WO2020082777A1 - 车位检测方法及装置 - Google Patents

车位检测方法及装置 Download PDF

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Publication number
WO2020082777A1
WO2020082777A1 PCT/CN2019/093434 CN2019093434W WO2020082777A1 WO 2020082777 A1 WO2020082777 A1 WO 2020082777A1 CN 2019093434 W CN2019093434 W CN 2019093434W WO 2020082777 A1 WO2020082777 A1 WO 2020082777A1
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WIPO (PCT)
Prior art keywords
parking space
parking
vehicle
area
image
Prior art date
Application number
PCT/CN2019/093434
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English (en)
French (fr)
Inventor
肖志光
赖健明
陈盛军
Original Assignee
广州小鹏汽车科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 广州小鹏汽车科技有限公司 filed Critical 广州小鹏汽车科技有限公司
Priority to EP19875400.4A priority Critical patent/EP3871935A4/en
Publication of WO2020082777A1 publication Critical patent/WO2020082777A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects

Definitions

  • the invention relates to the technical field of vehicles, in particular to a parking space detection method and device.
  • self-driving cars need to first detect the parking spaces around the self-driving cars during automatic parking. Only when the parking spaces that can be parked are detected, the automatic parking of the self-driving cars can be realized.
  • the current parking space detection method can usually only detect a parkable parking space around the self-driving car. When the car travels at a faster speed, it is possible to miss this parking space if the driver thereafter To park the car in the parkable parking space, it is necessary to drive the self-driving car to the vicinity of the parkable parking space and detect the parkable parking space again.
  • the embodiment of the invention discloses a parking space detection method and device, which can improve the efficiency of automatic parking.
  • a first aspect of an embodiment of the present invention discloses a parking space detection method.
  • the method includes:
  • the method further includes:
  • the method After acquiring the parkable position information of the parkable parking space and storing the parkable position information, the method further includes:
  • the display device outputs a first reachable area image at the first position in the current scene image, and outputs a parking space image at the second position in the current scene image.
  • the reachable area matching the vehicle in the environment where the detection vehicle is located includes:
  • the floor area of the vehicle is acquired, and the position information of obstacles in the environment where the vehicle is located is detected;
  • An accessible area with an area larger than the occupied area is identified from the target area.
  • the identifying the parking spaces in the reachable area and determining the parking spaces from the parking spaces include:
  • a parkable parking space in which the movable area meets the parking standard of the vehicle is determined from the parking spaces.
  • the method further includes:
  • a second aspect of an embodiment of the present invention discloses a parking space detection device, including:
  • a first detection unit configured to detect the reachable area in the environment where the vehicle is matched with the vehicle
  • a first identification unit used to identify the parking spaces in the reachable area, and determine the parking spaces from the parking spaces
  • the storage unit is configured to acquire the parkable position information of the parkable parking space and store the parkable position information.
  • the parking space detection device further includes:
  • a first acquisition unit configured to acquire a current image of the environment in which the vehicle is located through an image acquisition device
  • a generating unit configured to combine the current images according to the augmented reality technology to generate a current scene image of the environment in which the vehicle is located;
  • a first output unit configured to output the current scene image through a display device
  • the parking space detection device also includes:
  • a second recognition unit used to obtain the parkable position information of the parkable parking space and store the parkable position information after the storage unit, and recognize the reachable area in the current scene image The first position of the current scene, and obtain a second position corresponding to the dockable position information in the current scene image;
  • a second output unit for outputting a first reachable area image at the first position in the current scene image through the display device, and outputting a parking space image at the second position in the current scene image .
  • the first detection unit includes:
  • the detection subunit is used for acquiring the floor area of the vehicle when detecting a parking instruction and detecting the position information of obstacles in the environment where the vehicle is located;
  • a generating subunit configured to generate a target area according to the position information of the obstacle
  • the first identification subunit is used to identify an accessible area with an area larger than the occupied area from the target area.
  • the first identification unit includes:
  • a second identification subunit used to identify the parking space in the reachable area and determine the movable area around the parking space
  • a determination subunit configured to determine, from the parking space, a parkable parking space in which the movable area meets the parking standard of the vehicle.
  • the parking space detection device further includes:
  • a second acquiring unit configured to acquire a second reachable area image including the reachable area through an image acquisition device after the first detecting unit detects the reachable area matching the vehicle in the environment where the vehicle is located;
  • a second detection unit configured to detect, through image recognition technology, whether pre-stored parkable position information includes a parkable parking space image matching the second reachable area image;
  • the first identification unit is also used to identify a parking space in the reachable area when the detection result of the second detection unit is negative, and determine a parking space that can be parked from the parking space.
  • a third aspect of the embodiments of the present invention discloses an in-vehicle electronic device, including:
  • a processor coupled to the memory
  • the processor calls the executable program code stored in the memory to perform part or all of the steps of any method of the first aspect.
  • a fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium that stores program code, wherein the program code includes part or all of the method for performing any one of the methods of the first aspect Step instructions.
  • a fifth aspect of an embodiment of the present invention discloses a computer program product that, when the computer program product runs on a computer, causes the computer to perform some or all of the steps of the method of the first aspect.
  • a sixth aspect of the embodiments of the present invention discloses an application publishing platform for publishing a computer program product, wherein when the computer program product runs on a computer, the computer is allowed to execute any of the first aspect Part or all steps of a method.
  • the reachable area matching the vehicle in the environment where the vehicle is located is detected; the parking spaces in the reachable area are identified, and the parking spaces can be determined from the parking spaces; the parking space information of the parking spaces can be obtained , And store the parking position information to avoid repeated detection of parking spaces.
  • the parking spaces that can be parked by the vehicle can be determined from the detected parking spaces in the reachable area, and the number of the determined parking spaces can be one or more, and the determination can also be determined
  • the location information of the parkable parking space is stored. When the driver wants to park the vehicle in the missed parking space, he can directly obtain the information of the parking space without repeating the detection of the parking space. It saves the time to identify the parking spaces, thus improving the efficiency of automatic parking.
  • FIG. 1 is a schematic flowchart of a parking space detection method disclosed in an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of another parking space detection method disclosed in an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of another parking space detection method disclosed in an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a parking space detection device disclosed in an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of another parking space detection device disclosed in an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of another parking space detection device disclosed in an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a vehicle-mounted electronic device disclosed in an embodiment of the present invention.
  • the embodiment of the invention discloses a parking space detection method and device, which can improve the efficiency of automatic parking. The details are described below.
  • FIG. 1 is a schematic flowchart of a parking space detection method disclosed in an embodiment of the present invention.
  • the parking space detection method may include the following steps:
  • the parking space detection device detects the reachable area matching the vehicle in the environment where the vehicle is located.
  • the parking space detection device may be an on-board computer or other electronic equipment built into the vehicle.
  • the on-board electronic equipment may be installed on any vehicle.
  • the driver may control several devices on the vehicle through the on-board electronic equipment, such as
  • the vehicle-mounted ultrasonic sensor is controlled to detect obstacles around the vehicle, the vehicle-mounted display can also be controlled to output display images, and the vehicle-mounted camera can also be controlled to shoot scene images at any angle around the vehicle.
  • the parking space detection device can control a sensor such as a radar sensor or an ultrasonic sensor to detect obstacles existing in the environment of the vehicle and the boundary of the obstacle, and can also be determined by the detected obstacle and the boundary of the obstacle The area where there is no obstacle in the environment where the vehicle is located is determined, and the area where there is no obstacle is determined as the reachable area matching the vehicle.
  • a sensor such as a radar sensor or an ultrasonic sensor to detect obstacles existing in the environment of the vehicle and the boundary of the obstacle, and can also be determined by the detected obstacle and the boundary of the obstacle.
  • the parking space detection device identifies the parking spaces in the reachable area, and determines the parking spaces that can be parked from the parking spaces.
  • the driver may choose to park in the parking lot or at any place.
  • the reachable area detected by the built-in parking space detection device of the vehicle may include the planned parking space in the parking lot.
  • the planned parking spaces in the parking lot will be indicated by the parking space marking lines. Therefore, the parking space detection device can detect the parking spaces in the reachable area by detecting the parking space marking line in the reachable area, and the parking space detection device can recognize one or more parking spaces from one reachable area, or not recognize the parking space
  • the embodiments of the present invention are not limited.
  • the vehicle's built-in parking space detection device can first detect whether there is a parking space marking line.
  • the parking space marking line can be used to identify the parking space in the reachable area; if it does not exist, it can The area in the area that meets the current vehicle parking requirements is identified as a parking space, so as to achieve the successful identification of the parking space in the reachable area.
  • the parking space detection device since there are unparkable parking spaces among the identified parking spaces, the parking space detection device needs to further detect and recognize the identified parking spaces. For example, there may be a parking space area that meets the requirements of the current vehicle footprint, but the area around the parking space cannot find a suitable path for the current vehicle to park in the parking space, so this parking space can be determined as a parking space that cannot be parked.
  • the parking space detection device may recognize one or more parking spaces from several parking spaces, or may not recognize the parking spaces, which is not limited in this embodiment of the present invention.
  • the manner in which the parking space detection device identifies the parking spaces in the reachable area may include the following steps:
  • the parking space detection device identifies whether there is a parking space marking line in the reachable area
  • the parking space detection device determines the range of the parking space marking line, and determines the range of the parking space marking line as the parking space;
  • the parking space detection device obtains the standard area and standard shape of the parking space, and judges whether the area of the reachable area is larger than the standard area. If it is larger, the parking space detection device divides the reachable area into several parking spaces according to the standard shape.
  • the acquired parking spaces can be used as standard parking spaces, so as to ensure that the acquired parking spaces can be used for parking of vehicles.
  • the manner in which the parking space detection device determines the parking space can be parked from the parking space may include the following steps:
  • the parking space detection device detects whether there is a no-stop sign around the parking space
  • the parking space detection device determines whether the road surface corresponding to the parking space meets the pre-stored parking standards
  • the parking space detection device detects whether the height corresponding to the parking space reaches the standard height
  • the parking space detection device If the standard height is reached, the parking space detection device generates a route from the current position of the vehicle to the parking space, and determines whether it is feasible to detect the route;
  • the parking space detection device determines the parking space as a parking space.
  • the implementation of this embodiment can detect whether the identified parking space meets the current parking standards of the vehicle from the aspects of no-stop signs, the road surface and height of the parking space, and the route from the current position of the vehicle to the parking space, and can identify the identified parking space
  • the parking spaces that meet the current vehicle parking standards are determined as parking spaces, so as to ensure that the identified parking spaces can park the current vehicle.
  • the parking space detection device obtains the parkingable location information of the parkingable parking space, and stores the parkingable location information to avoid repeatedly detecting the parkingable parking space.
  • the parking space detection device may be built in an electronic map of the vehicle's location or a parking lot map of the parking lot where the vehicle is currently located.
  • the parking space detection device may obtain the parking space in the vehicle's location The specific location on the electronic map or the specific location in the parking lot map.
  • the parking position information can be embodied in the form of coordinates.
  • the shape of the parking space is usually a rectangle. Therefore, the four vertices of the rectangle corresponding to the parking space can be mapped to the corresponding coordinates in the electronic map of the vehicle location or the parking lot map.
  • the point is determined as the parking position information of the parking space that can be parked, and stored, so that the parking space detection device does not need to detect the detected reachable area, and thus does not require the parking space detection device to repeatedly detect the parking space.
  • the parking space detection device acquires the parkingable position information of the parking space and stores the parking position information may include the following steps:
  • the parking space detection device detects whether an electronic map is pre-stored
  • the parking space detection device calculates the position coordinate group of the parking space in the electronic map, and stores the position coordinate group as the parking space position information of the parking space, to avoid repeated detection of the parking space;
  • the parking space detection device acquires the latitude and longitude coordinate group of the parking space, and stores the latitude and longitude coordinate group as the parking space position information of the parking space, so as to avoid repeatedly detecting the parking space.
  • the latitude and longitude coordinate group of the parking space can be determined through satellite positioning (Satellite Positioning) technology to determine the exact location of the parking space.
  • the information can also provide a variety of storage methods for storing parkingable parking space information to ensure that the parking space detection device can accurately store the detected parking space.
  • the acquired parking spaces can be used as standard parking spaces, so as to ensure that the acquired parking spaces can be used for parking of vehicles.
  • the identified parking spaces that meet the current vehicle parking standard can be determined as parking spaces, thereby ensuring that the identified parking spaces can park the current vehicle.
  • implementing the method described in FIG. 1 can also provide a variety of storage methods for storing parkable parking space information to ensure that the parking space detection device can accurately store the detected parking space.
  • FIG. 2 is a schematic flowchart of another parking space detection method disclosed in an embodiment of the present invention.
  • the parking space detection method may include the following steps:
  • the parking space detection device obtains the current image of the environment in which the vehicle is located through the image acquisition device.
  • the image collection device may be a device such as a car camera, and the image collection device may take a current image (such as a picture or a video) of the surrounding environment of the vehicle during the traveling process of the vehicle.
  • a current image such as a picture or a video
  • the parking space detection device combines current images according to the augmented reality technology to generate a current scene image of the environment in which the vehicle is located.
  • the parking space detection device may use Augmented Reality (AR) to combine the acquired current images to generate a current scene image suitable for AR, and output the current scene image through the on-board display to enable the driver and Passengers can see the environment of the vehicle through the on-board display, without the driver or passenger getting off the vehicle to observe the specific environment around the vehicle.
  • AR Augmented Reality
  • the parking space detection device outputs the current scene image through the display device.
  • the image of the surrounding environment of the vehicle can be collected by the image acquisition device, and the collected environmental images can be combined to generate a comprehensive current scene image, and the current device
  • the scene image is output so that both the driver and passengers can have a clear understanding of the current environment of the vehicle.
  • steps 201 to 203 can be placed before or after any of steps 204 to 207, and have no substantial impact on the present invention.
  • the parking space detection device detects the reachable area matching the vehicle in the environment where the vehicle is located.
  • the manner in which the parking space detection device detects the reachable area matching the vehicle in the environment where the vehicle is located may include the following steps:
  • the parking space detection device acquires the floor space of the vehicle and detects the position information of obstacles in the environment where the vehicle is located;
  • the parking space detection device generates a target area based on the obstacle position information
  • the parking space detection device identifies the reachable area with an area larger than the occupied area from the target area.
  • the implementation of this embodiment can determine the area larger than the current vehicle footprint as the reachable area of the vehicle, and exclude the area smaller than the current vehicle footprint to ensure that the detected reachable area can meet Parking requirements for vehicles.
  • the parking space detection device identifies the parking spaces in the reachable area, and determines the parking spaces that can be parked from the parking spaces.
  • the parking space detection device acquires the parkingable location information of the parkingable parking space, and stores the parkingable location information to avoid repeatedly detecting the parkingable parking space.
  • the parking space detection device recognizes the first position of the reachable area in the current scene image, and acquires the second position in the current scene image corresponding to the stop-able position information.
  • the parking space detection device can identify the position of the reachable area in the current scene image, and determine the position of the reachable area in the current scene image as the first position, and the parking space detection device can also be in the current scene image Identify the position corresponding to the parkable position information, and determine the position corresponding to the parkable position information in the current scene image as the second position. Since the reachable area contains parkable parking spaces, the first position in the current scene image corresponds to The area within contains the area corresponding to the second location.
  • the parking space detection device outputs the first reachable area image at the first position in the current scene image through the display device, and outputs the parking space image at the second position in the current scene image.
  • the first reachable area image may be the range of the reachable area indicated by a line, or the range of the reachable area indicated by a shade;
  • the parking space image may be the range of a parking space indicated by a line,
  • the range of parkable parking spaces can also be indicated by shading.
  • both the first reachable area image and the parking space image are represented by lines, the line corresponding to the first reachable area image and the line corresponding to the parking space image have different representations; If both the first reachable area image and the parking space image are represented by shadows, the shadow layer corresponding to the first reachable area image is below the shadow image corresponding to the parking space image, and the image corresponding to the current scene image is the bottom layer
  • This output method can display the reachable area on the current scene image, and display the position of the parking space on the reachable area, so that the driver and passengers can see the parking space that is recognized from the on-board display recognition.
  • the simulated images of the reachable area and the parking space can be output to the current scene image, so that the driver and passengers can clearly know the detected parking space
  • the current scene image can be output through the display device, so that both the driver and passengers can have a clear understanding of the environment in which the vehicle is currently located.
  • implementing the method described in FIG. 2 can ensure that the detected reachable area can meet the parking requirements of the vehicle.
  • implementing the method described in FIG. 2 can enable the driver and passengers to select the parking space to be determined by combining the parking space and the surrounding environment of the parking space.
  • FIG. 3 is a schematic flowchart of another parking space detection method disclosed in an embodiment of the present invention.
  • the parking space detection method may include the following steps:
  • the parking space detection device detects the reachable area matching the vehicle in the environment where the vehicle is located.
  • the parking space detection device may further perform the following steps:
  • the implementation of this embodiment can detect whether the currently identified reachable area matches the position of the parking space that can be pre-stored in the parking space detection device. If it matches, it can be considered that the available space in the accessible area is stored in the parking space detection device Parking space information, so the parking space detection device does not need to detect the parking space information again, which simplifies the parking space detection process, thereby improving the efficiency of parking space detection.
  • the parking space detection device recognizes the parking space in the reachable area and determines the movable area around the parking space.
  • the way for the parking space detection device to identify the parking space in the reachable area and determine the movable area around the parking space may include the following steps:
  • the parking space detection device obtains the model of the vehicle
  • the parking space detection device obtains the length, width and height of the vehicle according to the model of the vehicle;
  • the parking space detection device acquires a target area corresponding to the length and width of the vehicle from the reachable area, wherein the length of the target area is greater than or equal to the length of the vehicle, and the width of the target area is greater than or equal to the width of the vehicle;
  • the parking space detection device detects whether the height of the ground in the target area from the obstacle facing the ground is greater than the height of the vehicle;
  • the parking space detection device determines the target area as a parking space, and determines that the area around the parking space is a movable area of the parking space.
  • the parking space detection device determines from the parking spaces that the movable area conforms to the parking standard of the vehicle and can be parked in the parking space.
  • the parking standard of the vehicle may be an area that needs to be reserved around the designated parking space when the vehicle is parked in the designated parking space, and the reserved area is used to move the vehicle to obtain an optimal parking path.
  • the movable area around the parking spaces can be detected and the parking spaces that can meet the parking standards of the vehicle can be detected so that the vehicle can pass through
  • the movement in the movable area parks the vehicle in the parkable parking space to ensure that the vehicle can park in the detected parkable parking space.
  • the parking space detection device acquires the parkingable location information of the parking space and stores the parkingable location information.
  • FIG. 4 is a schematic structural diagram of a parking space detection device disclosed in an embodiment of the present invention.
  • the parking space detection device may include:
  • the first detection unit 401 is configured to detect the reachable area matching the vehicle in the environment where the vehicle is located.
  • the first identification unit 402 is used to identify the parking spaces in the reachable area detected by the first detection unit 401, and determine the parking spaces that can be parked from the parking spaces.
  • the manner in which the first identification unit 402 identifies the parking spaces in the reachable area may specifically be:
  • the acquired parking spaces can be used as standard parking spaces, so as to ensure that the acquired parking spaces can be used for parking of vehicles.
  • the manner in which the first recognition unit 402 determines the parking spaces from the parking spaces may specifically be:
  • the parking space is determined as a parking space.
  • the implementation of this embodiment can detect whether the identified parking space meets the current parking standards of the vehicle from the aspects of no-stop signs, the road surface and height of the parking space, and the route from the current position of the vehicle to the parking space, and can identify the identified parking space
  • the parking spaces that meet the current vehicle parking standards are determined as parking spaces, so as to ensure that the identified parking spaces can park the current vehicle.
  • the storage unit 403 is configured to acquire the parkable position information of the parkable parking space determined by the first recognition unit 402 and store the parkable position information to avoid repeatedly detecting the parkable parking space.
  • the storage unit 403 acquires the parkable position information of the parkable parking space and stores the parkable position information in a specific manner as follows:
  • the latitude and longitude coordinate group of the parking space can be determined through satellite positioning (Satellite Positioning) technology to determine the exact location of the parking space.
  • the information can also provide a variety of storage methods for storing parkingable parking space information to ensure that the parking space detection device can accurately store the detected parking space.
  • the parking space detection device described in FIG. 4 eliminates the need to repeatedly detect missed parking spaces that you want to park, saving time for identifying parking spaces, thereby improving the efficiency of automatic parking.
  • the acquired parking spaces can be used as standard parking spaces, so as to ensure that the acquired parking spaces can be used for parking of vehicles.
  • the identified parking spaces that meet the current vehicle parking standard can be determined as parking spaces, thereby ensuring that the identified parking spaces can park the current vehicle.
  • the implementation of the parking space detection device described in FIG. 4 can also provide a variety of storage methods for storing parking space information that can be parked to ensure that the parking space detection device can accurately store the detected parking space .
  • FIG. 5 is a schematic structural diagram of another parking space detection device disclosed in an embodiment of the present invention.
  • the parking space detection device shown in FIG. 5 is obtained by optimizing the parking space detection device shown in FIG. 4.
  • the parking space detection device shown in FIG. 5 may further include:
  • the first acquiring unit 404 is configured to acquire the current image of the environment in which the vehicle is located through the image acquisition device.
  • the generating unit 405 is configured to combine the current image obtained by the first obtaining unit 404 according to the augmented reality technology to generate a current scene image of the environment in which the vehicle is located.
  • the first output unit 406 is used to output the current scene image generated by the generation unit 405 through the display device.
  • the environment images around the vehicle can be collected by the image collection device, and the collected environment images can be combined to generate a comprehensive current scene image, and the current scene image can be output through the display device to enable the driver Both passengers and passengers can have a clear understanding of the current environment of the vehicle.
  • the parking space detection device shown in FIG. 5 may further include:
  • the second recognition unit 407 is used to obtain the parkable position information of the parking space in the storage unit 403 and store the parkable position information, and identify the first reachable area in the current scene image generated by the generation unit 405 Position, and obtain the second position in the current scene image corresponding to the stop position information;
  • the second output unit 408 is used to output the first reachable area image at the first position in the current scene image recognized by the second recognition unit 407 through the display device, and in the current scene image recognized by the second recognition unit 407 The image of the parking space is output in the second position.
  • the implementation of this embodiment can output the simulated images of the reachable area and the parking space to the current scene image, so that the driver and passengers can clearly know the specific location of the detected parking space and the surroundings of the parking space The environment, so that the driver and passengers can choose the parking space to determine the parking space based on the parking space and the surrounding environment.
  • the first detection unit 401 of the parking space detection device shown in FIG. 5 may include:
  • the detection subunit 4011 is used to acquire the floor area of the vehicle when detecting the parking instruction and detect the position information of obstacles in the environment where the vehicle is located;
  • a generating subunit 4012 configured to generate a target area according to the position information of the obstacle detected by the detecting subunit 4011;
  • the first recognition subunit 4013 is used to identify a reachable area with an area larger than the occupied area acquired by the detection subunit 4011 from the target area generated by the generation subunit 4012.
  • the implementation of this embodiment can determine the area larger than the current vehicle footprint as the reachable area of the vehicle, and exclude the area smaller than the current vehicle footprint to ensure that the detected reachable area can meet Parking requirements for vehicles.
  • the implementation of the parking space detection device described in FIG. 5 does not require repeated detection of missed parking spaces that you want to park, saving time for identifying parking spaces, thereby improving the efficiency of automatic parking.
  • the current scene image can be output through the display device, so that both the driver and passengers can have a clear understanding of the current environment of the vehicle.
  • the implementation of the parking space detection device described in FIG. 5 can enable the driver and passengers to select the parking space to be determined by combining the parking space and the surrounding environment of the parking space.
  • implementing the parking space detection device described in FIG. 5 can ensure that the detected reachable area can meet the parking requirements of the vehicle.
  • FIG. 6 is a schematic structural diagram of another parking space detection device disclosed in an embodiment of the present invention.
  • the parking space detection device shown in FIG. 6 is optimized by the parking space detection device shown in FIG. 5.
  • the first recognition unit 402 of the parking space detection device shown in FIG. 6 may include:
  • the second identification subunit 4021 is used to identify the parking space in the reachable area detected by the first detection unit 401 and determine the movable area around the parking space.
  • the manner in which the second recognition subunit 4021 recognizes the parking space in the reachable area and determines the movable area around the parking space may include the following steps:
  • the target area corresponding to the length and width of the vehicle from the reachable area, where the length of the target area is greater than or equal to the length of the vehicle, and the width of the target area is greater than or equal to the width of the vehicle;
  • the target area is determined as a parking space, and the area around the parking space is determined as a movable area of the parking space.
  • the determining sub-unit 4022 is used to determine a parking space that can be moved from the parking space identified by the second identification sub-unit 4021 and the movable area conforms to the parking standard of the vehicle.
  • the parkable parking space ensures that the vehicle can be parked in the detected parking space.
  • the parking space detection device shown in FIG. 6 may further include:
  • the second obtaining unit 409 is configured to obtain the second reachable area image including the reachable area through the image acquisition device after the first detection unit 401 detects the reachable area matching the vehicle in the environment where the vehicle is located;
  • the second detection unit 410 is configured to detect, through image recognition technology, whether the pre-stored parkable position information includes a parkable parking space image that matches the second reachable area image acquired by the second acquisition unit 409;
  • the first recognition unit 402 is also used to recognize the parking space in the reachable area when the detection result of the second detection unit 410 is negative, and determine the parking space that can be parked from the parking space.
  • the implementation of this embodiment can detect whether the currently identified reachable area matches the position of the parking space that can be pre-stored in the parking space detection device. If it matches, it can be considered that the available space in the reachable area is stored in the parking space detection device Parking space information, so the parking space detection device does not need to detect the parking space information again, which simplifies the parking space detection process, thereby improving the efficiency of parking space detection.
  • implementing the parking space detection device described in FIG. 6 eliminates the need to repeatedly detect missed parking spaces that you want to park, saving time in identifying parking spaces, thereby improving the efficiency of automatic parking.
  • the implementation of the parking space detection device described in FIG. 6 can ensure that the identified parking space is suitable for the parking of the current vehicle, and improves the probability of the vehicle parking in the identified parking space.
  • the vehicle can be parked in the parkable parking space by moving in the movable area to ensure that the vehicle can be parked in the detected parking space.
  • implementing the parking space detection device described in FIG. 6 eliminates the need to detect the parking space information again, which simplifies the parking space detection process, thereby improving the efficiency of parking space detection.
  • FIG. 7 is a schematic structural diagram of a vehicle-mounted electronic device disclosed in an embodiment of the present invention.
  • the in-vehicle electronic device may include:
  • a memory 701 storing executable program code
  • a processor 702 coupled with the memory 701;
  • the processor 702 calls the executable program code stored in the memory 701 to perform some or all of the steps of the method in the above method embodiments.
  • An embodiment of the present invention also discloses a computer-readable storage medium, where the computer-readable storage medium stores program code, where the program code includes instructions for performing part or all of the steps of the methods in the above method embodiments.
  • An embodiment of the present invention also discloses a computer program product, wherein, when the computer program product runs on a computer, the computer is caused to perform part or all of the steps of the method in the above method embodiments.
  • An embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used to publish a computer program product, wherein, when the computer program product runs on a computer, the computer is caused to perform part of the method as in the above method embodiments Or all steps.
  • an embodiment of the present invention means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present invention. Therefore, “in the embodiments of the present invention” appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. Those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present invention.
  • system and “network” are often used interchangeably herein.
  • the term “and / or” in this article is merely an association relationship describing an associated object, and indicates that there may be three relationships, for example, A and / or B, which may indicate: there is A alone, and A and B exist simultaneously. There are three cases of B alone.
  • the character “/” in this article generally indicates that the related objects before and after are in an “or” relationship.
  • B corresponding to A indicates that B is associated with A, and B can be determined according to A.
  • determining B based on A does not mean determining B based on A alone, and B may also be determined based on A and / or other information.
  • the program may be stored in a computer-readable storage medium, and the storage medium includes read-only Memory (Read-Only Memory, ROM), Random Memory (Random Access, Memory, RAM), Programmable Read-only Memory (PROM), Erasable Programmable Read-Only Memory (Erasable Programmable Read Only Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), electronically erasable rewritable read-only memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), compact disc (Compact Disc) Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.
  • Read-Only Memory Read-Only Memory
  • RAM Random Memory
  • PROM Programmable Read-only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • OTPROM One-time Programmable Read-Only Memory
  • OTPROM One-time Programmable Read-Only Memory
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or software function unit.
  • the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory.
  • the technical solution of the present invention can be embodied in the form of a software product in essence or a part that contributes to the existing technology or all or part of the technical solution, and the computer software product is stored in a memory It includes several requests to make a computer device (which may be a personal computer, a server or a network device, etc., specifically a processor in the computer device) execute some or all of the steps of the above methods in various embodiments of the present invention.

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Abstract

一种车位检测方法及装置，包括：检测车辆所处环境中与车辆匹配的可达区域；识别可达区域中的车位，并从车位中确定可停入车位；获取可停入车位的可停入位置信息，并存储可停入位置信息，以避免重复检测可停入车位。

Description

车位检测方法及装置 技术领域
本发明涉及车辆技术领域，具体涉及一种车位检测方法及装置。
背景技术
目前，自动驾驶汽车在自动泊车时需要先对自动驾驶汽车周围的车位进行检测，只有检测到可停入的车位时，才能实现自动驾驶汽车的自动泊车。然而，在实践中发现，当前的车位检测方法通常只能检测出自动驾驶汽车周围的一个可停入车位，当汽车的行驶速度较快时，有可能错过这个可停入车位，如果驾驶员此后想要将汽车泊入该可停入车位，就需要使自动驾驶汽车行驶到该可停入车位的附近，并再次对该可停入车位进行检测。可见，在泊车过程中如果驾驶员想要将错过的可停入车位确定为泊车的车位，则需要对该可停入车位重新进行检测，从而导致自动驾驶汽车无法快速的确定该可停入车位的信息，降低了自动泊车的效率。
发明内容
本发明实施例公开一种车位检测方法及装置，能够提高自动泊车的效率。
本发明实施例第一方面公开一种车位检测方法，所述方法包括：
检测车辆所处环境中与所述车辆匹配的可达区域；
识别所述可达区域中的车位，并从所述车位中确定可停入车位；
获取所述可停入车位的可停入位置信息，并存储所述可停入位置信息。
作为一种可选的实施方式，在本发明实施例第一方面中，所述方法还包括：
通过图像采集设备获取所述车辆所处环境的当前图像；
根据增强现实技术将所述当前图像组合生成所述车辆所处环境的当前场景图像；
通过显示设备输出所述当前场景图像；
所述获取所述可停入车位的可停入位置信息，并存储所述可停入位置信息之后，所述方法还包括：
识别所述可达区域在所述当前场景图像中的第一位置，并获取所述当前场景图像中与所述可停入位置信息对应的第二位置；
通过所述显示设备在所述当前场景图像中的所述第一位置输出第一可达区域图像，并在所述当前场景图像中的所述第二位置输出车位图像。
作为一种可选的实施方式，在本发明实施例第一方面中，所述检测车辆所处环境中与所述车辆匹配的可达区域，包括：
当检测到泊车指令时，获取所述车辆的占地面积，并检测所述车辆所处环境中的障碍物位置信息；
根据所述障碍物位置信息生成目标区域；
从所述目标区域中识别出面积大于所述占地面积的可达区域。
作为一种可选的实施方式，在本发明实施例第一方面中，所述识别所述可达区域中的车位，并从所述车位中确定可停入车位，包括：
识别所述可达区域中的车位，并确定所述车位周围的可移动区域；
从所述车位中确定所述可移动区域符合所述车辆泊车标准的可停入车位。
作为一种可选的实施方式，在本发明实施例第一方面中，所述检测车辆所处环境中与所述车辆匹配的可达区域之后，所述方法还包括：
通过图像采集设备获取包含所述可达区域的第二可达区域图像；
通过图像识别技术检测预先存储的可停入位置信息中是否包含与所述第二可达区域图像匹配的可停入车位图像；
如果否，执行所述的识别所述可达区域中的车位，并从所述车位中确定可停入车位。
本发明实施例第二方面公开一种车位检测装置，包括：
第一检测单元，用于检测车辆所处环境中与所述车辆匹配的可达区域；
第一识别单元，用于识别所述可达区域中的车位，并从所述车位中确定可停入车位；
存储单元，用于获取所述可停入车位的可停入位置信息，并存储所述可停入位置信息。
作为一种可选的实施方式，在本发明实施例第二方面中，所述车位检测装置还包括：
第一获取单元，用于通过图像采集设备获取所述车辆所处环境的当前图像；
生成单元，用于根据增强现实技术将所述当前图像组合生成所述车辆所处环境的当前场景图像；
第一输出单元，用于通过显示设备输出所述当前场景图像；
所述车位检测装置还包括：
第二识别单元，用于在所述存储单元获取所述可停入车位的可停入位置信息，并存储所述可停入位置信息之后，识别所述可达区域在所述当前场景图像中的第一位置，并获取所述当前场景图像中与所述可停入位置信息对应的第二位置；
第二输出单元，用于通过所述显示设备在所述当前场景图像中的所述第一位置输出第一可达区域图像，并在所述当前场景图像中的所述第二位置输出车位图像。
作为一种可选的实施方式，在本发明实施例第二方面中，所述第一检测单元包括：
检测子单元，用于当检测到泊车指令时，获取所述车辆的占地面积，并检测所述车辆所处环境中的障碍物位置信 息；
生成子单元，用于根据所述障碍物位置信息生成目标区域；
第一识别子单元，用于从所述目标区域中识别出面积大于所述占地面积的可达区域。
作为一种可选的实施方式，在本发明实施例第二方面中，所述第一识别单元包括：
第二识别子单元，用于识别所述可达区域中的车位，并确定所述车位周围的可移动区域；
确定子单元，用于从所述车位中确定所述可移动区域符合所述车辆泊车标准的可停入车位。
作为一种可选的实施方式，在本发明实施例第二方面中，所述车位检测装置还包括：
第二获取单元，用于在所述第一检测单元检测车辆所处环境中与所述车辆匹配的可达区域之后，通过图像采集设备获取包含所述可达区域的第二可达区域图像；
第二检测单元，用于通过图像识别技术检测预先存储的可停入位置信息中是否包含与所述第二可达区域图像匹配的可停入车位图像；
所述第一识别单元，还用于在所述第二检测单元检测的结果为否时，识别所述可达区域中的车位，并从所述车位中确定可停入车位。
本发明实施例第三方面公开一种车载电子设备，包括：
存储有可执行程序代码的存储器；
与所述存储器耦合的处理器；
所述处理器调用所述存储器中存储的所述可执行程序代码，执行第一方面的任意一种方法的部分或全部步骤。
本发明实施例第四方面公开一种计算机可读存储介质，所述计算机可读存储介质存储了程序代码，其中，所述程序代码包括用于执行第一方面的任意一种方法的部分或全部步骤的指令。
本发明实施例第五方面公开一种计算机程序产品，当所述计算机程序产品在计算机上运行时，使得所述计算机执行第一方面的任意一种方法的部分或全部步骤。
本发明实施例第六方面公开一种应用发布平台，所述应用发布平台用于发布计算机程序产品，其中，当所述计算机程序产品在计算机上运行时，使得所述计算机执行第一方面的任意一种方法的部分或全部步骤。
与现有技术相比，本发明实施例具有以下有益效果：
本发明实施例中，检测车辆所处环境中与车辆匹配的可达区域；识别所可达区域中的车位，并从车位中确定可停入车位；获取可停入车位的可停入位置信息，并存储可停入位置信息，以避免重复检测可停入车位。可见，实施本发明实施例，能够从检测到的可达区域的车位中确定车辆能够泊车的可停入车位，且确定的可停入车位的数量可以为一个或多个，还可以将确定的可停入车位的位置信息进行存储，当驾驶员想要将车辆泊入错过的可停入车位时，可直接 获取该可停入车位的信息，无需对该可停入车位进行重复检测，节省了识别可停入车位的时间，从而提高了自动泊车的效率。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例公开的一种车位检测方法的流程示意图；
图2是本发明实施例公开的另一种车位检测方法的流程示意图；
图3是本发明实施例公开的另一种车位检测方法的流程示意图；
图4是本发明实施例公开的一种车位检测装置的结构示意图；
图5是本发明实施例公开的另一种车位检测装置的结构示意图；
图6是本发明实施例公开的另一种车位检测装置的结构示意图；
图7是本发明实施例公开的一种车载电子设备的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，本发明实施例及附图中的术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
本发明实施例公开一种车位检测方法及装置，能够提高自动泊车的效率。以下分别进行详细说明。
实施例一
请参阅图1，图1是本发明实施例公开的一种车位检测方法的流程示意图。如图1所示，该车位检测方法可以包括以下步骤：
101、车位检测装置检测车辆所处环境中与车辆匹配的可达区域。
本发明实施例中，车位检测装置可以为内置于车辆的车载电脑等电子设备，车载电子设备可以设置在任意车辆上， 驾驶员可以通过车载电子设备控制车辆上的若干设备，如车载电子设备可以控制车载超声波传感器检测车辆周围的障碍物，也可以控制车载显示器输出显示图像，还可以控制车载摄像头拍摄车辆四周任意角度的场景图像等。
本发明实施例中，车位检测装置可以控制雷达传感器或超声波传感器等传感器检测车辆所处环境中存在的障碍物，以及障碍物的边界，还可以通过检测到的障碍物及障碍物的边界，确定出车辆所处环境中不存在障碍物的区域，并将该不存在障碍物的区域确定为与该车辆匹配的可达区域。
102、车位检测装置识别可达区域中的车位，并从车位中确定可停入车位。
本发明实施例中，驾驶员可以选择在停车场进行泊车，也可以选择在任意地点进行泊车。当驾驶员选择泊车的地点为停车场时，车辆内置的车位检测装置检测到的可达区域中可以包括停车场规划好的停车位，通常停车场规划的车位会用车位标志线进行表示，因此，车位检测装置可通过检测可达区域中的车位标志线检测可达区域中存在的车位，且车位检测装置可以从一个可达区域中识别出一个或多个车位，还可以不识别出车位，对此，本发明实施例不做限定。当驾驶员选择任意地点进行泊车时，车辆内置的车位检测装置可以先检测是否存在车位标志线，如果存在，可以通过车位标志线识别可达区域中的车位；如果不存在，可以将可达区域中面积达到当前车辆泊入要求的区域识别为车位，从而实现可达区域中车位的成功识别。
本发明实施例中，由于识别出的车位中存在无法泊车的车位，因此车位检测装置还需要对识别出的车位进行进一步的检测识别。例如，可以存在车位面积符合当前车辆的占地面积的要求，但是该车位周围的区域无法找到适合当前车辆泊入该车位的路径，因此这种车位可以确定为无法停入的车位。且车位检测装置可以从若干个车位中识别出一个或多个可停入车位，还可以不识别出可停入车位，对此，本发明实施例不做限定。
作为一种可选的实施方式，车位检测装置识别可达区域中的车位的方式可以包括以下步骤：
车位检测装置识别可达区域中是否存在车位标志线；
如果存在，车位检测装置确定该车位标志线的范围，并将该车位标志线的范围确定为车位；
如果不存在，车位检测装置获取车位的标准面积以及标准形状，并判断该可达区域的面积是否大于标准面积，如果大于，车位检测装置将该可达区域根据标准形状划分为若干个车位。
其中，实施这种实施方式，可以使获取到的车位为标准车位，以保证获取到的车位可以供车辆实现泊车。
作为一种可选的实施方式，车位检测装置从车位中确定可停入车位的方式可以包括以下步骤：
车位检测装置检测车位周围是否存在禁停标志；
如果不存在禁停标志，车位检测装置判断车位对应的路面是否符合预存的泊车标准；
如果符合预存的泊车标准，车位检测装置检测车位对应的高度是否达到标准高度；
如果达到标准高度，车位检测装置生成从车辆当前位置到车位的路线，并判检测该路线是否可行；
如果该路线可行，车位检测装置将该车位确定为可停入车位。
其中，实施这种实施方式，可以从禁停标志、车位的路面和高度以及从车辆当前位置到车位的路线等方面检测识别到的车位是否符合当前车辆的停入标准，可以将识别到的车位中符合当前车辆停入标准的车位确定为可停入车位，从而保证识别出的可停入车位能够使当前车辆泊入。
103、车位检测装置获取可停入车位的可停入位置信息，并存储可停入位置信息，以避免重复检测可停入车位。
本发明实施例中，车位检测装置可以内置车辆所在地的电子地图或者车辆当前所在停车场的停车场地图，车位检测装置在识别出可停入车位时，可以获取该可停入车位在车辆所在地的电子地图上的具体位置或者在停车场地图中的具体位置。该可停入位置信息可以通过坐标的方式进行体现，如车位的形状通常为矩形，因此可以将可停入车位对应的矩形的四个顶点在车辆所在地的电子地图或者停车场地图中对应的坐标点确定为可停入车位的可停入位置信息，并进行存储，以使车位检测装置无需对检测到的可达区域在进行检测，从而也无需车位检测装置重复检测可停入车位。
作为一种可选的实施方式，车位检测装置获取可停入车位的可停入位置信息，并存储可停入位置信息的方式可以包括以下步骤：
车位检测装置检测是否预存储有电子地图；
如果是，车位检测装置计算可停入车位在电子地图中的位置坐标组，并将位置坐标组存储为可停入车位的可停入位置信息，以避免重复检测可停入车位；
如果否，车位检测装置获取可停入车位的经纬度坐标组，并将经纬度坐标组存储为可停入车位的可停入位置信息，以避免重复检测可停入车位。
其中，实施这种实施方式，车位检测装置若未预存有电子地图，则可以通过卫星定位(Satellite Positioning)技术确定该可停入车位的经纬度坐标组，从而确定该可停入车位的确切的位置信息，还可以提供多种存储可停入车位的可停入位置信息的存储方式，以保证车位检测装置可以将检测到的可停入车位准确的进行存储。
在图1所描述的方法中，无需对想要泊入的错过的可停入车位进行重复检测，节省了识别可停入车位的时间，从而提高了自动泊车的效率。此外，实施图1所描述的方法，可以使获取到的车位为标准车位，以保证获取到的车位可以供车辆实现泊车。此外，实施图1所描述的方法，可以将识别到的车位中符合当前车辆停入标准的车位确定为可停入车位，从而保证识别出的可停入车位能够使当前车辆泊入。此外，实施图1所描述的方法，还可以提供多种存储可停入车位的可停入位置信息的存储方式，以保证车位检测装置可以将检测到的可停入车位准确的进行存储。
实施例二
请参阅图2，图2是本发明实施例公开的另一种车位检测方法的流程示意图。如图2所示，该车位检测方法可以包括以下步骤：
201、车位检测装置通过图像采集设备获取车辆所处环境的当前图像。
本发明实施例中，图像采集设备可以为车载摄像头等设备，图像采集设备可以在车辆的行进过程中拍摄车辆周围环境的当前图像(如图片或视频等)。
202、车位检测装置根据增强现实技术将当前图像组合生成车辆所处环境的当前场景图像。
本发明实施例中，车位检测装置可以通过增强现实技术(Augmented Reality，AR)将获取到的当前图像组合生成适用于AR的当前场景图像，通过车载显示器输出该当前场景图像，可以使驾驶员和乘客通过车载显示器看到车辆所处的环境，无需驾驶员或乘客下车观察车辆周围的具体环境。
203、车位检测装置通过显示设备输出当前场景图像。
本发明实施例中，实施上述的步骤201～步骤203，可以通过图像采集设备采集到车辆周围的环境图像，并将采集到的环境图像组合生成综合的当前的场景图像，并通过显示设备将当前场景图像进行输出，以使驾驶员和乘客都可以对车辆当前所处的环境有清晰的了解。
可选的，步骤201～步骤203可以放到步骤204～步骤207的任意步骤的之前或之后，对本发明没有实质的影响。
204、车位检测装置检测车辆所处环境中与车辆匹配的可达区域。
作为一种可选的实施方式，车位检测装置检测车辆所处环境中与车辆匹配的可达区域的方式可以包括以下步骤：
当检测到泊车指令时，车位检测装置获取车辆的占地面积，并检测车辆所处环境中的障碍物位置信息；
车位检测装置根据障碍物位置信息生成目标区域；
车位检测装置从目标区域中识别出面积大于占地面积的可达区域。
其中，实施这种实施方式，可以将面积大于当前车辆占地面积的区域确定为车辆的可达区域，将面积小于当前车辆占地面积的区域进行排除，以保证检测到的可达区域可以满足车辆的泊车要求。
205、车位检测装置识别可达区域中的车位，并从车位中确定可停入车位。
206、车位检测装置获取可停入车位的可停入位置信息，并存储可停入位置信息，以避免重复检测可停入车位。
207、车位检测装置识别可达区域在当前场景图像中的第一位置，并获取当前场景图像中与可停入位置信息对应的第二位置。
本发明实施例中，车位检测装置可以在当前场景图像中识别出可达区域的位置，并将当前场景图像中可达区域的位置确定为第一位置，车位检测装置还可以在当前场景图像中识别出可停入位置信息对应的位置，并将当前场景图像中可停入位置信息对应的位置确定为第二位置，由于可达区域包含可停入车位，因此当前场景图像中第一位置对应的区域内包含第二位置对应的区域。
208、车位检测装置通过显示设备在当前场景图像中的第一位置输出第一可达区域图像，并在当前场景图像中的第 二位置输出车位图像。
本发明实施例中，第一可达区域图像可以为用线条表示的可达区域的范围，或者用阴影表示的可达区域的范围；车位图像可以为用线条表示的可停入车位的范围，也可以用阴影表示的可停入车位的范围，其中，若第一可达区域图像和车位图像均用线条表示，则第一可达区域图像对应的线条与车位图像对应的线条表现形式不同；若第一可达区域图像和车位图像均用阴影表示，则第一可达区域图像对应的阴影图层在车位图像对应的阴影图像之下，且当前场景图像对应的图像为最底层的图层，这种输出方式可以在当前场景图像上显示可达区域，并且在可达区域上显示可停入车位的位置，以使驾驶员和乘客从车载显示识别看到的可停入车位更加直观。
本发明实施例中，实施上述的步骤207～步骤208，可以将检测到的可达区域以及车位的模拟图像都输出到当前场景图像中，以使驾驶员和乘客可以明确的知道检测到的车位的具体位置，以及车位周围的环境，从而使驾驶员和乘客可以综合车位和车位周围的环境选择确定要泊车的车位。
在图2所描述的方法中，无需对想要泊入的错过的可停入车位进行重复检测，节省了识别可停入车位的时间，从而提高了自动泊车的效率。此外，实施图2所描述的方法，可以通过显示设备将当前场景图像进行输出，以使驾驶员和乘客都可以对车辆当前所处的环境有清晰的了解。此外，实施图2所描述的方法，可以保证检测到的可达区域可以满足车辆的泊车要求。此外，实施图2所描述的方法，可以使驾驶员和乘客可以综合车位和车位周围的环境选择确定要泊车的车位。
实施例三
请参阅图3，图3是本发明实施例公开的另一种车位检测方法的流程示意图。如图3所示，该车位检测方法可以包括以下步骤：
301、车位检测装置检测车辆所处环境中与车辆匹配的可达区域。
作为一种可选的实施方式，车位检测装置执行步骤301之后，还可以执行以下步骤：
通过图像采集设备获取包含所述可达区域的第二可达区域图像；
通过图像识别技术检测预先存储的可停入位置信息中是否包含与所述第二可达区域图像匹配的可停入车位图像；
如果否，执行所述的识别所述可达区域中的车位，并从所述车位中确定可停入车位。
其中，实施这种实施方式，可以检测当前识别的可达区域是否与车位检测装置中预先存储的可停入车位的位置匹配，如果匹配可以认为车位检测装置中存储了该可达区域中的可停入车位的信息，因此车位检测装置无需再次对该可停入车位的信息进行检测，简化了车位检测的过程，从而提高了车位检测的效率。
302、车位检测装置识别可达区域中的车位，并确定车位周围的可移动区域。
作为一种可选的实施方式，车位检测装置识别可达区域中的车位，并确定车位周围的可移动区域的方式可以包括 以下步骤：
车位检测装置获取车辆的型号；
车位检测装置根据车辆的型号获取车辆的长度、宽度以及高度；
车位检测装置从可达区域中获取与该车辆的长度和宽度对应的目标区域，其中，目标区域的长度大于等于车辆的长度，目标区域的宽度大于等于车辆的宽度；
车位检测装置检测目标区域内的地面距与地面相对的障碍物的高度是否大于车辆的高度；
如果大于车辆的高度，车位检测装置将该目标区域确定为车位，并确定该车位周围的区域为该车位的可移动区域。
其中，实施这种实施方式，可以确定检测到的车位的规格与当前车辆的型号匹配，从而保证识别出的车位适合当前车辆泊入，提高了车辆泊入识别出的车位的几率。
303、车位检测装置从车位中确定可移动区域符合车辆泊车标准的可停入车位。
本发明实施例中，车辆泊车标准可以为车辆在泊入指定车位时，该指定车位周边需要预留的区域，该预留的区域用于使车辆移动，以得到最佳的泊入路径。
本发明实施例中，实施上述的步骤302～步骤303，可以在获取可达区域中的车位之后检测车位周边的可移动区域符合车辆泊车标准的可停入车位，以使车辆可以通过在该可移动区域内移动将车辆泊入该可停入车位中，以保证车辆可以泊入检测到的可停入车位中。
304、车位检测装置获取可停入车位的可停入位置信息，并存储可停入位置信息。
在图3所描述的方法中，无需对想要泊入的错过的可停入车位进行重复检测，节省了识别可停入车位的时间，从而提高了自动泊车的效率。此外，实施图3所描述的方法，可以确定检测到的车位的规格与当前车辆的型号匹配，从而保证识别出的车位适合当前车辆泊入，提高了车辆泊入识别出的车位的几率。此外，实施图3所描述的方法，可以保证车辆可以泊入检测到的可停入车位中。此外，实施图3所描述的方法，无需再次对该可停入车位的信息进行检测，简化了车位检测的过程，从而提高了车位检测的效率。
实施例四
请参阅图4，图4是本发明实施例公开的一种车位检测装置的结构示意图。如图4所示，该车位检测装置可以包括：
第一检测单元401，用于检测车辆所处环境中与车辆匹配的可达区域。
第一识别单元402，用于识别第一检测单元401检测的可达区域中的车位，并从车位中确定可停入车位。
作为一种可选的实施方式，第一识别单元402识别可达区域中的车位的方式具体可以为：
识别可达区域中是否存在车位标志线；
如果存在，确定该车位标志线的范围，并将该车位标志线的范围确定为车位；
如果不存在，获取车位的标准面积以及标准形状，并判断该可达区域的面积是否大于标准面积，如果大于，将该可达区域根据标准形状划分为若干个车位。
其中，实施这种实施方式，可以使获取到的车位为标准车位，以保证获取到的车位可以供车辆实现泊车。
作为一种可选的实施方式，第一识别单元402从车位中确定可停入车位的方式具体可以为：
检测车位周围是否存在禁停标志；
如果不存在禁停标志，判断车位对应的路面是否符合预存的泊车标准；
如果符合预存的泊车标准，检测车位对应的高度是否达到标准高度；
如果达到标准高度，生成从车辆当前位置到车位的路线，并判检测该路线是否可行；
如果该路线可行，将该车位确定为可停入车位。
其中，实施这种实施方式，可以从禁停标志、车位的路面和高度以及从车辆当前位置到车位的路线等方面检测识别到的车位是否符合当前车辆的停入标准，可以将识别到的车位中符合当前车辆停入标准的车位确定为可停入车位，从而保证识别出的可停入车位能够使当前车辆泊入。
存储单元403，用于获取第一识别单元402确定的可停入车位的可停入位置信息，并存储可停入位置信息，以避免重复检测可停入车位。
作为一种可选的实施方式，存储单元403获取可停入车位的可停入位置信息，并存储可停入位置信息的方式具体可以为：
检测是否预存储有电子地图；
如果是，计算可停入车位在电子地图中的位置坐标组，并将位置坐标组存储为可停入车位的可停入位置信息，以避免重复检测可停入车位；
如果否，获取可停入车位的经纬度坐标组，并将经纬度坐标组存储为可停入车位的可停入位置信息，以避免重复检测可停入车位。
其中，实施这种实施方式，车位检测装置若未预存有电子地图，则可以通过卫星定位(Satellite Positioning)技术确定该可停入车位的经纬度坐标组，从而确定该可停入车位的确切的位置信息，还可以提供多种存储可停入车位的可停入位置信息的存储方式，以保证车位检测装置可以将检测到的可停入车位准确的进行存储。
可见，实施图4所描述的车位检测装置，无需对想要泊入的错过的可停入车位进行重复检测，节省了识别可停入车位的时间，从而提高了自动泊车的效率。此外，实施图4所描述的车位检测装置，可以使获取到的车位为标准车位，以保证获取到的车位可以供车辆实现泊车。此外，实施图4所描述的车位检测装置，可以将识别到的车位中符合当前车辆停入标准的车位确定为可停入车位，从而保证识别出的可停入车位能够使当前车辆泊入。此外，实施图4所描述 的车位检测装置，还可以提供多种存储可停入车位的可停入位置信息的存储方式，以保证车位检测装置可以将检测到的可停入车位准确的进行存储。
实施例五
请参阅图5，图5是本发明实施例公开的另一种车位检测装置的结构示意图。其中，图5所示的车位检测装置是由图4所示的车位检测装置进行优化得到的。与图4所示的车位检测装置相比，图5所示的车位检测装置还可以包括：
第一获取单元404，用于通过图像采集设备获取车辆所处环境的当前图像。
生成单元405，用于根据增强现实技术将第一获取单元404获取的当前图像组合生成车辆所处环境的当前场景图像。
第一输出单元406，用于通过显示设备输出生成单元405生成的当前场景图像。
本发明实施例中，可以通过图像采集设备采集到车辆周围的环境图像，并将采集到的环境图像组合生成综合的当前的场景图像，并通过显示设备将当前场景图像进行输出，以使驾驶员和乘客都可以对车辆当前所处的环境有清晰的了解。
作为一种可选的实施方式，图5所示的车位检测装置还可以包括：
第二识别单元407，用于在存储单元403获取可停入车位的可停入位置信息，并存储可停入位置信息之后，识别可达区域在生成单元405生成的当前场景图像中的第一位置，并获取当前场景图像中与可停入位置信息对应的第二位置；
第二输出单元408，用于通过显示设备在第二识别单元407识别出的当前场景图像中的第一位置输出第一可达区域图像，并在第二识别单元407识别出的当前场景图像中的第二位置输出车位图像。
其中，实施这种实施方式，可以将检测到的可达区域以及车位的模拟图像都输出到当前场景图像中，以使驾驶员和乘客可以明确的知道检测到的车位的具体位置，以及车位周围的环境，从而使驾驶员和乘客可以综合车位和车位周围的环境选择确定要泊车的车位。
作为一种可选的实施方式，图5所示的车位检测装置的第一检测单元401可以包括：
检测子单元4011，用于当检测到泊车指令时，获取车辆的占地面积，并检测车辆所处环境中的障碍物位置信息；
生成子单元4012，用于根据检测子单元4011检测的障碍物位置信息生成目标区域；
第一识别子单元4013，用于从生成子单元4012生成的目标区域中识别出面积大于检测子单元4011获取的占地面积的可达区域。
其中，实施这种实施方式，可以将面积大于当前车辆占地面积的区域确定为车辆的可达区域，将面积小于当前车辆占地面积的区域进行排除，以保证检测到的可达区域可以满足车辆的泊车要求。
可见，实施图5所描述的车位检测装置，无需对想要泊入的错过的可停入车位进行重复检测，节省了识别可停入车位的时间，从而提高了自动泊车的效率。此外，实施图5所描述的车位检测装置，可以通过显示设备将当前场景图 像进行输出，以使驾驶员和乘客都可以对车辆当前所处的环境有清晰的了解。此外，实施图5所描述的车位检测装置，可以使驾驶员和乘客可以综合车位和车位周围的环境选择确定要泊车的车位。此外，实施图5所描述的车位检测装置，可以保证检测到的可达区域可以满足车辆的泊车要求。
实施例六
请参阅图6，图6是本发明实施例公开的另一种车位检测装置的结构示意图。其中，图6所示的车位检测装置是由图5所示的车位检测装置进行优化得到的。与图5所示的车位检测装置相比，图6所示的车位检测装置的第一识别单元402可以包括：
第二识别子单元4021，用于识别第一检测单元401检测的可达区域中的车位，并确定车位周围的可移动区域。
作为一种可选的实施方式，第二识别子单元4021识别可达区域中的车位，并确定车位周围的可移动区域的方式可以包括以下步骤：
获取车辆的型号；
根据车辆的型号获取车辆的长度、宽度以及高度；
从可达区域中获取与该车辆的长度和宽度对应的目标区域，其中，目标区域的长度大于等于车辆的长度，目标区域的宽度大于等于车辆的宽度；
检测目标区域内的地面距与地面相对的障碍物的高度是否大于车辆的高度；
如果大于车辆的高度，将该目标区域确定为车位，并确定该车位周围的区域为该车位的可移动区域。
其中，实施这种实施方式，可以确定检测到的车位的规格与当前车辆的型号匹配，从而保证识别出的车位适合当前车辆泊入，提高了车辆泊入识别出的车位的几率。
确定子单元4022，用于从第二识别子单元4021识别的车位中确定可移动区域符合车辆泊车标准的可停入车位。
本发明实施例中，可以在获取可达区域中的车位之后检测车位周边的可移动区域符合车辆泊车标准的可停入车位，以使车辆可以通过在该可移动区域内移动将车辆泊入该可停入车位中，以保证车辆可以泊入检测到的可停入车位中。
作为一种可选的实施方式，图6所示的车位检测装置还可以包括：
第二获取单元409，用于在第一检测单元401检测车辆所处环境中与车辆匹配的可达区域之后，通过图像采集设备获取包含可达区域的第二可达区域图像；
第二检测单元410，用于通过图像识别技术检测预先存储的可停入位置信息中是否包含与第二获取单元409获取的第二可达区域图像匹配的可停入车位图像；
第一识别单元402，还用于在第二检测单元410检测的结果为否时，识别可达区域中的车位，并从车位中确定可停入车位。
其中，实施这种实施方式，可以检测当前识别的可达区域是否与车位检测装置中预先存储的可停入车位的位置匹配，如果匹配可以认为车位检测装置中存储了该可达区域中的可停入车位的信息，因此车位检测装置无需再次对该可停入车位的信息进行检测，简化了车位检测的过程，从而提高了车位检测的效率。
可见，实施图6所描述的车位检测装置，无需对想要泊入的错过的可停入车位进行重复检测，节省了识别可停入车位的时间，从而提高了自动泊车的效率。此外，实施图6所描述的车位检测装置，可以保证识别出的车位适合当前车辆泊入，提高了车辆泊入识别出的车位的几率。此外，实施图6所描述的车位检测装置，可以使车辆可以通过在该可移动区域内移动将车辆泊入该可停入车位中，以保证车辆可以泊入检测到的可停入车位中。此外，实施图6所描述的车位检测装置，无需再次对该可停入车位的信息进行检测，简化了车位检测的过程，从而提高了车位检测的效率。
实施例七
请参阅图7，图7是本发明实施例公开的一种车载电子设备的结构示意图。如图7所示，该车载电子设备可以包括：
存储有可执行程序代码的存储器701；
与存储器701耦合的处理器702；
其中，处理器702调用存储器701中存储的可执行程序代码，执行以上各方法实施例中的方法的部分或全部步骤。
本发明实施例还公开一种计算机可读存储介质，其中，计算机可读存储介质存储了程序代码，其中，程序代码包括用于执行以上各方法实施例中的方法的部分或全部步骤的指令。
本发明实施例还公开一种计算机程序产品，其中，当计算机程序产品在计算机上运行时，使得计算机执行如以上各方法实施例中的方法的部分或全部步骤。
本发明实施例还公开一种应用发布平台，其中，应用发布平台用于发布计算机程序产品，其中，当计算机程序产品在计算机上运行时，使得计算机执行如以上各方法实施例中的方法的部分或全部步骤。
应理解，说明书通篇中提到的“本发明实施例”意味着与实施例有关的特定特征、结构或特性包括在本发明的至少一个实施例中。因此，在整个说明书各处出现的“在本发明实施例中”未必一定指相同的实施例。此外，这些特定特征、结构或特性可以以任意适合的方式结合在一个或多个实施例中。本领域技术人员也应该知悉，说明书中所描述的实施例均属于可选实施例，所涉及的动作和模块并不一定是本发明所必须的。
在本发明的各种实施例中，应理解，上述各过程的序号的大小并不意味着执行顺序的必然先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。
另外，本文中术语“系统”和“网络”在本文中常可互换使用。应理解，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
在本发明所提供的实施例中，应理解，“与A对应的B”表示B与A相关联，根据A可以确定B。但还应理解，根据A确定B并不意味着仅仅根据A确定B，还可以根据A和/或其他信息确定B。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质包括只读存储器(Read-Only Memory，ROM)、随机存储器(Random Access Memory，RAM)、可编程只读存储器(Programmable Read-only Memory，PROM)、可擦除可编程只读存储器(Erasable Programmable Read Only Memory，EPROM)、一次可编程只读存储器(One-time Programmable Read-Only Memory，OTPROM)、电子抹除式可复写只读存储器(Electrically-Erasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储器、磁盘存储器、磁带存储器、或者能够用于携带或存储数据的计算机可读的任何其他介质。
上述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可位于一个地方，或者也可以分布到多个网络单元上。可根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。
另外，在本发明各实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
上述集成的单元若以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可获取的存储器中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或者部分，可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储器中，包括若干请求用以使得一台计算机设备(可以为个人计算机、服务器或者网络设备等，具体可以是计算机设备中的处理器)执行本发明的各个实施例上述方法的部分或全部步骤。
以上对本发明实施例公开的一种车位检测方法及装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (11)

  1. 一种车位检测方法，其特征在于，所述方法包括：
    检测车辆所处环境中与所述车辆匹配的可达区域；
    识别所述可达区域中的车位，并从所述车位中确定可停入车位；
    获取所述可停入车位的可停入位置信息，并存储所述可停入位置信息。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    通过图像采集设备获取所述车辆所处环境的当前图像；
    根据增强现实技术将所述当前图像组合生成所述车辆所处环境的当前场景图像；
    通过显示设备输出所述当前场景图像；
    所述获取所述可停入车位的可停入位置信息，并存储所述可停入位置信息之后，所述方法还包括：
    识别所述可达区域在所述当前场景图像中的第一位置，并获取所述当前场景图像中与所述可停入位置信息对应的第二位置；
    通过所述显示设备在所述当前场景图像中的所述第一位置输出第一可达区域图像，并在所述当前场景图像中的所述第二位置输出车位图像。
  3. 根据权利要求1或2所述的方法，其特征在于，所述检测车辆所处环境中与所述车辆匹配的可达区域，包括：
    当检测到泊车指令时，获取所述车辆的占地面积，并检测所述车辆所处环境中的障碍物位置信息；
    根据所述障碍物位置信息生成目标区域；
    从所述目标区域中识别出面积大于所述占地面积的可达区域。
  4. 根据权利要求3所述的方法，其特征在于，所述识别所述可达区域中的车位，并从所述车位中确定可停入车位，包括：
    识别所述可达区域中的车位，并确定所述车位周围的可移动区域；
    从所述车位中确定所述可移动区域符合所述车辆泊车标准的可停入车位。
  5. 根据权利要求1所述的方法，其特征在于，所述检测车辆所处环境中与所述车辆匹配的可达区域之后，所述方法还包括：
    通过图像采集设备获取包含所述可达区域的第二可达区域图像；
    通过图像识别技术检测预先存储的可停入位置信息中是否包含与所述第二可达区域图像匹配的可停入车位图像；
    如果否，执行所述的识别所述可达区域中的车位，并从所述车位中确定可停入车位。
  6. 一种车位检测装置，其特征在于，包括：
    第一检测单元，用于检测车辆所处环境中与所述车辆匹配的可达区域；
    第一识别单元，用于识别所述可达区域中的车位，并从所述车位中确定可停入车位；
    存储单元，用于获取所述可停入车位的可停入位置信息，并存储所述可停入位置信息。
  7. 根据权利要求6所述的车位检测装置，其特征在于，所述车位检测装置还包括：
    第一获取单元，用于通过图像采集设备获取所述车辆所处环境的当前图像；
    生成单元，用于根据增强现实技术将所述当前图像组合生成所述车辆所处环境的当前场景图像；
    第一输出单元，用于通过显示设备输出所述当前场景图像；
    所述车位检测装置还包括：
    第二识别单元，用于在所述存储单元获取所述可停入车位的可停入位置信息，并存储所述可停入位置信息之后，识别所述可达区域在所述当前场景图像中的第一位置，并获取所述当前场景图像中与所述可停入位置信息对应的第二位置；
    第二输出单元，用于通过所述显示设备在所述当前场景图像中的所述第一位置输出第一可达区域图像，并在所述当前场景图像中的所述第二位置输出车位图像。
  8. 根据权利要求6或7所述的车位检测装置，其特征在于，所述第一检测单元包括：
    检测子单元，用于当检测到泊车指令时，获取所述车辆的占地面积，并检测所述车辆所处环境中的障碍物位置信息；
    生成子单元，用于根据所述障碍物位置信息生成目标区域；
    第一识别子单元，用于从所述目标区域中识别出面积大于所述占地面积的可达区域。
  9. 根据权利要求8所述的车位检测装置，其特征在于，所述第一识别单元包括：
    第二识别子单元，用于识别所述可达区域中的车位，并确定所述车位周围的可移动区域；
    确定子单元，用于从所述车位中确定所述可移动区域符合所述车辆泊车标准的可停入车位。
  10. 根据权利要求6所述的车位检测装置，其特征在于，所述车位检测装置还包括：
    第二获取单元，用于在所述第一检测单元检测车辆所处环境中与所述车辆匹配的可达区域之后，通过图像采集设备获取包含所述可达区域的第二可达区域图像；
    第二检测单元，用于通过图像识别技术检测预先存储的可停入位置信息中是否包含与所述第二可达区域图像匹配的可停入车位图像；
    所述第一识别单元，还用于在所述第二检测单元检测的结果为否时，识别所述可达区域中的车位，并从所述车位中确定可停入车位。
  11. 一种计算机可读存储介质，其特征在于，其存储计算机程序，所述计算机程序使得计算机执行权利要求1～5 任一项所述的车位检测方法。
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