Parking animation display method and parking animation display system

Abstract

The application belongs to the technical field of intelligent parking, and discloses a parking animation display method and a parking animation display system to improve the fluency of parking animation display. When a first parking space is sensed, a parking coordinate system is established with the center of the ego vehicle as the origin, the position coordinates of the first parking space are determined in the parking coordinate system, and the relative position of the ego vehicle model and the first parking space is displayed. Before a next parking space is sensed, the position of the ego vehicle relative to the origin is predicted in real time, and the sensed parking space position and the predicted ego vehicle position are displayed in the parking coordinate system. Whenever a next parking space is sensed, the sensed parking space position and the sensed ego vehicle position are displayed in the parking coordinate system. The application predicts the position of the ego vehicle in real time before actually sensing the position of the next parking space, displays the predicted ego vehicle position in the next frame, increases the frame number per unit time, and makes the animation more fluent.

Description

Technical Field

[0001] This invention belongs to the field of intelligent parking technology, specifically relating to a parking animation display method and a parking animation display system. Background Technology

[0002] Parking animations are used to display the real-time position of the parking space and the vehicle during parking. The intelligent parking system's sensing module detects the coordinates of the four corner points of the parking space, plots the center of the space based on these coordinates, and then sends the relative position of the vehicle and the parking space to the vehicle's infotainment system. Since the number of data transmissions per second is limited—typically 10 times per second—the infotainment system can only display 10 frames per second, far below the minimum requirement for smooth animation display (24 frames per second). Because the vehicle's CAN bus has a load limit and priority, it cannot transmit excessive amounts of data per unit time, making it difficult to solve the problem of choppy parking animation display by increasing sensing data. Furthermore, the faster the vehicle speed, the more likely the images captured by the camera are to become blurry. The entire parking system needs to consume more computing power to complete parking space recognition and analysis before sending the parking space coordinates to the infotainment system, making the parking animation stuttering, lagging, and distorted more noticeable. Summary of the Invention

[0003] The purpose of this invention is to solve the problems existing in the prior art and provide a parking animation display method to improve the smoothness of parking animation display.

[0004] This invention is achieved through the following technical solution: a parking animation display method, comprising the following steps:

[0005] When the first parking space is detected, a parking coordinate system is established with the center of the vehicle as the origin. The position coordinates of the first parking space are determined in the parking coordinate system, and the relative position of the vehicle model and the first parking space is displayed.

[0006] Before sensing the next parking space, the vehicle's position relative to the origin is predicted in real time, and the sensed parking space position and the predicted vehicle position are displayed in the parking coordinate system.

[0007] Whenever the next parking space is detected, the detected parking space position and the detected vehicle position are displayed in the parking coordinate system.

[0008] Furthermore, the vehicle's position is predicted based on wheel speed, slope, and vehicle attitude, where vehicle attitude refers to the angle between the vehicle's length direction and the width direction of the currently perceived parking space.

[0009] Furthermore, after displaying the perceived parking space position and the perceived vehicle position, it determines whether to perform position correction. If the correction conditions are met and the wheel speed is greater than 0 m / s, the parking space position and the vehicle position are switched to the corrected parking space position and the vehicle position within 0.3s.

[0010] Furthermore, position correction can only be performed if all correction conditions are met simultaneously. The correction conditions include: a) the absolute value of the difference between the actual perceived center coordinates of the parking space and the predicted center coordinates of the parking space is within 30cm; b) the absolute value of the actual perceived slope does not exceed 5°; c) the perceived distance to the obstacle is not less than 6 meters.

[0011] Furthermore, the correction method is to take the median value, and the calculation formula is as follows:

[0012]

[0013] In the formula, ais represents the corrected center coordinate of the i-th parking space; ai represents the actual perceived center coordinate of the i-th parking space; aix represents the predicted center coordinate of the i-th parking space; bis represents the corrected center coordinate of the vehicle; bi represents the actual perceived center coordinate of the vehicle; and bix represents the predicted center coordinate of the vehicle.

[0014] Furthermore, the center coordinates of the parking space are predicted in the parking coordinate system as follows: the (i-1)th parking space and the i-th parking space are adjacent parking spaces. The coordinates of the four corner points of the (i-1)th parking space are fitted based on the actual perceived coordinates of the four corner points of the i-th parking space and the fixed length and width of the parking space. Then, the center coordinates of the i-th parking space are fitted based on the coordinates of the four corner points of the i-th parking space.

[0015] Furthermore, before detecting the next parking space, only one frame containing the detected parking space location and the detected vehicle location is sent to the vehicle's infotainment system.

[0016] The present invention also provides a parking animation display system, including a parking coordinate system construction module, a vehicle position prediction module and a display module;

[0017] The parking coordinate system construction module is used to establish a parking coordinate system with the center of the vehicle as the origin when the first parking space is detected, and to determine the position coordinates of the first parking space in the parking coordinate system.

[0018] The vehicle position prediction module is used to predict the position of the vehicle relative to the origin in real time before the next parking space is detected.

[0019] The display module is used to display the actual perceived parking space position and the vehicle's position, and before perceiving the next parking space, it displays the perceived parking space position and the predicted vehicle position in the parking coordinate system.

[0020] Furthermore, it also includes a parking space location prediction module and a correction module;

[0021] The parking space location prediction module is used to predict the location of the next parking space based on the currently perceived parking space location before the next parking space is detected.

[0022] The correction module is used to correct the actual perceived parking space position and vehicle position, and send the corrected parking space position and vehicle position to the display module.

[0023] Compared with the prior art, the beneficial effects of the present invention include:

[0024] 1. This invention predicts the vehicle's position in real time before actually sensing the next parking space and displays the predicted vehicle position in the next frame, increasing the number of frames per unit time and making the animation smoother.

[0025] 2. This invention only requires the transmission of a small amount of sensing data to improve smoothness. Before sensing the next parking space, this invention only needs to send one frame of the sensed parking space position and the sensed vehicle position to the vehicle system. The vehicle system only obtains one frame of parking space data. The calculation and rendering are completed by the vehicle system, which greatly reduces the jitter, lag and unsmoothness caused by the 10 frames per second transmission of the parking system CAN line.

[0026] 3. There is a certain error between the predicted location and the actual perceived location, which can easily cause unsmooth visual transitions. This invention corrects the perceived parking space position and the vehicle's position by taking the median value, resulting in smoother transitions in the vehicle's trajectory and more realistic relative positions between the parking space and the vehicle, thus increasing the driver's trust in the intelligent parking system.

[0027] 4. Parking animation is only displayed when the vehicle speed is between -10km / h and 25km / h, ensuring that parking animation is displayed when the perception system is performing stably. Attached Figure Description

[0028] Figure 1 This is the startup screen for the intelligent parking system;

[0029] Figure 2 A diagram showing the positional relationship between the vehicle and the parking space when the first parking space is detected; Figure 3 This is a diagram showing the positional relationship between the vehicle and the parking space when predicting the second parking space.

[0030] Figure 4 A diagram showing the positional relationship between the vehicle and the parking space when the second parking space is detected;

[0031] Figure 5 This is a diagram showing the corrected relationship between the second parking space and the vehicle's position. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings:

[0033] This invention provides a parking animation display method, comprising the following steps:

[0034] When the first parking space is detected, a parking coordinate system is established with the center of the vehicle as the origin. The position coordinates of the first parking space are determined in the parking coordinate system, and the relative position of the vehicle model and the first parking space is displayed.

[0035] Before sensing the next parking space, the vehicle's position relative to the origin is predicted in real time, and the sensed parking space position and the predicted vehicle position are displayed in the parking coordinate system.

[0036] Whenever the next parking space is detected, the detected parking space position and the detected vehicle position are displayed in the parking coordinate system.

[0037] To realize the parking animation display method of the present invention, a parking animation display system is provided, including a parking coordinate system construction module, a vehicle position prediction module and a display module;

[0038] The parking coordinate system construction module is used to establish a parking coordinate system with the center of the vehicle as the origin when the first parking space is detected, and to determine the position coordinates of the first parking space in the parking coordinate system.

[0039] The vehicle position prediction module is used to predict the position of the vehicle relative to the origin in real time before the next parking space is detected.

[0040] The display module is used to display the actual perceived parking space position and the vehicle's position, and before perceiving the next parking space, it displays the perceived parking space position and the predicted vehicle position in the parking coordinate system.

[0041] To make the parking animation display smoother, specifically, the transition between adjacent frames is smoother, and it also includes a parking space position prediction module and a correction module.

[0042] The parking space location prediction module is used to predict the location of the next parking space based on the currently perceived parking space location before the next parking space is detected.

[0043] The correction module is used to correct the actual perceived parking space position and vehicle position, and send the corrected parking space position and vehicle position to the display module.

[0044] After displaying the perceived parking space position and the perceived vehicle position, the correction module determines whether to perform position correction. If the correction conditions are met and the wheel speed is greater than 0 m / s, the parking space position and the vehicle position are switched to the corrected parking space position and the vehicle position within 0.3s.

[0045] Position correction is only performed if all correction conditions are met simultaneously. The correction conditions include: a) the absolute value of the difference between the actual perceived center coordinates of the parking space and the predicted center coordinates of the parking space is within 30cm; b) the absolute value of the actual perceived slope does not exceed 5°; c) the perceived distance to the obstacle is not less than 6 meters.

[0046] The correction method is to take the median value, and the calculation formula is as follows:

[0047]

[0048] In the formula, ais represents the corrected center coordinate of the i-th parking space; ai represents the actual perceived center coordinate of the i-th parking space; aix represents the predicted center coordinate of the i-th parking space; bis represents the corrected center coordinate of the vehicle; bi represents the actual perceived center coordinate of the vehicle; and bix represents the predicted center coordinate of the vehicle.

[0049] The center coordinates of a parking space are predicted in the parking coordinate system as follows: The (i-1)th parking space and the ith parking space are adjacent parking spaces. The coordinates of the four corner points of the (i-1)th parking space are fitted based on the actual perceived coordinates of the four corner points of the (i-1)th parking space and the fixed length and width of the parking space. Then, the center coordinates of the ith parking space are fitted based on the coordinates of the four corner points of the ith parking space.

[0050] Intelligent sensing systems can use fisheye cameras, monocular cameras, binocular cameras, and ultrasonic radar for sensing.

[0051] Example 1

[0052] To address the issue of choppy parking animations, this embodiment predicts the vehicle's position in real time before actually sensing the next parking space and displays the predicted position in the next frame, increasing the number of frames per unit time and making the animation smoother.

[0053] When the vehicle activates the intelligent parking system (which can automatically plan a parking route), the startup screen of the intelligent parking system is shown below. Figure 1 As shown, the intelligent parking perception system obtains the raw data of the currently detected parking space coordinates.

[0054] refer to Figure 2As shown, when the intelligent parking system's perception module detects the first parking space, it establishes a coordinate system with the vehicle's center point b as the origin. The coordinates (X1,Y1)(X2,Y2)(X3,Y3)(X4,Y4) of the four corner points of the parking space P① relative to the vehicle's center are sent once to the vehicle's system. The vehicle's system draws the parking space based on the origin and the parking space coordinates, and calculates the coordinates of the center point a1 of parking space ①, as well as the vehicle's attitude and position relative to point a1.

[0055] As the vehicle moves forward to find a parking space, its position is predicted based on wheel speed, slope, and vehicle posture. Vehicle posture refers to the angle between the vehicle's length direction and the width direction of the currently perceived parking space. The system continuously maps the vehicle model's position coordinates relative to the origin, resulting in smooth, lag-free animation with minimal latency.

[0056] When the vehicle moves for t seconds, the formula for calculating the distance the car model moves in the x and y directions of the planar coordinate system is:

[0057] x = v * t * cosθ

[0058] y = v * t * sinθ

[0059] The car model is currently displayed at coordinates (x, y), and its posture is at an angle of θ degrees relative to the x-axis.

[0060] Based on the slope ψ, the vehicle system will then synchronize the animation of the car model and the corresponding parking space on the screen by tilting it inward (when ψ<0) or outward (when ψ>0) by ψ degrees.

[0061] refer to Figure 3 As shown, it is generally believed that the slope and parking space width are consistent within the same parking lot, and the parking space width lines are straight and continuous. Based on this, the vehicle-mounted system uses the coordinates (X1,Y1)(X2,Y2)(X3,Y3)(X4,Y4) of the four corner points of parking space ① to virtually fit and calculate, predicting the coordinates (Xn,Yn) and center point a2x of the next parking space P②x.

[0062] refer to Figure 4 As shown, when the vehicle intelligent parking perception system actually perceives the actual parking space P②, it sends the four coordinates of parking space P② to the vehicle's system. The system calculates the center point a2 and simultaneously sends the perceived vehicle coordinates b2, and displays a2 and b2.

[0063] Example 2

[0064] To ensure smoother transitions between adjacent frames, this embodiment is modified based on embodiment 1.

[0065] refer to Figure 5As shown, the vehicle-mounted system calculates the median values ​​of a2 and b2 obtained from the initial calculation and the virtual prediction values ​​of a2x and b2x, respectively, i.e., (a2 + a2x) / 2 = a2s and (b2 + b2x) / 2 = b2s, thus obtaining the required parking space a2s and the vehicle's position and posture b2s. The vehicle-mounted system then directly displays the parking space a2s; and when the wheel speed is >0 m / s, it moves the vehicle model from b2 to b2s within 0.3s for position correction.

[0066] It is important to note that in certain situations, the actual perceived location should be used as the standard, and corrections should not be made: ① When the absolute difference between the positions of a2 and a2x exceeds 30cm, the actual positions of a2 and b2 should be used as the standard, and a2x and b2x should be discarded; ② When the absolute value of the slope of a2 exceeds 5°, it is considered that the underground parking lot ramp has been entered, and the actual positions of a2 and b2 should be used as the standard, and a2x and b2x should be discarded; ③ When the camera and / or radar detect that the distance to the wall, vehicle, or obstacle in front is less than 6 meters, it is considered that a turn, end, or obstacle has been reached, and a2x and b2x should be discarded; these three points are used to avoid prediction errors caused by turns, downhill slopes, and the end of the parking lot.

[0067] This median calculation formula is applicable not only to... Figure 5 The same rules apply to parking spaces with their longer sides side-by-side as to those with their shorter sides side-by-side, such as one-way street parking spaces.

[0068] Example 3

[0069] When the intelligent parking system is not activated and the vehicle speed is between -10km / h and 25km / h, the intelligent parking perception system and the parking animation display system operate simultaneously: the intelligent parking perception system monitors the width, angle, and slope of the parking space within 2 meters to the left and right of the vehicle in real time, so that the driver can quickly import the coordinates in real time when parking; the parking animation display system runs the parking animation display method in the background in real time, and displays the predicted, perceived, or corrected parking space and vehicle position information in the vehicle's infotainment system area in real time, thereby improving the smoothness of the vehicle's infotainment system image to match the driver's viewing experience.

[0070] Parking animations are only displayed when the vehicle speed is between -10 km / h and 25 km / h, ensuring that the animations are displayed when the perception system is performing stably. The backend monitors parking space information in real time so that coordinates can be quickly imported when the driver enters the parking space.

[0071] In the description of this invention, unless otherwise stated, the terms "upper," "lower," "left," "right," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0072] The above technical solution is only one embodiment of the present invention. For those skilled in the art, based on the principles disclosed in the present invention, it is easy to make various types of improvements or modifications, and not limited to the technical solutions described in the specific embodiments of the present invention. Therefore, the foregoing description is only a preferred option and is not restrictive.

Claims

1. A parking animation display method, characterized in that: Includes the following steps: When the first parking space is detected, a parking coordinate system is established with the center of the vehicle as the origin. The position coordinates of the first parking space are determined in the parking coordinate system, and the relative position of the vehicle model and the first parking space is displayed. Before sensing the next parking space, the vehicle's position relative to the origin is predicted in real time, and the sensed parking space position and the predicted vehicle position are displayed in the parking coordinate system. Whenever the next parking space is detected, the detected parking space position and the detected vehicle position are displayed in the parking coordinate system. After displaying the perceived parking space position and the perceived vehicle position, determine whether to perform position correction. If the correction conditions are met and the wheel speed is greater than 0 m / s, switch the parking space position and vehicle position to the corrected parking space position and vehicle position within 0.3s. Position correction is only performed if all correction conditions are met simultaneously. The correction conditions include: a) The absolute value of the difference between the actual perceived center coordinates of the parking space and the predicted center coordinates of the parking space is within 30cm. b) The absolute value of the slope actually perceived does not exceed 5°; c) The perceived distance from the obstacle is not less than 6 meters; The correction method is to take the median value.

2. The parking animation display method according to claim 1, characterized in that: The vehicle's position is predicted based on wheel speed, slope, and vehicle attitude, where vehicle attitude refers to the angle between the vehicle's length direction and the width direction of the currently perceived parking space.

3. The parking animation display method according to claim 2, characterized in that: The calculation formula for the correction method is as follows: In the formula, Indicates the corrected number The center coordinates of each parking space; Represents the actual perceived number of the first The center coordinates of each parking space Indicates the predicted first The center coordinates of each parking space; This indicates the corrected coordinates of the vehicle's center. This represents the actual perceived coordinates of the vehicle's center. This represents the predicted coordinates of the vehicle's center.

4. The parking animation display method according to claim 3, characterized in that: Predict the center coordinates of the parking space in the parking coordinate system as follows: The parking space and the first The first parking space is an adjacent parking space, based on the actual perception of the first parking space. The coordinates of the four corner points of the first parking space, along with the fixed length and width of the parking space, are used to fit the first... The coordinates of the four corner points of the first parking space, and then according to the first... Fit the coordinates of the four corner points of the first parking space to obtain the coordinates of the second parking space. The center coordinates of each parking space.

5. The parking animation display method according to claim 4, characterized in that: Before detecting the next parking space, only one frame containing the detected parking space location and the detected vehicle location is sent to the vehicle's infotainment system.

6. The parking animation display method according to claim 5, characterized in that: Parking animation is only displayed when the vehicle speed is between -10km / h and 25km / h.

7. A parking animation display system, characterized in that, It includes a parking coordinate system construction module, a vehicle position prediction module, a display module, a parking space position prediction module, and a correction module; The parking coordinate system construction module is used to establish a parking coordinate system with the center of the vehicle as the origin when the first parking space is detected, and to determine the position coordinates of the first parking space in the parking coordinate system. The vehicle position prediction module is used to predict the position of the vehicle relative to the origin in real time before the next parking space is detected. The display module is used to display the actual perceived parking space position and the vehicle position, and before the next parking space is perceived, it displays the perceived parking space position and the predicted vehicle position in the parking coordinate system. The parking space location prediction module is used to predict the location of the next parking space based on the currently perceived parking space location before the next parking space is detected. The correction module is used to correct the actual perceived parking space position and the vehicle position. After displaying the perceived parking space position and the perceived vehicle position, it determines whether to perform position correction. If the correction conditions are met and the wheel speed is greater than 0 m / s, the parking space position and the vehicle position are switched to the corrected parking space position and the vehicle position within 0.3s. Position correction is only performed when all correction conditions are met simultaneously. The correction conditions include: a) the absolute value of the difference between the actual perceived center coordinates of the parking space and the predicted center coordinates of the parking space is within 30cm; b) the absolute value of the actual perceived slope does not exceed 5°; c) the perceived distance to the obstacle is not less than 6 meters; and the corrected parking space position and the vehicle position are sent to the display module; the correction method is to take the median value.

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