Parking space memory method, device and computer system for parking system with parking space calculation

Abstract

The present invention discloses a parking space memory method for a parking system with parking space calculation, and the steps are as follows: establish a parking space target coordinate system: construct the coordinates of both ends of the parking space entrance in the absolute coordinate system; calculate the parking space position at any time: establish the vehicle coordinate system position coordinates at both ends of the parking space entrance, construct the coordinates and pixel coordinates of the parking space entrance in the absolute coordinate system through the rotation matrix and the translation vector, and compare the back-projected pixel coordinates with the pixel coordinates of the receiving parking space to locate the optimization residual; optimize the correction of the vehicle position data: obtain the corrected vehicle position; output the relative position of the parking space: obtain the vehicle position at any time based on the back-projection residual of the parking space; loop planning control: control the vehicle to park in the parking space. The present invention also discloses a parking space memory device and a computer system for a parking system with parking space calculation. The present invention can quickly lock the target parking space, ensure the reliability and efficiency of parking space identification, and can be widely used in the field of automatic parking of vehicles.

Description

Technical Field

[0001] The present invention relates to control technology in the field of automatic parking of vehicles, and in particular to a parking space memory method, device and computer system of a parking system for parking space estimation. Background Art

[0002] Currently, most of the related parking system control methods use ultrasonic radar or surround-view cameras to identify spatial and visual parking spaces. The design of most parking systems has gone through the stages from finding parking spaces to searching parking spaces.

[0003] The currently commonly used parking system allows customers to visually control parking spaces by selecting parking spaces within the camera's field of view. Generally, such parking spaces are located within about 5-10m around the vehicle.

[0004] This parking method has the following problems:

[0005] 1. Parking spaces outside the camera's field of view cannot be selected;

[0006] 2. The parking space is within the camera's field of view, but is far away from the vehicle, resulting in a large error;

[0007] In response to this situation, some manufacturers have made improvements to the visual parking system, generally by re-identifying the parking space in the subsequent parking process, and re-planning and correcting the trajectory. However, the actual situation is that during the automatic parking process of the vehicle, the re-scan is often only able to be recognized by the rear camera. Due to the actual scene restrictions, the side camera and the front camera are often not involved in the parking space recognition during the correction process, resulting in limited correction effect.

[0008] Unlike the previous parking space recognition method, the problem with the parking space recognition method using ultrasonic radar is that only the current parking space within a short distance after the vehicle scan is completed can be selected. The processing method of some manufacturers is to use the vehicle software to record a distance image after the parking space is recognized. When the driver uses the parking function, the path of a period of time can be replayed to control the vehicle to the parking point. However, due to the errors in the software parameter settings of the vehicle itself, the vehicle errors accumulate during the driving process, causing the vehicle to deviate from the parking space. Summary of the invention

[0009] The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a parking space memory method, device and computer system for a parking system with parking space calculation, so that it can be used for intelligent vehicle models that integrate visual recognition and ultrasonic radar recognition. When the vehicle recognizes the parking space, the target parking space is locked, and the relationship between the vehicle and the parking space is quickly calculated to ensure the reliability of parking space recognition, and solve the following problems: 1) the problem that a parking space cannot be selected outside the field of view of the camera; 2) the problem that a parking space within the field of view of the camera but far away from the vehicle position causes a large error and causes the vehicle to deviate from the parking space. The present invention can be applied to any parking system, thereby improving universality.

[0010] The present invention provides a parking space memory method for a parking system based on parking space estimation, comprising the following steps: establishing a parking space target coordinate system: during the parking process, establishing a parking space as a static target in an absolute coordinate system; The position coordinates of the two ends of the parking space entrance in the vehicle coordinate system, and the coordinates of the two ends of the parking space entrance in the absolute coordinate system are constructed through the rotation matrix and translation vector; the parking space position calculation at any time: When, among them, , establish the position coordinates of the two ends of the parking space entrance in the vehicle coordinate system, and construct the two ends of the parking space entrance in the vehicle coordinate system through the rotation matrix and translation vector The coordinates of the absolute coordinate system at the moment, and find the two ends of the parking space entrance at The pixel coordinates of the moment, and compare the back-projected pixel coordinates with the pixel coordinates of the receiving parking space to generate residuals for positioning optimization; Optimization correction of vehicle position data: the parking space position coordinate calculation method is used to obtain the corrected vehicle position ; Parking space relative position output: residual based on parking space back projection , get the vehicle position at any time ; Cycle planning control: After the change, the cycle planning controls the vehicle to Driving, continue to repeatedly calculate the next moment and , until the vehicle parks in the parking space.

[0011] In the above technical solution, the specific process of the step of establishing the parking space target coordinate system is as follows: Establishing an absolute coordinate system: When When, the absolute coordinate system is established; the initial coordinates at both ends of the parking space entrance are: When the position coordinates of parking space 1 at one end of the parking space entrance and parking space 2 at the other end are obtained in the vehicle coordinate system and ; Rotation matrix and translation vector between coordinates: At this moment, the positioning data of the vehicle in the absolute coordinate system is ( ),in, is the angle of the vehicle in the absolute coordinate system, and the rotation matrix of the vehicle coordinate system to the absolute coordinate system is obtained and translation vectors ; Absolute coordinates of both ends of the parking space entrance: according to the rotation matrix and translation vectors , and the position of parking space 1 in the absolute coordinate system is , and the positions of the two parking spaces in the absolute coordinate system are .

[0012] In the above technical solution, in the step of rotating the coordinate matrix and translating the vector, the rotation matrix for: , the translation vector for: .

[0013] In the above technical solution, the specific process of the step of calculating the parking space position at any time is as follows: Vehicle positioning data at any time: When the vehicle travels a certain distance, the positioning data is ( ); Pixel coordinates of parking spaces at any time: Rotation matrix converted from vehicle coordinate system to absolute coordinate system and translation vectors , respectively get the starting time Any time after a certain distance Pixel coordinates of parking space 1 point image and parking space 2 point image: Positioning optimization: Compare the back-projected pixel coordinates with the pixel coordinates of the receiving parking space to generate residuals for positioning optimization.

[0014] In the above technical solution, in the step of obtaining pixel coordinates of parking spaces at any time, the pixel coordinates of the image of one point in the parking space are: , the pixel coordinates of the parking space 2 point image are: ,in: The pixel coordinate position of the projection in the direction of the parking space 1, after the ultrasonic positioning correction has been completed. The pixel coordinates of the projection of the parking space at 2 o'clock have been corrected by ultrasonic positioning. is the back projection from the pixel position to the unit vector through the camera intrinsic parameters, is the camera extrinsic rotation matrix, is the camera extrinsic translation vector.

[0015] In the above technical solution, the specific process of the optimization correction step of the vehicle position data is as follows: Vehicle position parameter correction set: According to the correction formula of the vehicle position: , get the corrected vehicle position parameter set ; Residual calculation correction: introduce residual calculation to obtain the corrected vehicle position .

[0016] In the above technical solution, in the step of correcting the vehicle position parameters, the corrected vehicle position parameters are set for:

[0017] ,in, is the vehicle yaw angular velocity.

[0018] In the above technical solution, the specific process of the relative position output step of the parking space is as follows: the residual of the parking space back projection The vehicle position at any time is obtained according to the following matrix: : ,in, The pixel coordinate position of the projection in the direction of the parking space 1, after the ultrasonic positioning correction has been completed; The pixel coordinates of the projection of the parking space at two points have been corrected by ultrasonic positioning. Receive the pixel coordinate position of parking space 1; The pixel coordinate position of the receiving parking space 2 is shown in Figure 2.

[0019] The present invention further provides a parking space memory device for a parking system based on parking space calculation, which has a computer program. The computer program can execute the parking space memory method for the parking system based on parking space calculation.

[0020] The present invention also provides a computer system, including a parking space memory device of a parking system for parking space estimation.

[0021] The parking space memory method, device and computer system of the parking system for parking space estimation of the present invention have the following beneficial effects:

[0022] Experience benefits: Under various environmental conditions, the present invention ensures that the target parking space can still be used even if it is outside the visual detection area, which expands the user's selection range and enhances the user's experience.

[0023] Economic benefits: Running creative algorithms on existing equipment makes the parking space calculation parking system simpler, more economical and saves costs.

[0024] Market benefits: The present invention can be applied to every vehicle model equipped with an automatic parking function, providing a new market hotspot for such vehicles, expanding the customer base, and improving the market's recognition of such vehicles.

[0025] Enterprise benefits: The present invention can be applied to the existing models of the enterprise without adding extra costs to these models. It will significantly improve the enterprise benefits while expanding market sales. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The overall electrical architecture diagram of the parking space memory method, device and computer system of the parking system for carrying the parking space estimation of the present invention;

[0027] Figure 2 It is a schematic diagram of the overall flow of the parking space memory method of the parking system for parking space estimation of the present invention;

[0028] Figure 3 A schematic flow chart of the steps of establishing a parking space target coordinate system in the parking space memory method of the parking system for parking space estimation of the present invention;

[0029] Figure 4 It is a schematic diagram of the field application of the step of establishing a parking space target coordinate system in the parking space memory method of the parking system for parking space estimation of the present invention;

[0030] Figure 5 A schematic flow chart of the steps of calculating the parking space position at any time in the parking space memory method of the parking system for calculating the parking space of the present invention;

[0031] Figure 6 It is a schematic diagram of the application of the parking space position estimation step at any time in the parking space memory method of the parking system for parking space estimation of the present invention;

[0032] Figure 7 A schematic flow chart of the optimization and correction steps of vehicle position data in the parking space memory method of the parking system for parking space estimation of the present invention;

[0033] Figure 8 It is a flow chart of the relative position output step of the parking space in the parking space memory method of the parking system for parking space estimation of the present invention;

[0034] Fig. 9 A schematic flow chart of the loop planning control steps in the parking space memory method of the parking system for parking space estimation of the present invention;

[0035] Fig.10 A schematic diagram of the structure of a parking space memory device of a parking system for parking space estimation of the present invention;

[0036] Fig.11 It is a schematic diagram of the structure of the computer system of the present invention. DETAILED DESCRIPTION

[0037] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments, but the embodiments should not be construed as limiting the present invention.

[0038] The present invention proposes a parking space memory method, device and computer system with parking space estimation as the key technology, which utilizes the original vehicle automatic parking system and is based on the design of algorithms and control schemes to achieve automatic parking by fully integrating the coordinated control of the vehicle by different rear wheel steering modes while making full use of the original vehicle execution and control system.

[0039] To achieve this purpose, the present invention proposes a low-cost (widely applicable) system solution.

[0040] See also Figure 1 The scheme of the present invention is completed by the basic structure supporting the present invention, including a surround view image system, an ultrasonic radar system, a central controller (with a parking space memory method for a parking system with parking space calculation), a CAN bus, an EPS controller, other controllers such as ESC\TCU, and a wheel speed sensor.

[0041] The surround view imaging system is used to provide the central controller with video image information around the vehicle, and the central controller can obtain the parking space coordinate information after processing.

[0042] The ultrasonic radar system is used to provide the central controller with information about obstacles in the surrounding environment of the vehicle. After processing, the central controller can obtain parking space information, which is used for parking in a space without parking space lines or for parking space correction.

[0043] The vehicle CAN bus is used to provide the central controller with the necessary collected vehicle signals for processing by the central controller and to transmit back the control instructions processed by the central controller;

[0044] The central controller (with a parking space memory algorithm for parking system with parking space calculation) is used for: 1) storage and calculation of the functional algorithm of the present invention; 2) storage of the angle control meter module; 3) storage of the algorithm program of other normal functions (the main algorithms and steps of the present invention are calculated and controlled by the central controller);

[0045] The EPS controller is used to execute various angle calculation requests in the present invention;

[0046] The ESC controller is used for the braking action required by the parking system, vehicle stability control, and the yaw rate output required by the present invention;

[0047] The TCU and other controllers are used in parking systems that require other actions;

[0048] The wheel speed sensor provides wheel speed information, which is further used to correct the angle information;

[0049] See also Figure 2 The parking space memory method of the parking system for parking space estimation of the present invention comprises the following steps:

[0050] 1) Establishment of parking space target coordinate system

[0051] During the parking process, the target parking space is a static target in the absolute coordinate system constructed by the positioning module, and the parking space position remains unchanged. This is used to establish the relationship between the positioning data and the parking space data.

[0052] See also Figure 3 to Figure 4 ,when When , an absolute coordinate system is established;

[0053] When the position coordinates of parking space 1 at one end of the parking space entrance and parking space 2 at the other end are received for the first time in the vehicle coordinate system and ;

[0054] The vehicle’s location data at this moment is ( ) (Note: The vehicle posture is expressed by the coordinates and angles in the absolute coordinate system of the vehicle. is the angle of the vehicle in the absolute coordinate system), and obtains the rotation matrix from the vehicle coordinate system to the absolute coordinate system and translation vectors .

[0055] Among them, the rotation matrix for:

[0056] ,

[0057] Translation Vector for:

[0058] ,

[0059] The positions of parking space 1 in the absolute coordinate system are ,

[0060] The positions of the two parking spaces in the absolute coordinate system are .

[0061] 2) Calculate the parking space position at any time

[0062] See also Figures 5 and 6 , hour( ), that is, after the vehicle travels a certain distance, the position of the vehicle is ( )

[0063] Also get the rotation matrix of the vehicle coordinate system to the absolute coordinate system and translation vectors .

[0064] Since the parking space is fixed, the starting time Any time after a certain distance , the pixel coordinates of the parking space 1 point image are:

[0065] ,

[0066] The pixel coordinates of the 2-point image of the parking space are:

[0067] ,

[0068] in:

[0069] The pixel coordinate position of the projection in the direction of the parking space 1, after the ultrasonic positioning correction has been completed.

[0070] The pixel coordinates of the projection of the parking space at 2 o'clock have been corrected by ultrasonic positioning.

[0071] is the back projection from the pixel position to the unit vector through the camera intrinsic parameters,

[0072] is the camera extrinsic rotation matrix,

[0073] is the camera extrinsic translation vector;

[0074] The back-projected pixel coordinates are compared with the pixel coordinates of the receiving parking space to generate residuals for positioning optimization.

[0075] 3) Optimization and correction of vehicle position data

[0076] The parameter calculation method used in the present invention can not only optimize the calculation of the parking space position, but also be used for correcting the vehicle position.

[0077] See also Figure 7 , the scheme theory is as follows:

[0078] ,

[0079] That is, the corrected vehicle posture parameter set for:

[0080] ,

[0081] in, is the vehicle yaw angular velocity;

[0082] Introducing residual calculation can improve the positioning optimization accuracy, so that the corrected vehicle position is obtained .

[0083] 4) Parking space relative position output

[0084] See also Figure 8 , is the residual of the parking space back projection, substitute into the following matrix:

[0085] ,

[0086] The pixel coordinate position of the projection in the direction of the parking space 1, after the ultrasonic positioning correction has been completed.

[0087] The pixel coordinates of the projection of the parking space at 2 o'clock have been corrected by ultrasonic positioning.

[0088] is the pixel coordinate position of parking space 1,

[0089] is the pixel coordinate position of parking space 2;

[0090] This way we can get the vehicle position at any time .

[0091] 5) Cycle planning control

[0092] See also Fig. 9 , After the change, the planning control module loops and plans to control the vehicle to Drive, and then repeat the calculation of the next moment , , until the vehicle parks in the parking space.

[0093] See also Fig.10 The parking space memory device of the parking system for parking space estimation of the present invention comprises the following parts:

[0094] Establish parking space target coordinate system module: During the parking process, establish a parking space as a static target in the absolute coordinate system. The position coordinates of both ends of the parking space entrance in the vehicle coordinate system are obtained, and the coordinates of both ends of the parking space entrance in the absolute coordinate system are constructed through the rotation matrix and translation vector;

[0095] Parking space location calculation module at any time: When, among them, , establish the position coordinates of the two ends of the parking space entrance in the vehicle coordinate system, and construct the two ends of the parking space entrance in the vehicle coordinate system through the rotation matrix and translation vector The coordinates of the absolute coordinate system at the moment, and find the two ends of the parking space entrance at The pixel coordinates at the moment are calculated, and the back-projected pixel coordinates are compared with the pixel coordinates of the receiving parking space to generate residuals for positioning optimization;

[0096] Optimization and correction module for vehicle position data: the parking space position coordinate calculation method is used to obtain the corrected vehicle position ;

[0097] Parking space relative position output module: residual based on parking space back projection , get the vehicle position at any time ;

[0098] Cycle planning control module: After the change, the cycle planning controls the vehicle to Driving, continue to repeatedly calculate the next moment and , until the vehicle parks in the parking space.

[0099] See also Fig.11 The computer system of the present invention includes a parking space memory device for a parking system for calculating parking space.

[0100] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0101] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A parking space memory method for a parking system based on parking space estimation, characterized in that: The steps include: Establish a parking space target coordinate system: During the parking process, establish t=t for the parking space as a static target in the absolute coordinate system. p1 The position coordinates of both ends of the parking space entrance in the vehicle coordinate system are obtained, and the coordinates of both ends of the parking space entrance in the absolute coordinate system are constructed through the rotation matrix and translation vector; Calculation of parking space position at any time: when t = t pk When, t pk >t p1 , establish the position coordinates of the two ends of the parking space entrance in the vehicle coordinate system, and construct the two ends of the parking space entrance at t = t through the rotation matrix and translation vector pk The coordinates of the absolute coordinate system at the time, and find the two ends of the parking space entrance at t = t pk The pixel coordinates at the moment are calculated, and the back-projected pixel coordinates are compared with the pixel coordinates of the receiving parking space to generate residuals for positioning optimization; Optimization correction of vehicle position data: The parking space position coordinate calculation method is used to obtain the corrected vehicle position r V ; Parking space relative position output: residual r based on parking space back projection V , get the vehicle position r at any time C ; Cycle planning control: t pk After the change, the loop planning controls the vehicle to r V Drive, and continue to repeatedly calculate the r at the next moment C and r V , until the vehicle parks in the parking space.

2. The parking space memory method of a parking system based on parking space calculation according to claim 1, characterized in that: The specific process of the step of establishing the parking space target coordinate system is as follows: Establish an absolute coordinate system: When t=0, establish an absolute coordinate system; Initial coordinates of both ends of the parking space entrance: when t = t p1 When the position coordinates of parking space 1 at one end of the parking space entrance and parking space 2 at the other end are obtained in the vehicle coordinate system and Rotation matrix and translation vector between coordinates: At this moment, the positioning data of the vehicle in the absolute coordinate system is (X P1 ,Y P1 ,θ P1 ), where θ is the angle of the vehicle in the absolute coordinate system, and the rotation matrix of the vehicle coordinate system to the absolute coordinate system is obtained and translation vectors The absolute coordinates of the two ends of the parking space entrance: according to the rotation matrix and translation vectors The position of parking space 1 in the absolute coordinate system is And the position of the parking space 2 points in the absolute coordinate system is 3. The parking space memory method of a parking system based on parking space calculation according to claim 2, characterized in that: In the coordinate rotation matrix and translation vector step, Rotation Matrix for: Translation Vector for:

4. The parking space memory method of a parking system based on parking space calculation according to claim 3, characterized in that: The specific process of the step of calculating the parking space position at any time is as follows: Vehicle positioning data at any time: t = t pk When the vehicle travels a certain distance, the positioning data is (X Pk ,Y Pk ,θ Pk ); Parking space pixel coordinates at any time: the rotation matrix converted from the vehicle coordinate system to the absolute coordinate system and translation vectors Get the starting time t p1 At any time t after a certain distance pk Pixel coordinates of parking space 1 point image and parking space 2 point image: Positioning optimization: Compare the back-projected pixel coordinates with the pixel coordinates of the receiving parking space to generate residuals for positioning optimization.

5. The parking space memory method of a parking system based on parking space calculation according to claim 4, characterized in that: In the step of the pixel coordinates of the parking space at any time, Pixel coordinates of the parking space 1 point image: The pixel coordinates of the 2-point image of the parking space are: in: The pixel coordinate position of the projection in the direction of the parking space 1, after the ultrasonic positioning correction has been completed. The pixel coordinates of the projection of the parking space at 2 o'clock have been corrected by ultrasonic positioning. is the back projection from the pixel position to the unit vector through the camera intrinsic parameters, is the camera extrinsic rotation matrix, is the camera extrinsic translation vector.

6. The parking space memory method of a parking system based on parking space calculation according to claim 5, characterized in that: The specific process of the optimization and correction step of the vehicle position data is as follows: Vehicle position parameter correction set: Correction formula based on vehicle position: Get the corrected vehicle position parameter set r V ; Residual calculation correction: Introduce residual calculation to obtain the corrected vehicle position r′ V .

7. The parking space memory method of a parking system based on parking space calculation according to claim 6, characterized in that: In the vehicle position parameter correction set step, The corrected vehicle position parameter set r V for: in, ω t is the vehicle yaw angular velocity.

8. The parking space memory method of a parking system based on parking space calculation according to claim 7, characterized in that: The specific process of the parking space relative position output step is as follows: The residual r′ from the back projection of the parking space V The vehicle position r at any time is obtained according to the following matrix: C : in, The pixel coordinate position of the projection in the direction of the parking space 1, after the ultrasonic positioning correction has been completed; The pixel coordinates of the projection of the parking space at two points have been corrected by ultrasonic positioning. Receive the pixel coordinate position of parking space 1; The pixel coordinate position of the receiving parking space 2 is shown in Figure 2.

9. A parking space memory device for a parking system with parking space estimation, comprising a computer program, characterized in that: The computer program can execute the parking space memory method of the parking system for parking space estimation as described in claims 1 to 8.

10. A computer system, characterized in that: The invention comprises a parking space memory device for a parking system for calculating parking space as claimed in claim 9.

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