Reversing parking guidance system and method

Abstract

The present application discloses a reverse parking guidance system and a learning method, wherein the reverse parking guidance system includes: a collection device, a sensor and a controller, wherein the collection device is installed outside the vehicle and is used to collect information about the external environment of the vehicle to generate corresponding continuous frames of images; the sensor is used to detect vehicle driving information and provide the detected vehicle driving information to the controller; the controller is connected to the collection device and the sensor, and is used to compensate the garage corner position identified by the current frame image according to the complete garage information obtained by the previous frame image, the current garage position information identified by the current frame image and the vehicle driving information, and guide the vehicle to reverse according to the compensated current garage position. The present application can eliminate the adverse effects caused by the distortion of the garage, increase the frequency of detecting accurate parking spaces, and thus improve the efficiency of reverse parking.

Description

Technical Field

[0001] The present application relates to the technical field of reversing, and in particular to a reversing guidance system and method. Background Art

[0002] In recent years, with the development of science and technology and economy, the number of vehicles has also increased synchronously, and many assisted driving systems have emerged accordingly, such as APA (Auto Parking Assist) system. The most commonly used automatic parking assistance system is the reversing vision radar fusion system, which helps the driver "see" things that are invisible in the rearview mirror when the vehicle is reversing, or reminds the driver of objects behind the vehicle, which greatly facilitates the driver's reversing and improves the driver's safety when reversing.

[0003] However, when the APA system guides the vehicle to reverse, the garage may be distorted, such as abnormal shape of the garage, missing a corner required by the garage, abnormal coordinates of obstacles, etc. In the case of a distorted garage, the driver can only rely on his subjective judgment to reverse. If the driver makes a wrong subjective judgment or lacks experience, the vehicle may not be able to reverse into the garage, and may even be damaged. In addition, the efficiency of reversing is also low.

[0004] The preceding description is intended to provide general background information and does not necessarily constitute prior art. Summary of the invention

[0005] The purpose of the present application is to provide a reversing guidance system and method, which can eliminate the adverse effects caused by the distortion of the garage, increase the frequency of detecting accurate parking spaces, and thus improve the reversing efficiency.

[0006] To achieve the above purpose, the technical solution of this application is implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a reversing guidance system, including: a collection device, a sensor, and a controller, wherein;

[0008] The acquisition device is installed outside the vehicle and is used to acquire the external environment information of the vehicle to generate corresponding continuous frames of images;

[0009] The sensor is used to detect vehicle driving information and provide the detected vehicle driving information to the controller;

[0010] The controller is connected to the acquisition device and the sensor, and is used to obtain the current frame image generated by the acquisition device after receiving the reverse-to-garage instruction, identify the current garage position information based on the current frame image, and determine whether the identified garage corner is complete based on the identified current garage position information; if the garage corner is incomplete, obtain the previous frame image with complete garage position information generated by the acquisition device to obtain the complete garage position information, compensate the garage corner position identified by the current frame image based on the complete garage information obtained by the previous frame image, the current garage position information identified by the current frame image, and the vehicle driving information, and guide the vehicle to reverse based on the compensated current garage position.

[0011] Optionally, the acquisition device includes a camera installed on the left, right, front, or rear of the vehicle, for capturing images of the outside of the vehicle to generate corresponding continuous frames of images.

[0012] Optionally, the sensor includes a direction sensor for detecting the direction of travel of the vehicle, or a speed sensor for detecting the speed of travel of the vehicle.

[0013] Optionally, the controller further identifies parking area information based on the current frame image, and segments the parking area to generate current garage location information.

[0014] Optionally, the current garage position information includes three garage corner positions, and the complete garage position information includes four garage corner positions, a garage direction or a garage shape.

[0015] Optionally, the controller also obtains a vehicle driving trajectory based on the vehicle driving information, and compensates for the garage corner position identified in the current frame image based on the complete garage information obtained from the previous frame image, the current garage position information identified in the current frame image, and the vehicle driving trajectory.

[0016] Optionally, the controller is also used to calculate the time difference compensation for the current garage with full compensation according to the vehicle driving information to obtain the current garage information, and then guide the vehicle to reverse according to the garage angle and the current garage position with full time difference compensation. The controller is an electronic control unit.

[0017] In a second aspect, an embodiment of the present application provides a method for guiding a vehicle to enter a parking space by reversing, comprising:

[0018] The acquisition device acquires the vehicle's external environment information to generate corresponding continuous frames of images;

[0019] The sensor detects vehicle driving information and provides the detected vehicle driving information to the controller;

[0020] After receiving the backing into the garage instruction, the controller obtains the current frame image generated by the acquisition device, identifies the current garage position information according to the current frame image, and determines whether the identified garage corner is complete according to the identified current garage position information;

[0021] If the garage corner is incomplete, obtain the previous frame image with complete garage position information generated by the acquisition device to obtain the complete garage position information. Compensate the garage corner position identified by the current frame image based on the complete garage information obtained by the previous frame image, the current garage position information identified by the current frame image, and the vehicle driving information. Guide the vehicle to reverse based on the compensated current garage position.

[0022] The beneficial effects of the technical solution provided by the embodiment of the present application are:

[0023] The reversing guidance system and method provided in the embodiment of the present application collects vehicle external environment information by installing a collection device on the outside of the vehicle to generate corresponding continuous frame images; the sensor detects vehicle driving information and provides the detected vehicle driving information to the controller; the controller compensates for the garage corner position identified by the current frame image based on the complete garage information obtained from the previous frame image, the current garage position information identified by the current frame image and the vehicle driving information, and guides the vehicle to reverse based on the compensated current garage position, thereby eliminating the adverse effects caused by the distortion of the garage, increasing the frequency of detecting accurate parking spaces, and thus improving the reversing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A block diagram of a reversing guidance system provided in an embodiment of the present application;

[0025] Figure 2 yes Figure 1 A schematic diagram of a reverse parking guidance system;

[0026] Figure 3 This is a schematic diagram of the garage corner location;

[0027] Figure 4 It is a flowchart of a method for guiding a vehicle to enter a parking space in reverse provided by an embodiment of the present application;

[0028] Figure 5 It is a flow chart of a method for guiding a vehicle to enter a parking space by reversing provided in another embodiment of the present application. DETAILED DESCRIPTION

[0029] The technical solution of the present application is further described in detail below in conjunction with the drawings and specific embodiments of the specification. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present application. The terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0030] Figure 1 This is a block diagram of the reversing guidance system provided in the embodiment of the present application. The reversing guidance system can eliminate the adverse effects caused by the distortion of the garage and improve the reversing efficiency. Figure 1 The reversing guidance system of this embodiment includes: a collection device 11, a sensor 12 and a controller 13.

[0031] Specifically, the acquisition device 11 is installed outside the vehicle and is used to acquire the vehicle's external environment information to generate corresponding continuous frames of images.

[0032] The vehicle external environment information may be road information, garage information, etc. Figure 2 As shown, the acquisition device 11 may include a camera 100 installed at the left, right, front, or rear position of the vehicle. For example, the camera 100 may be embedded in the left, right, front, or rear body surface of the vehicle. The camera 100 is used to continuously and uninterruptedly capture images outside the vehicle to generate corresponding continuous frames of images. The continuous frames of images include the current frame image corresponding to the current time, the previous frame image corresponding to the previous time of the current time, and so on. A period of time can be set to any time according to actual needs.

[0033] Preferably, the camera can adopt a high-definition fisheye camera with 360-degree panoramic imaging. One camera can be installed on the left, right, front, or rear of the vehicle, for a total of four cameras, for continuous and uninterrupted panoramic scanning of the left, right, front and rear of the vehicle to obtain images of the left, right, front and rear of the vehicle, so as to splice and generate continuous frames of panoramic surround images.

[0034] The sensor 12 is used to detect vehicle driving information and provide the detected vehicle driving information to the controller 13 .

[0035] The vehicle driving information may include at least one of the vehicle driving direction, vehicle driving speed, etc. The vehicle driving direction may be obtained from a direction sensor installed on the vehicle, such as a vehicle-mounted GPS navigation system, a vehicle-mounted gyroscope sensor, etc. The vehicle driving speed may be obtained from a vehicle speed sensor installed on the vehicle, that is, the sensor may include a direction sensor for detecting the vehicle driving direction, or a vehicle speed sensor for detecting the vehicle driving speed.

[0036] The controller 13 is connected to the acquisition device 11 and the sensor 12, and is used for obtaining the current frame image generated by the acquisition device 11 after receiving the instruction to reverse into the garage, identifying the current garage position information based on the current frame image, and judging whether the identified garage corner is complete based on the identified current garage position information. Preferably, if the garage corner is complete, the subsequent process of obtaining the current frame image generated by the acquisition device 11 is continued; if the garage corner is incomplete, the previous frame image with complete garage position information generated by the acquisition device 11 is obtained to obtain the complete garage position information, and the garage corner position identified by the current frame image is compensated based on the complete garage information obtained by the previous frame image, the current garage position information identified by the current frame image, and the vehicle driving information, and the vehicle is guided to reverse based on the compensated current garage position.

[0037] The back-into-garage instruction may be triggered by a user operating a back-into-garage button.

[0038] The controller 13 identifies the current garage corner position information according to the current frame image, which may specifically include:

[0039] The controller 13 also identifies parking area information (e.g., the direction of the parking area relative to the vehicle, the distance of the parking area relative to the vehicle, the size of the parking area, etc.) based on the current frame image, and segments the parking area to generate current garage position information, such as the current garage position information including three garage corner positions (the garage corner positions may be the position coordinates of the garage corner relative to a reference object, etc.). The complete garage position information may include four garage corner positions (the garage corner positions may be the position coordinates of the garage corner relative to a reference object, etc.), garage direction, or garage shape, etc.

[0040] Usually, there should be four corner positions of a garage. If only three corner positions of the garage are identified after the current frame image recognition, it means that the identified garage corners are incomplete, that is, the garage is distorted. Figure 3 As shown, assuming that the three identified garage corner positions are 1, 2, and 4, one garage corner position is missing, which may be position 3 or position 5, so it is necessary to obtain the complete garage corner information from the previous frame image, because the previous frame image can obtain the complete garage corner position. If the previous frame image does not have the complete 4 garage corner positions, the complete garage corner position identified by the previous frame image is used to compensate for the garage corner position identified by the current frame image.

[0041] The previous frame image with complete garage information generated by the acquisition device 11 is obtained to obtain the complete garage information, and the garage corner position identified by the current frame image is compensated according to the complete garage information obtained by the previous frame image, the current garage position information identified by the current frame image, and the vehicle driving information, specifically including:

[0042] The controller 13 also obtains the vehicle driving trajectory based on the vehicle driving information (such as the vehicle driving direction, the vehicle driving speed, etc.), and compensates the garage corner position identified in the current frame image based on the complete garage information obtained in the previous frame image, the current garage position information identified in the current frame image, and the vehicle driving trajectory. In this way, the controller 13 can compensate the garage corner position identified in the current frame based on the complete garage information obtained in the previous frame image, such as the position coordinates of the four garage corners relative to the reference object, the garage direction, the shape of the garage, etc., the current garage position information identified in the current frame image (such as the position coordinates of the three garage corners relative to the reference object) and the vehicle driving trajectory, so as to compensate for the lost fourth garage corner.

[0043] In addition, if the vehicle backs into the garage from behind along the front direction of the garage when reversing, the controller 13 can also compensate for the garage corner position, shape or direction identified in the current frame based on the garage direction in the garage position information obtained from the previous frame image and the garage direction and the garage position information identified in the current frame image.

[0044] In addition, if the garage identified in the current frame does not conform to the regular shape, the garage is deemed invalid. Specifically, the controller 13 can also compare the garage shape in the garage information identified in the current frame image with the garage shape in the garage information identified in the previous frame image. If the garage shape change in the current frame image is within a set threshold range, the garage information identified in the current frame is deemed valid. If the change exceeds the set threshold, the garage identified in the current frame image is deemed invalid.

[0045] In addition, because there is a time difference from obtaining the current frame image to identifying the garage information, the controller is also used to calculate the time difference compensation for the current garage with full compensation based on the vehicle driving information such as speed and direction to obtain the current garage information, so that the current garage is more consistent with the current location, and then guide the vehicle to reverse based on the garage angle and the current garage position with full time difference compensation.

[0046] After the garage is fully compensated, the position of the vehicle can be virtualized in the current frame image and displayed to the driver for reversing. In this way, the missing corner of the garage is compensated and corrected, thereby effectively solving the problem of missing corners, eliminating the adverse effects of distortion such as missing corners on recognition accuracy and efficiency, and improving reversing efficiency.

[0047] The controller 12 may be an ECU (Electronic Control Unit, also known as a “vehicle computer”).

[0048] In summary, the reversing guidance system provided in the embodiment of the present application collects the external environment information of the vehicle through a collection device installed on the outside of the vehicle to generate corresponding continuous frame images; the sensor detects the vehicle driving information and provides the detected vehicle driving information to the controller; the controller compensates for the garage corner position identified by the current frame image based on the complete garage information obtained from the previous frame image, the current garage position information identified by the current frame image and the vehicle driving information, and guides the vehicle to reverse according to the compensated current garage position, thereby eliminating the adverse effects caused by the distortion of the garage, increasing the frequency of detecting accurate parking spaces, and thus improving the reversing efficiency.

[0049] The following are method embodiments of the present application. For details not fully described in the method embodiments, reference may be made to the corresponding device embodiments described above.

[0050] Figure 4 This is a flow chart of the method for guiding a vehicle to enter a parking space in reverse according to an embodiment of the present application. Figure 4 The reversing guidance method is applied to a reversing guidance system, and the reversing guidance method comprises the following steps:

[0051] Step S401: the acquisition device acquires the vehicle's external environment information to generate corresponding continuous frames of images.

[0052] Step S403: The sensor detects vehicle driving information and provides the detected vehicle driving information to the controller.

[0053] Step S405, after receiving the instruction to back into the garage, the controller obtains the current frame image generated by the acquisition device, identifies the current garage position information based on the current frame image, and determines whether the identified garage corner is complete based on the identified current garage position information. If it is complete, continue with the steps of obtaining the current frame image generated by the acquisition device in step S405, identifying the current garage position information based on the current frame image, etc. If it is incomplete, proceed to step S407.

[0054] Step S407, obtaining the previous frame image with complete garage position information generated by the acquisition device to obtain the complete garage position information, compensating the garage corner position identified by the current frame image according to the complete garage information obtained by the previous frame image, the current garage position information identified by the current frame image and the vehicle driving information, and guiding the vehicle to reverse according to the compensated current garage position.

[0055] Preferably, in step S407, the garage corner position identified by the current frame image is compensated according to the complete garage information obtained by the previous frame image, the current garage position information identified by the current frame image, and the vehicle driving information, which specifically includes:

[0056] The controller also obtains the vehicle driving trajectory based on the vehicle driving information, and compensates for the garage corner position identified in the current frame image based on the complete garage information obtained from the previous frame image, the current garage position information identified in the current frame image, and the vehicle driving trajectory.

[0057] like Figure 5 As shown, preferably, after step S407, the following may also be included:

[0058] In step S501, the controller also calculates the time difference compensation for the current garage with full compensation according to the vehicle driving information to obtain the garage information at the current moment, and then guides the vehicle to reverse according to the garage angle and the current garage position with full time difference compensation.

[0059] The acquisition device includes a camera installed on the left, right, front, or rear of the vehicle, which is used to capture images of the outside of the vehicle to generate corresponding continuous frames of images.

[0060] Wherein, the sensor includes a direction sensor for detecting the driving direction of the vehicle, or a speed sensor for detecting the driving speed of the vehicle.

[0061] Among them, identifying the current garage location information according to the current frame image may include: the controller also identifies the parking area information according to the current frame image, and divides the parking area to generate the current garage location information.

[0062] The current garage position information includes three garage corner positions, and the complete garage position information includes four garage corner positions, a garage direction or a garage shape.

[0063] To summarize, the method for guiding reversing into a garage provided in the embodiment of the present application collects information about the external environment of the vehicle by installing a collection device on the outside of the vehicle to generate corresponding continuous frames of images; the sensor detects vehicle driving information and provides the detected vehicle driving information to the controller; the controller compensates for the garage corner position identified by the current frame image based on the complete garage information obtained from the previous frame image, the current garage position information identified by the current frame image, and the vehicle driving information, and guides the vehicle to reverse based on the compensated current garage position, thereby eliminating the adverse effects caused by the distortion of the garage, increasing the frequency of detecting accurate parking spaces, and thus improving the reversing efficiency.

[0064] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0065] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0066] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of..." or "when..." or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate that there are described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0067] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0068] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A reversing guidance system, characterized in that: It includes: A collection device, a sensor and a controller, wherein; The acquisition device is installed outside the vehicle and is used to acquire the external environment information of the vehicle to generate corresponding continuous frames of images; The sensor is used to detect vehicle driving information and provide the detected vehicle driving information to the controller; The controller is connected to the acquisition device and the sensor and is used to: After receiving the instruction to back into the garage, a current frame image generated by the acquisition device is obtained, current garage position information is identified according to the current frame image, and whether the identified garage corner is complete according to the identified current garage position information is determined, if the garage corner is incomplete, a previous frame image with complete garage position information generated by the acquisition device is obtained to obtain complete garage position information, the garage corner position identified by the current frame image is compensated according to the complete garage information obtained by the previous frame image, the current garage position information identified by the current frame image, and the vehicle driving information, and the vehicle is guided to reverse according to the compensated current garage position; The vehicle driving trajectory is obtained according to the vehicle driving information, and the garage corner position identified by the current frame image is compensated according to the complete garage information obtained by the previous frame image, the current garage position information identified by the current frame image, and the vehicle driving trajectory; According to the vehicle driving information, the time difference compensation is calculated for the current garage with complete compensation to obtain the garage information at the current moment, and then the vehicle is guided to reverse according to the garage angle and the current garage position with complete time difference compensation. The controller is an electronic control unit.

2. The reverse parking guidance system according to claim 1, characterized in that: The acquisition device includes a camera installed on the left, right, front, or rear of the vehicle, and is used to capture images of the exterior of the vehicle to generate corresponding continuous frames of images.

3. The reverse parking guidance system according to claim 1, characterized in that: The sensor includes a direction sensor for detecting the driving direction of the vehicle, or a vehicle speed sensor for detecting the driving speed of the vehicle.

4. The reverse parking guidance system according to claim 1, characterized in that: The controller also identifies parking area information based on the current frame image and segments the parking area to generate current garage location information.

5. The reverse parking guidance system according to claim 1, characterized in that: The current garage position information includes three garage corner positions, and the complete garage position information includes four garage corner positions, a garage direction or a garage shape.

6. A method for guiding a vehicle to enter a parking space by reversing, characterized in that: It includes: The acquisition device acquires the vehicle's external environment information to generate corresponding continuous frames of images; The sensor detects vehicle driving information and provides the detected vehicle driving information to the controller; After receiving the backing into the garage instruction, the controller obtains the current frame image generated by the acquisition device, identifies the current garage position information according to the current frame image, and determines whether the identified garage corner is complete according to the identified current garage position information; If the garage corner is incomplete, a previous frame image with complete garage position information generated by a collection device is obtained to obtain complete garage position information, and the garage corner position identified by the current frame image is compensated according to the complete garage information obtained by the previous frame image, the current garage position information identified by the current frame image, and the vehicle driving information, and the vehicle is guided to reverse according to the compensated current garage position; The controller calculates the time difference compensation for the current garage with complete compensation according to the vehicle driving information to obtain the current garage information, and then guides the vehicle to reverse according to the garage angle and the current garage position with complete time difference compensation; Among them, the garage corner position compensation of the current frame image is completed according to the complete garage information obtained from the previous frame image, the current garage position information recognized by the current frame image, and the vehicle driving information, including: The controller obtains the vehicle driving trajectory according to the vehicle driving information, and compensates the garage corner position identified by the current frame image according to the complete garage information obtained by the previous frame image, the current garage position information identified by the current frame image, and the vehicle driving trajectory.

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