Processing unit

122: Car model identifier

123:Corrector

124:Tire identifier

125: Vehicle orientation analyzer

127:Graphics plotter

130:Display unit

BX11: First object frame

BX12: Second object frame

DR1: Vehicle direction

IM11:Image

IM11’: corrected image

IM11”: top view

LC1: vehicle position

MD1: Car model

Claims (14)

A smart parking auxiliary device includes: an image capture unit, which is arranged on a fixed base. The fixed base is fixedly arranged on one side of a parking grid. The image capturing unit is used to capture the parking grid and enter the parking grid. A vehicle captures an image; a processing unit includes: a tire identifier for identifying a first tire and a second tire of the vehicle based on the image; a vehicle orientation analyzer for identifying a first tire and a second tire of the vehicle based on the image; The first tire, the second tire and the parking grid are used to analyze a vehicle direction and a vehicle position of the vehicle relative to the parking grid; and a graph plotter is used to analyze the vehicle direction and a vehicle position relative to the parking grid based on the vehicle's orientation relative to the parking grid. The direction of the vehicle and the position of the vehicle draw a top view of the vehicle relative to the parking grid; and a display unit is provided on the fixed base, and the display unit is used to display the top view. The smart parking assistance device as claimed in claim 1, wherein the fixed seat is located in a corner of the parking grid. The smart parking assistance device of claim 1, wherein the vehicle orientation analyzer further analyzes the vehicle direction of the vehicle relative to the parking grid based on the ratio of the first tire and the second tire. The smart parking assistance device as claimed in claim 1, wherein the processing unit further includes: a vehicle model identifier for identifying a vehicle model of the vehicle based on the image, and the graphics renderer further adjusts the vehicle relative to the vehicle model based on the vehicle model. This overhead view of this parking space. The smart parking assistance device as described in claim 1, wherein the parking grid has a first side, a second side, a third side and a fourth side connected in sequence, and the vehicle orientation analyzer is based on the image The distance between the first tire and the first sideline and the distance between the first tire and the second sideline are analyzed, and the position of the first tire relative to the first tire of the parking grid is analyzed. The vehicle orientation analyzer is based on The distance between the second tire and the second sideline and the distance between the second tire and the third sideline in the image are used to analyze the position of the second tire relative to the second tire of the parking space. The smart parking assistance device of claim 1, wherein the processing unit further includes: a corrector for performing a deformation correction process on the image to convert the parking grid in the image into a rectangle. The smart parking assistance device as claimed in claim 1, wherein the processing unit further includes: A corrector is used to correct the vehicle direction and the vehicle position of the vehicle relative to the parking grid based on a predetermined correction information. A method for displaying smart parking auxiliary information, including: using an image capture unit installed on a fixed base to capture an image of a parking grid and a vehicle entering the parking grid, and the fixed base is fixed on the parking grid. One side; based on the image, identify a first tire and a second tire of the vehicle; based on the first tire, the second tire and the parking grid in the image, analyze the relationship between the vehicle and the parking grid a vehicle direction and a vehicle position; drawing a top view of the vehicle relative to the parking grid based on the vehicle direction and the vehicle position relative to the parking grid; and displaying the vehicle with a display unit provided on the fixed base Top view. The method for displaying smart parking assistance information as described in claim 8, wherein the fixed seat is located in a corner of the parking grid. The method for displaying smart parking assistance information as described in claim 8, wherein in the step of analyzing the direction of the vehicle relative to the parking grid, the vehicle is further analyzed based on the ratio of the first tire to the second tire. The direction of the vehicle relative to the parking space. The method for displaying smart parking assistance information as described in request item 8 further includes: According to the image, a model of the vehicle is identified; in the step of drawing the top view of the vehicle relative to the parking space, the top view of the vehicle relative to the parking space is further adjusted according to the car type. The method for displaying smart parking auxiliary information as described in claim 8, wherein the parking grid has a first side, a second side, a third side and a fourth side connected in sequence. After analyzing the relative relationship between the vehicle and In the steps of the vehicle direction and the vehicle position of the parking grid, the third tire is analyzed based on the distance between the first tire and the first sideline and the distance between the first tire and the second sideline in the image. A tire is positioned relative to a first tire of the parking space, and the relative position of the second tire is analyzed based on the distance between the second tire and the second sideline and the distance between the second tire and the third sideline in the image. The second tire position in one of the parking spaces. The method for displaying smart parking assistance information as described in claim 8 further includes: performing a deformation correction process on the image so that the parking grid in the image is converted into a rectangle. The method for displaying smart parking assistance information as described in claim 8 further includes: correcting the vehicle direction and the vehicle position relative to the parking grid based on a predetermined correction information.

Images