CN114312759A - Intelligent parking assisting method, equipment and storage medium - Google Patents
Intelligent parking assisting method, equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application provides a method, equipment and a storage medium for intelligent auxiliary parking, wherein the method comprises the following steps: acquiring a plurality of target parking area images based on the vision sensor image to generate a target parking area image set; acquiring obstacle position information in the environment where the vehicle is located based on the ultrasonic sensor; generating a first parking route planning map and a first rotation angle control notice of a vehicle steering wheel based on the target parking area image set and the position information of the obstacle; acquiring a second rotation angle of the vehicle steering wheel in real time; and under the condition that the difference value between the second rotation angle and the first rotation angle is larger than a preset threshold value, generating a second parking route planning graph and a second rotation angle control notice of a vehicle steering wheel, and finishing parking of the vehicle based on the second parking route planning graph and the second parking route planning graph. According to the method, the parking route can be automatically planned according to the parking requirements of the user, and the parking convenience of the user is improved.
Description
Technical Field
The present application relates to the field of intelligent control technologies, and in particular, to a method, an apparatus, and a storage medium for parking assistance intelligently.
Background
With the development of national economy, the automobile industry develops rapidly and rapidly, automobiles become standard fittings of resident families, and the number of automobiles is continuously increased. Because the parking space in the city is limited, the parking space in the city becomes relatively narrow, and for most drivers, it becomes complicated to plan a parking route according to individual needs on the relatively narrow parking space, and the situation that the driver can park the vehicle according to the needs rarely happens without taking a round trip.
Therefore, how to automatically plan a parking route according to the parking requirement of a user, so that the parking convenience of the user is improved, and the problem to be solved urgently is solved.
Disclosure of Invention
The embodiment of the application provides a method, equipment and a storage medium for intelligently assisting parking, which are used for solving the following technical problems: how to automatically plan a parking route according to the parking requirements of a user.
In a first aspect, the present application provides a method for parking with intelligent assistance, which is characterized in that the method includes: responding to a route planning control instruction, generating a visual sensor image acquisition instruction and an ultrasonic sensor positioning instruction, sending the visual sensor image acquisition instruction to a plurality of visual sensors preset on a vehicle body, and sending the ultrasonic sensor positioning instruction to a plurality of ultrasonic sensors preset on the vehicle body; based on a visual sensor image acquisition instruction, acquiring a plurality of target parking area images through a plurality of visual sensors to generate a target parking area image set; acquiring obstacle position information in the environment where the vehicle is located through a plurality of ultrasonic sensors based on the ultrasonic sensor positioning instruction; generating a first parking route planning map based on the target parking area image set and the obstacle position information, and generating a first rotation angle control notification of a vehicle steering wheel based on the obstacle position information and the vehicle attribute information; the vehicle attribute information comprises vehicle size information, vehicle wheel base information and vehicle steering wheel and tire angle conversion information; acquiring a second rotation angle of the vehicle steering wheel in real time based on a gyroscope sensor preset in the vehicle steering wheel under the condition of parking based on the first parking route planning diagram; and generating a second parking routing diagram and a second rotation angle control notice of the steering wheel of the vehicle under the condition that the difference value between the second rotation angle and the first rotation angle is larger than a preset threshold value, so that the vehicle completes parking based on the second parking routing diagram and the second rotation angle control notice.
According to the method for parking with the assistance of the intelligence, firstly, based on a vision sensor image acquisition instruction, a plurality of vision sensors acquire a plurality of target parking area images to generate a target parking area image set; according to the embodiment of the application, the images of the target parking areas are obtained through the plurality of visual sensors, the conditions of the target parking areas can be reflected from different positions, and then the position information of the obstacles in the environment where the vehicle is located is obtained based on the plurality of ultrasonic sensors; according to the embodiment of the application, the position information of the obstacle in the environment where the vehicle is located is obtained through the plurality of ultrasonic sensors, whether the obstacle exists in the environment where the vehicle is located can be accurately judged, and the specific position information of the obstacle is obtained under the condition that the obstacle exists. Generating a first parking route planning map based on the target parking area image set and the obstacle position information, and generating a first rotation angle control notification of a vehicle steering wheel based on the obstacle position information and the vehicle attribute information; the vehicle attribute information comprises vehicle size information, vehicle wheel base information and vehicle steering wheel and tire angle conversion information; acquiring a second rotation angle of the vehicle steering wheel in real time based on a gyroscope sensor preset in the vehicle steering wheel under the condition of parking based on the first parking route planning diagram; and generating a second parking routing diagram and a second rotation angle control notice of the steering wheel of the vehicle under the condition that the difference value between the second rotation angle and the first rotation angle is larger than a preset threshold value, so that the vehicle completes parking based on the second parking routing diagram and the second rotation angle control notice. According to the method, the parking route can be automatically planned according to the parking requirements of the user, and the parking convenience of the user is greatly improved.
In one implementation manner of the application, a target parking area image set is spliced to generate a spliced image; the spliced image is used for displaying information of a target parking area; determining whether the target parking area meets the parking requirement based on the obstacle position information; and under the condition that the target parking area meets the parking requirement, generating a parking planning route, and displaying the parking planning route on the spliced image to generate a first parking route planning map.
According to the embodiment of the application, the parking planning route is displayed on the spliced image, so that a user can park according to the automatically generated parking planning route under the condition that the target parking area is displayed, and the parking convenience of the user is greatly improved.
In one implementation of the present application, a vehicle steering angle of each direction change area in a parking plan route is determined based on obstacle position information; a first rotation angle of a vehicle steering wheel is determined based on the vehicle attribute information and the vehicle steering angle, and a first rotation angle control notification is generated based on the first rotation angle.
In one implementation manner of the application, feature information in each target parking area image is determined based on a preset picture feature extraction network to determine an overlapping feature area in each target parking area image; based on the overlapped characteristic region, cutting the target parking region images in the target parking region image set so as to ensure that characteristic information contained in each target parking region image is not repeated; and splicing and perspective transformation are carried out on the cut target parking area images to generate spliced images.
According to the embodiment of the application, the target parking area images in the target parking area image set are cut, the purpose that the characteristic information reflected in each target parking area image is different is achieved, and the information characteristics in the target parking area image set can be reserved to the greatest extent.
In one implementation manner of the application, an installation scheme of the visual sensor and the ultrasonic sensor is determined according to vehicle attribute information, equipment attribute information of the visual sensor and equipment attribute information of the ultrasonic sensor, and the visual sensor and the ultrasonic sensor are installed on a vehicle based on the installation scheme; and mounting the gyro sensor on a rotating structure of a steering wheel of the vehicle.
In one implementation manner of the application, the first parking route planning map is sent to the vehicle-mounted display terminal based on a preset ZigBee communication module, and the first rotation angle control notification is sent to the vehicle-mounted sound, so that a user can park based on the first rotation angle control notification broadcasted by the vehicle-mounted sound and the first parking route planning map displayed by the vehicle-mounted display terminal.
In one implementation of the present application, a parking type of a vehicle is determined; the parking types comprise side direction parking, garage reversing parking and inclined parking; and generating a corresponding route planning control instruction based on the parking type of the vehicle.
In one implementation manner of the application, under the condition that the target parking area is determined not to meet the parking requirement, alarm information is generated and alarm is given based on the alarm information.
In a second aspect, an embodiment of the present application further provides an apparatus for parking with intelligent assistance, where the apparatus includes: a processor; and a memory having executable code stored thereon, which when executed, causes the processor to perform a method according to any one of claims 1-8.
In a third aspect, an embodiment of the present application further provides a non-volatile computer storage medium for parking assistance intelligently, where the non-volatile computer storage medium stores computer-executable instructions, and the computer-executable instructions are configured to: responding to a route planning control instruction, generating a visual sensor image acquisition instruction and an ultrasonic sensor positioning instruction, sending the visual sensor image acquisition instruction to a plurality of visual sensors preset on a vehicle body, and sending the ultrasonic sensor positioning instruction to a plurality of ultrasonic sensors preset on the vehicle body; based on a visual sensor image acquisition instruction, acquiring a plurality of target parking area images through a plurality of visual sensors to generate a target parking area image set; acquiring obstacle position information in the environment where the vehicle is located through a plurality of ultrasonic sensors based on the ultrasonic sensor positioning instruction; generating a first parking route planning map based on the target parking area image set and the obstacle position information, and generating a first rotation angle control notification of a vehicle steering wheel based on the obstacle position information and the vehicle attribute information; the vehicle attribute information comprises vehicle size information, vehicle wheel base information and vehicle steering wheel and tire angle conversion information; acquiring a second rotation angle of the vehicle steering wheel in real time based on a gyroscope sensor preset in the vehicle steering wheel under the condition of parking based on the first parking route planning diagram; and generating a second parking routing diagram and a second rotation angle control notice of the steering wheel of the vehicle under the condition that the difference value between the second rotation angle and the first rotation angle is larger than a preset threshold value, so that the vehicle completes parking based on the second parking routing diagram and the second rotation angle control notice.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of a method for parking with intelligent assistance according to an embodiment of the present disclosure;
fig. 2 is a schematic view of an internal structure of an intelligent parking assisting apparatus according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides a method, equipment and a storage medium for intelligently assisting parking, which are used for solving the following technical problems: how to automatically plan a parking route according to the parking requirements of a user.
The technical solutions proposed in the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart of an intelligent parking assistance method according to an embodiment of the present disclosure.
In the embodiment of the present application, the execution main body may be a processor or a server having an arithmetic processing function.
As shown in fig. 1, the method for parking with assistance of intelligence provided in the embodiment of the present application mainly includes the following steps:
In one embodiment of the present application, the user may determine the type of parking of the vehicle based on the requirements. Among them, the parking types include, but are not limited to, side parking, garage parking, and slant parking. After a user determines a parking type at a user interaction terminal according to requirements, a route planning control instruction corresponding to the parking type is generated, so that a processor or a server responds to the route planning control instruction to generate a visual sensor image acquisition instruction and an ultrasonic sensor positioning instruction. For example: in an embodiment of the application, the user interaction terminal may be a vehicle-mounted display terminal, the user may select a side position to park, the vehicle-mounted display terminal generates a route planning control instruction through operation on the vehicle-mounted display terminal, the processor generates a visual sensor image acquisition instruction and an ultrasonic sensor positioning instruction according to the route planning control instruction, and then sends the visual sensor image acquisition instruction to a plurality of visual sensors preset on a vehicle body through the zigbee communication module; and sending the positioning command of the ultrasonic sensors to a plurality of ultrasonic sensors preset on the vehicle body through a zigbee communication module.
It should be noted that the visual sensor may be composed of an ABS box body, a fixed base structure, a circuit board, a camera, a zigbee communication module, and a battery; the ultrasonic sensor consists of an ABS box body, a fixed base structural part, a zigbee communication module, a circuit board and a battery.
And 102, acquiring a plurality of target parking area images through a plurality of visual sensors based on the visual sensor image acquisition instruction to generate a target parking area image set.
In an embodiment of the present application, after the vision sensor image acquisition instruction is sent to the vision sensors, the vision sensors acquire a plurality of images of the target parking area based on the vision sensor image acquisition instruction, and upload the acquired images of the target parking area through a zigbee communication module included in the vision sensors. After a processor or a server receives a plurality of target parking area images uploaded by a plurality of visual sensors, a target parking area image set is constructed according to the plurality of target parking area images.
It can be understood that it is necessary to determine an installation scheme of the vision sensor according to the vehicle size information, the device attribute information of the vision sensor, and install the vision sensor to the vehicle body based on the installation scheme.
On one hand, due to different types of vehicles, the size information of the vehicles is different, for example, the size information difference between a small-sized automobile and a heavy truck is very different, so that the number of required visual sensors is also different, and the installation number needs to be determined according to the size information of different vehicles. In one embodiment of the application, the visual sensors can be arranged on the side surface of the small car every other meter according to the requirements of users, and the visual sensors are respectively arranged in the front and the back of the small car; the user can also set one vision sensor at intervals of two meters on the side surface of the heavy truck according to requirements, and two vision sensors are respectively arranged in front of and behind the heavy truck. On the other hand, since the types of the vision sensors are different, the device attribute information of the vision sensors is also different, and the installation scheme is also changed due to the difference in the device attribute information of the vision sensors. For example, it is desirable to determine the dynamic range, speed, and responsiveness of device attributes reflecting a visual sensor, which when determined to be superior, can reduce the number of installations and increase the pitch size of the installations. It should be noted that, the process of determining the dynamic range, speed and responsiveness of the vision sensor may adopt corresponding prior art, and the application is not limited herein.
Therefore, several mounting schemes for the vision sensor need to combine the vehicle size information and the equipment attribute information of the vision sensor. The application does not limit the types of the vision sensors, the spacing distance of each vision sensor and the set number, and the specific implementation scheme is determined by integrating the vehicle size information, the equipment attribute information of the vision sensors and different requirements of users.
103, based on the positioning instruction of the ultrasonic sensors, the ultrasonic sensors acquire the position information of the obstacles in the environment where the vehicle is located.
In an embodiment of the present application, similarly, after the ultrasonic sensor image acquisition command is sent to the plurality of visual sensors, the plurality of ultrasonic sensors acquire obstacle position information in an environment where the vehicle is located, and the obstacle position information is uploaded through a zigbee communication module included in the ultrasonic sensors. It can be understood that the processor or the server obtains the position information of the obstacle in the environment where the vehicle is located to detect the articles existing in the environment where the vehicle is located, so as to determine the specific position information of each article, and thus, whether the obstacle affects the parking of the vehicle can be determined according to the specific position information of each article. The ultrasonic sensor determines the article position information based on the reflection time of the ultrasonic wave.
It is also understood that it is necessary to determine the installation scheme of the ultrasonic sensor from the vehicle size information, the apparatus attribute information of the ultrasonic sensor, and install the ultrasonic sensor to the vehicle based on the installation scheme.
On one hand, because the types of vehicles are different, the size information of the vehicles is different, for example, the size information difference between a small-sized automobile and a heavy truck is very different, so the number of the required ultrasonic sensors is different, and the ultrasonic sensors are determined according to the size information of different vehicles. On the other hand, since the types of the ultrasonic sensors are different, the device attribute information of the ultrasonic sensors is also different, and the mounting scheme is also changed depending on the device attribute information of the ultrasonic sensors. For example, it is necessary to determine the use environment of the ultrasonic sensor, the detection distance, the presence or absence of a request for a measured object, and the like. When it is determined that the device property of the ultrasonic sensor is superior, the number of installations can be reduced and the pitch size of the installations can be increased. It should be noted that, the process of determining the dynamic range, the speed and the responsivity of the ultrasonic sensor may respectively adopt corresponding prior arts, and the application is not limited herein.
Therefore, the installation scheme of the ultrasonic sensors needs to combine the vehicle size information and the equipment attribute information of the ultrasonic sensors. The type of the ultrasonic sensors, the spacing distance of each ultrasonic sensor and the set number are not limited, and the specific implementation scheme is determined by integrating the vehicle size information, the equipment attribute information of the ultrasonic sensors and different requirements of users.
In one embodiment of the present application, a first parking routing map is generated, and a target parking area image set needs to be stitched to generate a stitched image, where the stitched image is an image of a parking environment for presenting a parking route.
In an embodiment of the present application, the feature information in each target parking area image is extracted through a preset image feature extraction network, so that before feature extraction, a plurality of similar target parking area image sets need to be trained to obtain a converged image feature extraction network.
In one embodiment of the present application, a specific process for generating the stitched image is as follows: the method comprises the steps of acquiring feature information in images of all target parking areas based on a picture feature extraction network, comparing the acquired feature information to determine overlapping feature areas in the images of all the target parking areas, and cutting target parking area images in a target parking area image set based on the overlapping feature areas to enable feature information contained in the images of all the target parking areas to be different. For example: the plurality of target parking area images all contain an area at the right rear of the vehicle, the area of any one target parking area image is selected and stored after being cut, and the area in other target parking area images is deleted after being cut so that the area information does not repeatedly appear. And then, splicing and perspective transformation are carried out on the images of all the target parking areas stored after being cut so as to generate spliced images.
It can be understood that the distorted target parking area image can be corrected through perspective transformation, namely, in the case that the problem of the installation angle of the visual sensor causes the distortion of the acquired target parking area image, the distorted target parking area image can be corrected into an orthographic form. It should be noted that, the specific process of image perspective transformation for each target parking area may respectively adopt the corresponding prior art, and the application is not limited herein.
In one embodiment of the present application, the generated stitched image is used to display the target parking area information, i.e. the user can observe the overall environment of the target parking area. And then determining whether the target parking area meets the parking requirement or not according to the position information of the obstacle acquired by the ultrasonic sensor. Namely, the generated spliced image and the position information of the obstacle are combined to judge whether the target parking area can be parked under sufficient conditions. And generating alarm information under the condition that the target parking area does not meet the parking requirement, and giving an alarm based on the alarm information.
In one embodiment of the present application, in a case where it is determined that the target parking area satisfies the parking demand, a parking planned route is generated and displayed on the stitched image to generate a first parking route planning map. In the generated first parking routing graph, based on the acquired position information of the obstacle, the vehicle steering angle of each direction change area in the parking routing graph is determined, namely the specific steering position and steering angle of the routing in the first parking routing graph are determined. For example: travel ten centimeters rearward and forty-five degrees rearward to the left. A first angle of rotation of a vehicle steering wheel is then determined based on the vehicle attribute information and the vehicle steering angle. Since the size information, the vehicle steering wheel, and the tire angle conversion information of different vehicles are different from each other, it is necessary to determine the first rotation angle of the vehicle steering wheel in combination with the vehicle attribute information and the vehicle steering angle to generate the first rotation angle control notification. It should be noted that, the displaying manner of the first rotation angle control notification includes, but is not limited to, a voice description and a text description. The first rotation angle of the vehicle steering wheel is the angle of the steering wheel which needs to be rotated by the user according to the first parking route planning diagram.
It should be noted that, after the generated first parking routing diagram and the first rotation angle control notification, the first parking routing diagram and the first rotation angle control notification may be sent to the vehicle-mounted display terminal for displaying through a preset zigBee communication module. The vehicle-mounted display terminal comprises but is not limited to a liquid crystal screen; after the first rotation angle control notification is generated, the first rotation angle control notification can also be sent to the vehicle-mounted sound through a preset zigBee communication module, so that a user can park according to the first rotation angle control notification broadcasted by the vehicle-mounted sound and the first parking route planning map displayed by the vehicle-mounted display terminal. It is understood that the first rotation angle control notification transmitted to the in-vehicle display terminal is in a letter shape, and the first rotation angle control notification transmitted to the in-vehicle audio is a voice description.
And 105, acquiring a second rotation angle of the vehicle steering wheel in real time based on a gyroscope sensor preset in the vehicle steering wheel under the condition of parking based on the first parking route planning diagram.
In one embodiment of the present application, in order to obtain the second rotation angle of the vehicle steering wheel in real time, the embodiment of the present application installs the gyroscope sensor on the rotation structure of the vehicle steering wheel. It should be noted that the gyro sensor may be composed of an ABS case, a fixed base structure, a circuit board, and a battery. The gyroscope sensor is used for monitoring the actual rotation angle of the steering wheel of the user in real time under the condition that the user can stop according to the first parking route planning drawing and the broadcasting of the vehicle-mounted sound equipment.
According to the embodiment of the application, the difference between the actual parking route of the user and the first parking route planning map can be accurately mastered by monitoring the rotation angle of the steering wheel of the user in real time.
And 106, generating a second parking route planning map and a second rotation angle control notice of the vehicle steering wheel under the condition that the difference value between the second rotation angle and the first rotation angle is larger than a preset threshold value, so that the vehicle can finish parking based on the second parking route planning map and the second parking route planning map.
In one embodiment of the present application, the second rotation angle is compared with the first rotation angle based on a preset threshold, and when an angle difference between the two is greater than the preset threshold, a second rotation angle control notification of the second parking route planning map and the vehicle steering wheel is generated, and the second parking route planning map is transmitted to the vehicle-mounted display terminal. The display terminal includes, but is not limited to, a liquid crystal screen. And then the second rotation angle control notice is sent to the vehicle-mounted sound box, so that the user can stop according to the second rotation angle control notice broadcasted by the vehicle-mounted sound box and the second parking route planning map displayed by the vehicle-mounted display terminal.
It can be understood that, when the angle difference between the second rotation angle and the first rotation angle is not greater than the preset threshold, the user can stop the vehicle according to the first rotation angle control notification and the first parking route planning map displayed by the vehicle-mounted display terminal.
Based on the same inventive concept, the embodiment of the application also provides an intelligent parking assisting device, and the internal structure of the intelligent parking assisting device is shown in fig. 2.
Fig. 2 is a schematic view of an internal structure of an intelligent parking assisting apparatus according to an embodiment of the present application. As shown in fig. 2, the apparatus includes: a processor 201; memory 202 having stored thereon executable instructions that, when executed, cause processor 201 to perform a method of intelligently assisting parking as described above.
In an embodiment of the present application, the processor 201 is configured to generate a vision sensor image acquisition instruction and an ultrasonic sensor positioning instruction in response to the route planning control instruction, send the vision sensor image acquisition instruction to a plurality of vision sensors preset in the vehicle body, and send the ultrasonic sensor positioning instruction to a plurality of ultrasonic sensors preset in the vehicle body; based on a visual sensor image acquisition instruction, acquiring a plurality of target parking area images through a plurality of visual sensors to generate a target parking area image set; acquiring obstacle position information in the environment where the vehicle is located through a plurality of ultrasonic sensors based on the ultrasonic sensor positioning instruction; generating a first parking route planning map based on the target parking area image set and the obstacle position information, and generating a first rotation angle control notification of a vehicle steering wheel based on the obstacle position information and the vehicle attribute information; the vehicle attribute information comprises vehicle size information, vehicle wheel base information and vehicle steering wheel and tire angle conversion information; acquiring a second rotation angle of the vehicle steering wheel in real time based on a gyroscope sensor preset in the vehicle steering wheel under the condition of parking based on the first parking route planning diagram; and generating a second parking routing diagram and a second rotation angle control notice of the steering wheel of the vehicle under the condition that the difference value between the second rotation angle and the first rotation angle is larger than a preset threshold value, so that the vehicle completes parking based on the second parking routing diagram and the second rotation angle control notice.
Some embodiments of the present application provide a non-volatile computer storage medium corresponding to fig. 1 storing computer-executable instructions configured to:
responding to a route planning control instruction, generating a visual sensor image acquisition instruction and an ultrasonic sensor positioning instruction, sending the visual sensor image acquisition instruction to a plurality of visual sensors preset on a vehicle body, and sending the ultrasonic sensor positioning instruction to a plurality of ultrasonic sensors preset on the vehicle body;
based on the vision sensor image acquisition instruction, the vision sensors acquire a plurality of target parking area images to generate a target parking area image set;
based on the positioning instruction of the ultrasonic sensors, the plurality of ultrasonic sensors acquire the position information of the obstacles in the environment where the vehicle is located;
generating a first parking route planning map based on the target parking area image set and the obstacle position information, and generating a first rotation angle control notification of a vehicle steering wheel based on the obstacle position information and the vehicle attribute information; the vehicle attribute information comprises vehicle size information and vehicle steering wheel and tire angle conversion information;
acquiring a second rotation angle of the vehicle steering wheel in real time based on a gyroscope sensor preset in the vehicle steering wheel under the condition of parking based on the first parking route planning diagram;
and generating a second parking routing diagram and a second rotation angle control notice of the steering wheel of the vehicle under the condition that the difference value between the second rotation angle and the first rotation angle is larger than a preset threshold value, so that the vehicle completes parking based on the second parking routing diagram and the second rotation angle control notice.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. Especially, for the internet of things device and medium embodiments, since they are substantially similar to the method embodiments, the description is simple, and the relevant points can be referred to the partial description of the method embodiments.
The system and the medium provided by the embodiment of the application correspond to the method one to one, so the system and the medium also have the beneficial technical effects similar to the corresponding method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method of intelligently assisting parking, the method comprising:
responding to a route planning control instruction, generating a visual sensor image acquisition instruction and an ultrasonic sensor positioning instruction, sending the visual sensor image acquisition instruction to a plurality of visual sensors preset on a vehicle body, and sending the ultrasonic sensor positioning instruction to a plurality of ultrasonic sensors preset on the vehicle body;
acquiring a plurality of target parking area images through the plurality of visual sensors based on the visual sensor image acquisition instruction to generate a target parking area image set;
acquiring obstacle position information in the environment where the vehicle is located through the plurality of ultrasonic sensors based on the ultrasonic sensor positioning instruction;
generating a first parking route planning map based on the target parking area image set and the obstacle position information, and generating a first rotation angle control notification of a vehicle steering wheel based on the obstacle position information and vehicle attribute information; the vehicle attribute information comprises vehicle size information and vehicle steering wheel and tire angle conversion information;
acquiring a second rotation angle of a vehicle steering wheel in real time based on a gyroscope sensor preset in the vehicle steering wheel under the condition of parking based on the first parking routing diagram;
and generating a second parking routing diagram and a second rotation angle control notice of a vehicle steering wheel under the condition that the difference value between the second rotation angle and the first rotation angle is larger than a preset threshold value, so that the vehicle finishes parking based on the second parking routing diagram and the second rotation angle control notice.
2. The method of claim 1, wherein generating a first parking routing map based on the set of target parking area images and the obstacle position information comprises:
splicing the target parking area image set to generate a spliced image; the spliced image is used for displaying information of a target parking area;
determining whether the target parking area meets a parking demand based on the obstacle position information;
and under the condition that the target parking area meets the parking requirement, generating a parking planning route, and displaying the parking planning route on the spliced image to generate a first parking routing graph.
3. The method according to claim 2, wherein generating a first rotation angle control notification of a vehicle steering wheel based on the obstacle position information and the vehicle attribute information specifically comprises:
determining vehicle steering angles of all direction change areas in a parking planning route based on the obstacle position information;
determining a first rotation angle of the vehicle steering wheel based on the vehicle attribute information and the vehicle steering angle, and generating the first rotation angle control notification based on the first rotation angle.
4. The method of claim 2, wherein the stitching the target parking area image set to generate a stitched image comprises:
determining feature information in each target parking area image based on a preset picture feature extraction network so as to determine an overlapping feature area in each target parking area image;
based on the overlapped characteristic region, cutting target parking region images in the target parking region image set so as to ensure that characteristic information contained in each target parking region image is not repeated;
and splicing and perspective transformation are carried out on the cut target parking area images to generate spliced images.
5. The method of intelligently assisting parking of claim 1, further comprising:
determining an installation scheme of the visual sensor and the ultrasonic sensor according to the vehicle attribute information, the equipment attribute information of the visual sensor and the equipment attribute information of the ultrasonic sensor, and installing the visual sensor and the ultrasonic sensor on the vehicle based on the installation scheme; and the number of the first and second groups,
mounting the gyro sensor on a rotating structure of the vehicle steering wheel.
6. The method of claim 1, wherein after generating a first parking routing map based on the target parking area image set and the obstacle position information, and generating a first rotation angle control notification of a vehicle steering wheel based on the obstacle position information and vehicle attribute information, the method further comprises:
and based on a preset ZigBee communication module, sending the first parking route planning map to a vehicle-mounted display terminal, and sending the first rotation angle control notification to a vehicle-mounted sound so that a user can park based on the first rotation angle control notification broadcasted by the vehicle-mounted sound and the first parking route planning map displayed by the vehicle-mounted display terminal.
7. The method of intelligent assisted parking of claim 1, prior to responding to a routing control instruction, further comprising:
determining a parking type of the vehicle; the parking types comprise side parking, garage reversing parking and inclined parking;
and generating a corresponding route planning control instruction based on the parking type of the vehicle.
8. The method of claim 2, further comprising:
and under the condition that the target parking area is determined not to meet the parking requirement, generating alarm information and giving an alarm based on the alarm information.
9. An apparatus for intelligent assisted parking, the apparatus comprising:
a processor;
and a memory having executable code stored thereon, which when executed, causes the processor to perform a method as claimed in any one of claims 1-8.
10. A non-transitory computer storage medium storing computer-executable instructions configured to:
responding to a route planning control instruction, generating a visual sensor image acquisition instruction and an ultrasonic sensor positioning instruction, sending the visual sensor image acquisition instruction to a plurality of visual sensors preset on a vehicle body, and sending the ultrasonic sensor positioning instruction to a plurality of ultrasonic sensors preset on the vehicle body;
acquiring a plurality of target parking area images through the plurality of visual sensors based on the visual sensor image acquisition instruction to generate a target parking area image set;
acquiring obstacle position information in the environment where the vehicle is located through the plurality of ultrasonic sensors based on the ultrasonic sensor positioning instruction;
generating a first parking route planning map based on the target parking area image set and the obstacle position information, and generating a first rotation angle control notification of a vehicle steering wheel based on the obstacle position information and vehicle attribute information; the vehicle attribute information comprises vehicle size information, vehicle wheel base information and vehicle steering wheel and tire angle conversion information;
acquiring a second rotation angle of a vehicle steering wheel in real time based on a gyroscope sensor preset in the vehicle steering wheel under the condition of parking based on the first parking routing diagram;
and generating a second parking routing diagram and a second rotation angle control notice of a vehicle steering wheel under the condition that the difference value between the second rotation angle and the first rotation angle is larger than a preset threshold value, so that the vehicle finishes parking based on the second parking routing diagram and the second rotation angle control notice.
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| CN202210070464.4A CN114312759A (en) | 2022-01-21 | 2022-01-21 | Intelligent parking assisting method, equipment and storage medium |
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| CN202210070464.4A CN114312759A (en) | 2022-01-21 | 2022-01-21 | Intelligent parking assisting method, equipment and storage medium |
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