CN112193242B - Parking control method, system, device and storage medium - Google Patents
Parking control method, system, device and storage medium Download PDFInfo
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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
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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Abstract
The invention discloses a parking control method, a system, equipment and a storage medium, wherein the parking control method comprises the following steps: according to the information of obstacles around the vehicle, establishing a database patrol cost map of the vehicle in a database patrol stage; determining a target parking space for parking a vehicle; processing a database patrol cost map, and establishing a tracking cost map of the width of the barrier within a preset width; and planning a driving path based on the tracking cost map, and controlling the vehicle to enter a target parking space along the driving path so that the vehicle is parallel to the direction of the obstacle when the vehicle stops. The invention accurately detects the angle of the target parking space, enables the vehicle parked on the target parking space to be parallel to the surrounding vehicles, and has simple use condition and easy implementation.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a parking control method, system, device, and storage medium.
Background
In the existing automatic parking method based on the cost map, a vehicle runs in a garage inspection stage to establish the map, then a tracking stage determines a parking position by using the established map, the vehicle always uses the same map in the garage inspection stage and the tracking stage of automatic parking, because a radar cannot detect the actual width of an obstacle, a space without the obstacle in the map established in the garage inspection stage can be marked as a space with the obstacle, so that the angle detection of a parking space is often wrong when the vehicle just starts tracking, and finally the vehicle parked on the parking space is not parallel to surrounding vehicles.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a parking control method, which can accurately detect the angle of the target parking space, enables the vehicle parked on the target parking space to be parallel to the surrounding vehicles, and has simple use conditions and easy implementation.
The invention also provides a parking control system which can accurately detect the angle of the target parking space, enables the vehicle parked on the target parking space to be parallel to the surrounding vehicles, and has simple use conditions and easy implementation.
The invention also provides automatic parking equipment applying the parking control system, which can accurately detect the angle of the target parking space, enables the vehicle parked on the target parking space to be parallel to the surrounding vehicles, and has simple use conditions and easy implementation.
The invention also provides a readable storage medium applying the parking control method, which can accurately detect the angle of the target parking space, so that the vehicle parked on the target parking space is parallel to the surrounding vehicles, and the use condition is simple and easy to implement.
A parking control method according to an embodiment of the present invention includes: according to the information of obstacles around the vehicle, establishing a database patrol cost map of the vehicle in a database patrol stage; determining a target parking space for parking the vehicle; processing the database patrol cost map, and establishing a tracking cost map with the width of the barrier within a preset width; and planning a driving path based on the tracking cost map, and controlling the vehicle to enter the target parking space along the driving path so that the vehicle is parallel to the direction of the obstacle when stopping.
According to the parking control method provided by the embodiment of the invention, the angle of the target parking space is accurately detected, so that the vehicle parked on the target parking space is parallel to the surrounding vehicles, and the parking control method is simple in use condition and easy to implement.
In some embodiments, the building a database patrol cost map of the vehicle in the database patrol stage according to the obstacle information around the vehicle includes: acquiring a detection distance between the surface of an obstacle and a detection piece, wherein the determined width of the obstacle is a difference value between the maximum detection distance of the detection piece and the detection distance; and establishing the patrol warehouse cost map according to the determined width of the obstacle and the detection distance. The vehicle detects the surrounding environment of the vehicle walking path in the database patrol stage and establishes a database patrol cost map according to the detected barrier information on the map, so that the method is convenient and quick.
In some embodiments, the patrol warehouse cost map is established according to the determined width of the obstacle and the detection distance, and the pixel value of the patrol warehouse cost map is greater than or equal to a first preset threshold value. The method is simple, practical, clear and clear, and the target parking space can be quickly determined when the vehicle is subsequently determined to be the target parking space for parking.
In some embodiments, the processing the database patrol cost map and establishing a tracking cost map of the obstacle width within a preset width includes: acquiring a detection distance between the surface of the obstacle and the detection piece, and setting a preset width; and establishing the tracking cost map according to the preset width of the obstacle and the detection distance. The parking control method eliminates the errors of the database patrol cost map, and has the advantages of simple steps, low cost and easy implementation.
In some embodiments, the tracking cost map is established according to the preset width of the obstacle and the detection distance, and a pixel value of the tracking cost map is smaller than a second preset threshold. The method can judge the database patrol cost map or the tracking cost map according to the pixel value, is simple and easy to operate, reduces the influence of wrong information of the database patrol cost map, and improves the parking accuracy.
A parking control system according to an embodiment of the present invention includes: the system comprises a map establishing unit, a database inspection unit and a database inspection unit, wherein the map establishing unit is used for establishing a database inspection cost map of a vehicle in a database inspection stage according to barrier information around the vehicle; a determination unit for determining a target parking space for the vehicle to park; the processing unit is used for processing the database patrol cost map and establishing a tracking cost map of the width of the obstacle within a preset width; and the control unit is used for planning a driving path based on the tracking cost map, controlling the vehicle to enter the target parking space along the driving path and enabling the vehicle to be parallel to the direction of the obstacle when the vehicle stops.
According to the parking control system provided by the embodiment of the invention, the angle of the target parking space is accurately detected, so that the vehicle parked on the target parking space is parallel to the surrounding vehicles, and the parking control system is simple in use condition and easy to implement.
In some embodiments, the creating a database patrol cost map of the vehicle in the database patrol stage according to the obstacle information around the vehicle, and the map creating unit is further configured to: acquiring a detection distance between the surface of an obstacle and a detection piece, wherein the determined width of the obstacle is a difference value between the maximum detection distance of the detection piece and the detection distance; and establishing the patrol warehouse cost map according to the determined width of the obstacle and the detection distance. The vehicle detects the surrounding environment of the vehicle walking path in the database patrol stage and establishes a database patrol cost map according to the detected barrier information on the map, so that the method is convenient and quick.
In some embodiments, the map building unit is further configured to: and establishing the database patrol cost map according to the determined width of the obstacle and the detection distance, wherein the pixel value of the database patrol cost map is greater than or equal to a first preset threshold value. The method is simple, practical, clear and clear, and the target parking space can be quickly determined when the vehicle is subsequently determined to be the target parking space for parking.
In some embodiments, the processing unit is further configured to process the database patrol cost map, and establish a tracking cost map with an obstacle width within a preset width, where the processing unit is further configured to: acquiring a detection distance between the surface of the obstacle and the detection piece, and setting a preset width; and establishing the tracking cost map according to the preset width of the obstacle and the detection distance. The parking control method eliminates the errors of the database patrol cost map, and has the advantages of simple steps, low cost and easy implementation.
In some embodiments, the processing unit is further configured to: and establishing the tracking cost map according to the preset width of the obstacle and the detection distance, wherein the pixel value of the tracking cost map is smaller than a second preset threshold value. The method can judge the database patrol cost map or the tracking cost map according to the pixel value, is simple and easy to operate, reduces the influence of wrong information of the database patrol cost map, and improves the parking accuracy.
According to the automatic parking device provided by the embodiment of the invention, the parking control system is applied to the automatic parking device.
According to the automatic parking equipment provided by the embodiment of the invention, the angle of the target parking space is accurately detected, so that the vehicle parked on the target parking space is parallel to the surrounding vehicles, and the automatic parking equipment is simple in use condition and easy to implement.
A readable storage medium according to an embodiment of the present invention has stored thereon a computer program that, when executed by a processor, implements the parking control method described above.
According to the readable storage medium provided by the embodiment of the invention, the angle of the target parking space is accurately detected, so that the vehicle parked on the target parking space is parallel to the surrounding vehicles, and the use condition is simple and easy to implement.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a first flowchart of a parking control method according to an embodiment of the present invention;
FIG. 2 is a second flowchart of a parking control method according to an embodiment of the present invention;
FIG. 3 is a third flowchart of a parking control method according to an embodiment of the present invention;
FIG. 4 is a fourth flowchart of a parking control method according to an embodiment of the present invention;
FIG. 5 is a block diagram of a parking control system according to an embodiment of the present invention;
FIG. 6 is an exemplary diagram illustrating a process of detecting obstacles and building a database patrol cost map by a radar in a database patrol stage according to an embodiment of the present invention;
FIG. 7 is an exemplary diagram of a database patrol cost map according to an embodiment of the present disclosure;
FIG. 8 is an exemplary diagram of a tracking cost map in an embodiment of the invention;
FIG. 9 is an exemplary diagram of a radar detection during a database patrol phase in an embodiment of the present invention;
FIG. 10 is an exemplary diagram of radar detection during a tracking phase in an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A parking control method according to an embodiment of the present invention will be described below with reference to the drawings.
As shown in fig. 1, a parking control method according to an embodiment of the present invention includes the steps of:
s102: and establishing a database patrol cost map of the vehicle in the database patrol stage according to the obstacle information around the vehicle.
As shown in fig. 6, the vehicle detects the environment around the vehicle traveling path in the garage patrol stage and establishes a garage patrol cost map on the map according to the detected obstacle information, which is convenient and fast.
Specifically, as shown in fig. 2, S102 includes the steps of: s201: acquiring the detection distance between the surface of the obstacle and the detection piece, wherein the determined width of the obstacle is the difference value between the maximum detection distance and the detection distance of the detection piece; s202: and establishing a patrol warehouse cost map according to the determined width and the detection distance of the obstacle. For example, as shown in fig. 9, the detecting element is a radar, the radar can only detect the distance between the surface of the obstacle and the radar, but does not know the actual width of the obstacle, the assumed width of the obstacle on the patrol cost map is W, and W is the maximum detection distance of the radar-the distance detected by the radar. For example, if the maximum detection distance of the radar is 5 meters and the distance from the surface of the obstacle detected by the radar is 3 meters, the assumed width W of the obstacle is 5-3-2 meters, so as to obtain the shape of the obstacle in the patrol warehouse cost map, which is shown in fig. 7.
In some embodiments, a patrol database cost map is established according to the determination width and the detection distance of the obstacle, and the pixel value of the patrol database cost map is greater than or equal to a first preset threshold value. For example, the first preset threshold value is alpha, all the pixel values of the obstacle regions detected by the detection part are set to be larger than or equal to alpha on the patrol garage cost map, the method is simple, practical, clear and definite, and the vehicle can quickly determine the target parking space when subsequently determining the target parking space for the vehicle to park. As shown in fig. 6 and 7, when the vehicle travels in the traveling direction, the vehicle creates a patrol cost map in which an area having a pixel value greater than or equal to α is identified as an area having an obstacle, and a real obstacle, for example, another vehicle parked in a parking space, is located within a dotted line frame.
S103: and determining a target parking space for parking the vehicle.
Specifically, the vehicle determines the target parking space by using an image processing method for the patrol warehouse cost map, that is, the target parking space is determined by a method for simulating the patrol warehouse cost map, as shown in fig. 7, according to the patrol warehouse cost map, an area without obstacles is determined to be the target parking space between adjacent obstacles, that is, the target parking space is determined by simulating the parking space according to the parking space directions of 2 patrol warehouse stages.
S104: and processing the database patrol cost map, and establishing a tracking cost map of the width of the barrier within a preset width. Step S104 reduces the interference of wrong information in the database patrol cost map and improves the parking accuracy.
Specifically, step 104 includes the steps of: s401: acquiring a detection distance between the surface of the obstacle and the detection piece, and setting a preset width; s402: and establishing a tracking cost map according to the preset width and the detection distance of the obstacle. As shown in fig. 10, for example, the detecting element is a radar, the radar can only detect the distance between the surface of the obstacle and the radar, but does not know the actual width of the obstacle, so the width of the obstacle on the tracking cost map is set to be a preset width, specifically, the maximum detection distance of the radar is 5 meters, the preset width of the obstacle is set to be 20 centimeters, and the radar detects the distance to the surface of the obstacle to be 3 meters, so the obstacle is 20 centimeters behind the surface of the obstacle on the tracking cost map. The width of the obstacle is preset, the tracking cost map is obtained on the basis of the database patrol cost map, errors of the database patrol cost map caused by inclined parking of other vehicles are eliminated, as shown in fig. 6, no obstacle exists in the obstacle-free area, but the obstacle-free area is identified as an obstacle by the database patrol cost map, the obstacle-free area is ignored in the tracking cost map shown in fig. 8, the errors of the database patrol cost map are eliminated, and the parking control method is simple in steps, low in cost and easy to implement.
Optionally, the preset width is set according to an actual situation, for example, the preset width is any value within a range of 20-40 cm, and certainly, the value of the preset width is not limited thereto, and is not described herein again.
In some embodiments, in the tracking cost map established according to the preset width and the detection distance of the obstacle, the pixel value of the tracking cost map is smaller than the second preset threshold value. For example, the second preset threshold is β, and all pixel values of the obstacle regions on the tracking cost map are set to be smaller than β, as shown in fig. 8, the width of the obstacle on the tracking cost map is smaller, so that the shape contour of the obstacle (such as the contour of another vehicle) can be reflected more truly, the erroneous judgment of the obstacle-free region is eliminated, and the information of the target parking space is obtained more accurately. When the vehicle comes near the target parking space, the tracking cost map is an area which is identified as an obstacle by the vehicle, the pixel value of the tracking cost map is smaller than beta, and a real obstacle, such as other vehicles stopped on the parking space, is positioned in a dotted line frame.
In some implementations, the second predetermined threshold is equal to the first predetermined threshold, i.e., β ═ α. Specifically, as shown in fig. 8, the first area represents an obstacle area established by the database patrol cost map, the pixel value of the first area is greater than or equal to α, the pixel value of the tracking cost map is less than α, and the database patrol cost map or the tracking cost map can be judged according to the pixel value.
S105: and planning a driving path based on the tracking cost map, and controlling the vehicle to enter a target parking space along the driving path so that the vehicle is parallel to the direction of the obstacle when the vehicle stops.
Specifically, the vehicle determines the driving path by using an image processing method for the tracking cost map, for example, the driving path is determined by simulating the tracking cost map, as shown in fig. 8, the vehicle performs simulation according to the parking space direction in the tracking stage to determine the driving path, the influence of the parking space direction in the garage patrol stage caused by the error information in the garage patrol cost map is reduced, and the correct driving path is determined, wherein the driving path includes the driving direction and the driving speed in the driving process of the vehicle, and the driving direction is controlled by the vehicle so that the vehicle drives on the driving path.
According to the parking control method provided by the embodiment of the invention, a garage inspection cost map of the vehicle in a garage inspection stage is established according to the information of obstacles around the vehicle; determining a target parking space for parking a vehicle; processing a database patrol cost map, and establishing a tracking cost map of the width of the barrier within a preset width; and planning a driving path based on the tracking cost map, and controlling the vehicle to enter a target parking space along the driving path so that the vehicle is parallel to the direction of the obstacle when the vehicle stops. Therefore, the specific shape of the barrier in the map can be reflected more truly through the database patrol cost map and the tracking cost map, the angle of the target parking space can be detected accurately, the vehicle parked on the target parking space is parallel to the surrounding vehicles, a user is helped to park the vehicle, and the system is simple in use condition, low in cost and easy to implement.
A specific embodiment of the parking control method according to the present invention will be described below with reference to the accompanying drawings.
As shown in fig. 4, the vehicle travels in the garage to find a target parking space for parking, and during the traveling of the vehicle, the radar on the vehicle acquires the detection distance between the surface of the obstacle around the vehicle and the radar. As shown in fig. 9, the radar maximum detection distance is 5 meters, and when the radar detects that the detection distance from the surface of the obstacle to the radar is 3 meters, the assumed width of the obstacle is the radar maximum detection distance minus the distance from the radar to the surface of the obstacle, that is, the assumed width of the obstacle is 2 meters. The vehicle establishes a database patrol cost map according to the detection distance and the determined width of the obstacle, as shown in fig. 6, the database patrol cost map is established according to the determined width after the surface of the obstacle, the database patrol cost map is an area where the vehicle determines that the obstacle is full of obstacles, and the vehicle sets all pixel values on the database patrol cost map to be greater than or equal to a first preset threshold value alpha to indicate that the obstacle exists. The vehicle simulates a database patrol cost map, and as shown in fig. 7, it is determined that a target parking space exists between two real obstacles. The vehicle processes the database-patrol cost map, the detection distance between the surface of the obstacle and the radar is obtained, the preset width of the obstacle is set to be 20 cm, the distance from the surface of the obstacle detected by the radar is 3 m, as shown in fig. 10, the obstacle is 20 cm behind the surface of the obstacle, the vehicle establishes a tracking cost map according to the preset width and the detection distance of the obstacle, as shown in fig. 8, the tracking cost map is established 20 cm behind the surface of the obstacle, the tracking cost map is an area where the vehicle is determined to be full of the obstacle, and the pixel values on the tracking cost map are all set to be smaller than alpha by the vehicle. The vehicle simulates the tracking cost map to determine the parking direction of the vehicles parked around, plans the driving path, controls the vehicle to drive along the driving path, and finally parks the vehicle in the target parking space in the direction parallel to the surrounding obstacles.
As shown in fig. 5, a parking control system according to an embodiment of the present invention includes: the map building device comprises a map building unit, a determining unit, a processing unit and a control unit.
The map building unit is used for building a database patrol cost map of the vehicle in the database patrol stage according to the obstacle information around the vehicle. As shown in fig. 6, the vehicle detects the environment around the vehicle traveling path in the garage patrol stage and establishes a garage patrol cost map on the map according to the detected obstacle information, which is convenient and fast.
Specifically, as shown in fig. 2, the map building unit is further configured to: acquiring the detection distance between the surface of the obstacle and the detection piece, wherein the determined width of the obstacle is the difference value between the maximum detection distance and the detection distance of the detection piece; and establishing a patrol warehouse cost map according to the determined width and the detection distance of the obstacle. For example, as shown in fig. 9, the detecting element is a radar, the radar can only detect the distance between the surface of the obstacle and the radar, but does not know the actual width of the obstacle, the assumed width of the obstacle on the patrol cost map is W, and W is the maximum detection distance of the radar-the distance detected by the radar. For example, if the maximum detection distance of the radar is 5 meters and the distance from the surface of the obstacle detected by the radar is 3 meters, the assumed width W of the obstacle is 5-3-2 meters, so as to obtain the shape of the obstacle in the patrol warehouse cost map, which is shown in fig. 7.
In some embodiments, a patrol database cost map is established according to the determination width and the detection distance of the obstacle, and the pixel value of the patrol database cost map is greater than or equal to a first preset threshold value. For example, the first preset threshold value is alpha, all the pixel values of the obstacle regions detected by the detection part are set to be larger than or equal to alpha on the patrol garage cost map, the method is simple, practical, clear and definite, and the vehicle can quickly determine the target parking space when subsequently determining the target parking space for the vehicle to park. As shown in fig. 6 and 7, when the vehicle travels in the traveling direction, the vehicle creates a patrol cost map in which an area having a pixel value greater than or equal to α is identified as an area having an obstacle, and a real obstacle, for example, another vehicle parked in a parking space, is located within a dotted line frame.
The determining unit is used for determining a target parking space for parking the vehicle.
Specifically, the vehicle determines the target parking space by using an image processing method for the patrol warehouse cost map, that is, the target parking space is determined by a method for simulating the patrol warehouse cost map, as shown in fig. 7, according to the patrol warehouse cost map, an area without obstacles is determined to be the target parking space between adjacent obstacles, that is, the target parking space is determined by simulating the parking space according to the parking space directions of 2 patrol warehouse stages.
The processing unit is used for processing the database patrol cost map and establishing a tracking cost map of the width of the barrier within the preset width. The processing unit reduces the interference of wrong information in the database patrol cost map and improves the parking accuracy.
Specifically, the processing unit is further configured to: acquiring a detection distance between the surface of the obstacle and the detection piece, and setting a preset width; and establishing a tracking cost map according to the preset width and the detection distance of the obstacle. As shown in fig. 10, for example, the detecting element is a radar, the radar can only detect the distance between the surface of the obstacle and the radar, but does not know the actual width of the obstacle, so the width of the obstacle on the tracking cost map is set to be a preset width, specifically, the maximum detection distance of the radar is 5 meters, the preset width of the obstacle is set to be 20 centimeters, and the radar detects the distance to the surface of the obstacle to be 3 meters, so the obstacle is 20 centimeters behind the surface of the obstacle on the tracking cost map. The width of the obstacle is preset, the tracking cost map is obtained on the basis of the database patrol cost map, errors of the database patrol cost map caused by inclined parking of other vehicles are eliminated, as shown in fig. 6, no obstacle exists in the obstacle-free area, but the obstacle-free area is identified as an obstacle by the database patrol cost map, the obstacle-free area is ignored in the tracking cost map shown in fig. 8, the errors of the database patrol cost map are eliminated, and the parking control method is simple in steps, low in cost and easy to implement.
Optionally, the preset width is set according to an actual situation, for example, the preset width is any value within a range of 20-40 cm, and certainly, the value of the preset width is not limited thereto, and is not described herein again.
In some embodiments, in the tracking cost map established according to the preset width and the detection distance of the obstacle, the pixel value of the tracking cost map is smaller than the second preset threshold value. For example, the second preset threshold is β, and all pixel values of the obstacle regions on the tracking cost map are set to be smaller than β, as shown in fig. 8, the width of the obstacle on the tracking cost map is smaller, so that the shape contour of the obstacle (such as the contour of another vehicle) can be reflected more truly, the erroneous judgment of the obstacle-free region is eliminated, and the information of the target parking space is obtained more accurately. When the vehicle comes near the target parking space, the tracking cost map is an area which is identified as an obstacle by the vehicle, the pixel value of the tracking cost map is smaller than beta, and a real obstacle, such as other vehicles stopped on the parking space, is positioned in a dotted line frame.
In some embodiments, the second predetermined threshold is equal to the first predetermined threshold, i.e., β ═ α. Specifically, as shown in fig. 8, the first area represents an obstacle area established by the database patrol cost map, the pixel value of the first area is greater than or equal to α, the pixel value of the tracking cost map is less than α, and the database patrol cost map or the tracking cost map can be judged according to the pixel value.
The control unit is used for planning a driving path based on the tracking cost map, controlling the vehicle to enter a target parking space along the driving path and enabling the vehicle to be parallel to the direction of the obstacle when the vehicle stops.
Specifically, the vehicle determines the driving path by using an image processing method for the tracking cost map, for example, the driving path is determined by simulating the tracking cost map, as shown in fig. 8, the vehicle performs simulation according to the parking space direction in the tracking stage to determine the driving path, the influence of the parking space direction in the garage patrol stage caused by the error information in the garage patrol cost map is reduced, and the correct driving path is determined, wherein the driving path includes the driving direction and the driving speed in the driving process of the vehicle, and the driving direction is controlled by the vehicle so that the vehicle drives on the driving path. According to the parking control system provided by the embodiment of the invention, the specific shape of the obstacle in the map can be reflected more truly through the database patrol cost map and the tracking cost map, the angle of the target parking space can be accurately detected, the vehicle parked on the target parking space is parallel to the surrounding vehicles, and the using condition is simple and easy to implement.
According to the automatic parking device provided by the embodiment of the invention, the parking control system is applied to the automatic parking device.
According to the automatic parking equipment disclosed by the embodiment of the invention, the specific shape of the obstacle in the map can be reflected more truly through the database patrol cost map and the tracking cost map, the angle of the target parking space can be accurately detected, the vehicle parked on the target parking space is parallel to the surrounding vehicles, and the automatic parking equipment is simple in use condition and easy to implement.
A readable storage medium according to an embodiment of the present invention has stored thereon a computer program that, when executed by a processor, implements the parking control method described above.
According to the readable storage medium provided by the embodiment of the invention, the specific shape of the obstacle in the map can be reflected more truly through the database patrol cost map and the tracking cost map, the angle of the target parking space can be accurately detected, the vehicle parked on the target parking space is parallel to the surrounding vehicles, and the use condition is simple and easy to implement.
In addition, the logic instructions in the memory may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Other configurations and operations of the parking control method according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (12)
1. A parking control method characterized by comprising:
according to the information of obstacles around the vehicle, establishing a database patrol cost map of the vehicle in a database patrol stage;
determining a target parking space for parking the vehicle;
processing the database patrol cost map, and establishing a tracking cost map with the width of the barrier within a preset width;
and planning a driving path based on the tracking cost map, and controlling the vehicle to enter the target parking space along the driving path so that the vehicle is parallel to the direction of the obstacle when stopping.
2. The parking control method according to claim 1, wherein the building of a garage patrol cost map of the vehicle in a garage patrol stage according to the obstacle information around the vehicle includes:
acquiring a detection distance between the surface of an obstacle and a detection piece, wherein the determined width of the obstacle is a difference value between the maximum detection distance of the detection piece and the detection distance;
and establishing the patrol warehouse cost map according to the determined width of the obstacle and the detection distance.
3. The vehicle parking control method according to claim 2, wherein in the bank patrol cost map created based on the recognized width of the obstacle and the detection distance, the pixel value of the bank patrol cost map is greater than or equal to a first preset threshold value.
4. The parking control method according to any one of claims 1 to 3, wherein the processing the patrol cost map and establishing a tracking cost map with an obstacle width within a preset width includes:
acquiring a detection distance between the surface of the obstacle and the detection piece, and setting a preset width;
and establishing the tracking cost map according to the preset width of the obstacle and the detection distance.
5. The vehicle parking control method according to claim 4, wherein in the tracking cost map established according to the preset width of the obstacle and the detection distance, a pixel value of the tracking cost map is smaller than a second preset threshold value.
6. A parking control system characterized by comprising:
the system comprises a map establishing unit, a database inspection unit and a database inspection unit, wherein the map establishing unit is used for establishing a database inspection cost map of a vehicle in a database inspection stage according to barrier information around the vehicle;
a determination unit for determining a target parking space for the vehicle to park;
the processing unit is used for processing the database patrol cost map and establishing a tracking cost map of the width of the obstacle within a preset width;
and the control unit is used for planning a driving path based on the tracking cost map, controlling the vehicle to enter the target parking space along the driving path and enabling the vehicle to be parallel to the direction of the obstacle when the vehicle stops.
7. The parking control system according to claim 6, wherein the map creation unit is further configured to create a garage patrol cost map of the vehicle in a garage patrol stage according to obstacle information around the vehicle, and:
acquiring a detection distance between the surface of an obstacle and a detection piece, wherein the determined width of the obstacle is a difference value between the maximum detection distance of the detection piece and the detection distance;
and establishing the patrol warehouse cost map according to the determined width of the obstacle and the detection distance.
8. The vehicle parking control system according to claim 7, wherein the map building unit is further configured to:
and establishing the database patrol cost map according to the determined width of the obstacle and the detection distance, wherein the pixel value of the database patrol cost map is greater than or equal to a first preset threshold value.
9. The parking control system according to any one of claims 6 to 8, wherein the processing unit is further configured to process the patrol cost map to create a tracking cost map with an obstacle width within a preset width, and to:
acquiring a detection distance between the surface of the obstacle and the detection piece, and setting a preset width;
and establishing the tracking cost map according to the preset width of the obstacle and the detection distance.
10. The vehicle parking control system of claim 9, wherein the processing unit is further configured to:
and establishing the tracking cost map according to the preset width of the obstacle and the detection distance, wherein the pixel value of the tracking cost map is smaller than a second preset threshold value.
11. An automatic parking apparatus, characterized by comprising the parking control system according to any one of claims 6 to 10.
12. A readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the parking control method according to any one of claims 1 to 5.
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| CN113112846A (en) * | 2021-05-20 | 2021-07-13 | 中国第一汽车股份有限公司 | Parking navigation method, device, equipment and storage medium |
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| CN108944915A (en) * | 2018-07-13 | 2018-12-07 | 广东工业大学 | A kind of automatic parking method, system and computer readable storage medium |
| CN110962843B (en) * | 2018-09-30 | 2021-07-27 | 上海汽车集团股份有限公司 | Automatic parking control decision method and system |
| KR102651410B1 (en) * | 2018-12-28 | 2024-03-28 | 현대자동차주식회사 | Automated Valet Parking System, and infrastructure and vehicle thereof |
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