Parking stability error correction method, system, medium, and device

Abstract

The application discloses a parking stability error correction method and system, and a medium. The method comprises the following steps: acquiring an initial parking image corresponding to a preset parking number of a target position; performing cutting preprocessing on the initial parking image corresponding to each parking to acquire a target parking image, and extracting a target parking line in the target parking image; acquiring an initial parking error value corresponding to each parking according to the target parking line; taking a median value of all the initial parking error values to acquire a target parking error value; acquiring a latest current parking control amount of the target position, and compensating the target parking error value to the latest current parking control amount; therefore, the accumulated stable parking error in the early stage can be compensated and corrected.

Description

Technical Field

[0001] This invention relates to the field of automatic parking technology, and in particular to a parking stability error correction method, system, medium, and device. Background Technology

[0002] Automatic parking involves using onboard sensors to collect information about the vehicle's surroundings, transmitting the collected image information and positioning data to a perception module for analysis to obtain the parking target point, a planning module to calculate the parking trajectory based on the target point analyzed by the perception module, and finally, a control module to control the vehicle to park in the parking space.

[0003] During the parking process, there will be certain unavoidable stability errors in the positioning data and the vehicle's control system. For example, changes in the camera's installation position may cause stability errors in recognition, resulting in a poor final parking posture. Summary of the Invention

[0004] The present invention provides a parking stability error correction method, system and medium, which can compensate and correct the stable parking error accumulated in the previous period.

[0005] Firstly, a parking stability error correction method is provided, which specifically includes the following steps:

[0006] Obtain the initial parking image corresponding to the preset number of parking attempts at the target location;

[0007] The initial parking image corresponding to each parking session is pre-processed by cropping to obtain the target parking image, and the target parking space line is extracted from the target parking image.

[0008] The initial parking error value for each parking session is obtained based on the target parking space line.

[0009] The target parking error value is obtained by taking the median of all the initial parking error values.

[0010] Obtain the latest current parking control value for the target location, and compensate the target parking error value to the latest current parking control value.

[0011] According to the first aspect, in a first possible implementation of the first aspect, the step of "obtaining the initial parking error value corresponding to each parking based on the target parking space line" specifically includes the following steps:

[0012] Establish a vehicle coordinate system with the vehicle's center point as the origin;

[0013] The coordinates of the center point of the target parking space are obtained based on the vehicle coordinate system, and the coordinates of the center point of the parking space are the initial parking error value.

[0014] According to the first possible implementation of the first aspect, in the second possible implementation of the first aspect, the step of "taking the median of all the initial parking error values ​​to obtain the target parking error value" specifically includes the following steps:

[0015] Any initial parking error value is: (x n y n yaw n );

[0016] For all initial parking error values ​​(x) n y n yaw n The target parking error value is calculated by sorting the three components in order of magnitude and taking the median value of each component.

[0017] (x correct y correct yaw correct );

[0018] In the formula, n is the preset number of parking attempts.

[0019] According to the first aspect, in a third possible implementation of the first aspect, the step of "compensating the target parking error value to the latest current parking point" specifically includes the following steps:

[0020] The target parking error value is: (x correct y correct yaw correct );

[0021] The latest current parking control value is: (x Control y Control yaw Control );

[0022] The target parking error value is compensated to the latest current parking control value as follows:

[0023] (x Control +x correct y Control +y correct yaw Control +yaw correct ).

[0024] According to the first aspect, in the fourth possible implementation of the first aspect, the step of "performing cropping preprocessing on the initial parking image corresponding to each parking session to obtain a target parking image, and extracting the target parking space line from the target parking image" specifically includes the following steps:

[0025] The initial parking image corresponding to each parking session is cropped around the vehicle at a preset distance from the edge, and the cropped initial parking image is then preprocessed to enhance parking space information.

[0026] According to the second possible implementation of the first aspect, in the fifth possible implementation of the first aspect, before the step of "taking the median of all the initial parking error values ​​to obtain the target parking error value", the following steps are specifically included:

[0027] For all initial parking error values ​​(x) n y n yaw n The standard deviation is calculated along each of the three components, and the corresponding target parking standard deviation is obtained: (x std y std yaw std ); when the target parking standard deviation (x std y std yaw std All are less than their respective preset thresholds (x) Δ y Δ yaw Δ If the initial parking error value is 0, then all initial parking error values ​​are determined to be stable error values.

[0028] Secondly, a parking stability error correction system is also provided, including:

[0029] The parking image acquisition module is used to acquire the initial parking image corresponding to a preset number of parking attempts at the target location;

[0030] The image processing module is communicatively connected to the parking image acquisition module and is used to perform cropping preprocessing on the initial parking image corresponding to each parking, acquire the target parking image, and extract the target parking space line from the target parking image.

[0031] An initial error module, which is communicatively connected to the image processing module, is used to obtain the initial parking error value corresponding to each parking based on the target parking space line.

[0032] The target error module is communicatively connected to the initial error module and is used to take the median of all the initial parking error values ​​to obtain the target parking error value.

[0033] The compensation module is communicatively connected to the target error module and is used to obtain the latest current parking control value of the target position and compensate the target parking error value to the latest current parking control value.

[0034] Thirdly, a storage medium is also provided, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the parking stability error correction method as described above.

[0035] Fourthly, an electronic device is also provided, including a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, characterized in that the processor, when running the computer program, implements the parking stability error correction method as described above.

[0036] Compared with the prior art, the advantages of this invention are as follows: After each parking action is completed, an initial parking image corresponding to a preset number of parking attempts at the target location is acquired, and then parking space posture detection is performed. After a preset number of parking attempts, the initial parking error value corresponding to each parking attempt is obtained based on the target parking space line. The median of all initial parking error values ​​is then taken to obtain the target parking error value as a compensation amount. Finally, during the last parking attempt, the latest current parking point of the target location in the automatic parking system's search state is compensated based on the compensation amount calculated from the preset number of parking attempts. Therefore, the stable parking error accumulated in the previous stage can be compensated and corrected. Attached Figure Description

[0037] Figure 1 This is a flowchart illustrating an embodiment of a parking stability error correction method according to the present invention;

[0038] Figure 2 This is a schematic diagram of the trajectory of the initial parking image in an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the initial parking image after cropping according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the coordinates of the center point of the parking space according to an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the parking stability error correction system of the present invention. Detailed Implementation

[0042] Referring now to specific embodiments of the invention, examples of which are illustrated in the accompanying drawings. Although the invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the invention to the described embodiments. Rather, it is intended to cover variations, modifications, and equivalents included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0043] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] Note: The examples described below are merely specific examples and are not intended to limit the embodiments of the present invention to the specific steps, values, conditions, data, order, etc. Those skilled in the art can utilize the concept of the present invention to construct more embodiments not mentioned herein by reading this specification.

[0045] See Figure 1 As shown, this embodiment of the invention provides a parking stability error correction method, which specifically includes the following steps:

[0046] S100, Obtain the initial parking image corresponding to the preset number of parking attempts at the target location (see Appendix for details). Figure 2 (as shown);

[0047] S200, perform cropping preprocessing on the initial parking image corresponding to each parking session (see Appendix for details). Figure 3 As shown), acquire the target parking image and extract the target parking space line from the target parking image;

[0048] S300, obtain the initial parking error value corresponding to each parking based on the target parking space line;

[0049] S400, take the median of all the initial parking error values ​​to obtain the target parking error value;

[0050] S500: Obtain the latest current parking control value for the target location, and compensate the target parking error value to the latest current parking control value.

[0051] Specifically, in this embodiment, after each parking action is completed, the invention acquires the initial parking image corresponding to a preset number of parking attempts at the target location, and then performs parking space posture detection. After a preset number of parking attempts (10), the invention acquires the initial parking error value corresponding to each parking attempt based on the target parking space line, and then takes the median of all initial parking error values ​​to obtain the target parking error value as a compensation amount. Finally, during the 11th parking attempt, the latest current parking point of the target location in the automatic parking system search state is compensated based on the compensation amount calculated from the preset number of parking attempts. Therefore, the stable parking error accumulated in the previous stage can be compensated and corrected.

[0052] Therefore, the present invention has the following advantages:

[0053] Advantage 1: Parking space recognition relies solely on cameras and traditional algorithms, resulting in lower recognition costs.

[0054] Advantage 2: Traditional recognition algorithms fit the target parking error value and compensation amount based on multiple parking results in the early stage. The algorithm is simple and has a small amount of computation.

[0055] Preferably, in another embodiment of this application, the step "S300, obtaining the initial parking error value corresponding to each parking based on the target parking space line" specifically includes the following steps:

[0056] S310, Establish a vehicle coordinate system with the vehicle center point as the origin;

[0057] S320, obtain the coordinates of the center point of the target parking space line based on the vehicle coordinate system, where the center point coordinates of the parking space are the initial parking error value.

[0058] Specifically, in this embodiment, after the vehicle parking action is completed, the initial parking image of the vehicle entering the parking space is shown in the attached figure. Figure 2 As shown in the attached figure, after cropping and preprocessing the initial parking image corresponding to each parking instance, the result is as follows. Figure 3 The target parking image is shown, and the target parking space line is extracted from the target parking image.

[0059] See Figure 4 As shown, a vehicle coordinate system is established with the vehicle center point as the origin. The target parking space line is extracted and the coordinates of the parking space center point are calculated based on the vehicle coordinate system. Therefore, the coordinates of the parking space center point are the initial parking error value (x, y, yaw).

[0060] Preferably, in another embodiment of this application, the step "S400, taking the median of all the initial parking error values ​​to obtain the target parking error value" specifically includes the following steps:

[0061] Any initial parking error value is: (x n y n yaw n );

[0062] For all initial parking error values ​​(x) n y n yaw n The target parking error value is calculated by sorting the three components in order of magnitude and taking the median value of each component.

[0063] (x correct y correct yaw correct );

[0064] In the formula, n is the preset number of parking attempts.

[0065] Preferably, in another embodiment of this application, before the step "S400, taking the median of all the initial parking error values ​​to obtain the target parking error value", the following steps are specifically included:

[0066] For all initial parking error values ​​(x) n y n yaw n The standard deviation is calculated along each of the three components, and the corresponding target parking standard deviation is obtained: (x std y std yaw std );

[0067] When the target parking standard deviation (x) std y std yaw std All are less than their respective preset thresholds (x) Δ y Δ yaw Δ If the initial parking error value is 0, then all initial parking error values ​​are determined to be stable error values.

[0068] Specifically, in this embodiment, the initial parking error values ​​(x) of the first n parking attempts are collected cumulatively. n y n yaw n ), calculate the standard deviation (x) of the three components. std y std yaw std When the target parking standard deviation meets a certain threshold, i.e. (x) Δ y Δ yaw Δ When ), it is represented as follows:

[0069] x std <x Δ &y std <y Δ &yaw std <yaw Δ ;

[0070] If all initial parking error values ​​are determined to be stable error values, they can be used as subsequent target parking error values ​​and compensation amounts.

[0071] Then, for the initial parking error value (x) of the first n times n y n yaw n Sort the data according to the three components x, y, and yaw, and take the median (x...). correct ,ycorrect,yaw correct This is sent to the automatic parking system as compensation. Specifically: for X... n(n errors in the X direction) are sorted in descending or ascending order, and the middle value is taken as the compensation amount in the X direction. The same operation is performed on the y direction and the yaw angle.

[0072] Preferably, in another embodiment of this application, the step "S500, compensating the target parking error value to the latest current parking control value" specifically includes the following steps:

[0073] The target parking error value is: (x correct y correct yaw correct );

[0074] The latest current parking control value is: (x Control y Control yaw Control );

[0075] The target parking error value is compensated to the latest current parking control value as follows:

[0076] (x Control +x correct y Control +y correct yaw Control +yaw correct ).

[0077] Specifically, in this embodiment, when the median (x) correct y correct yaw correct After the compensation amount is sent to the automatic parking system, the automatic parking system will fine-tune the control amount of the vehicle based on the compensation amount during the (n+1)th parking process, and finally adjust the parking posture to optimize the parking accuracy.

[0078] Preferably, in another embodiment of this application, the step "S200, performing cropping preprocessing on the initial parking image corresponding to each parking, obtaining a target parking image, and extracting the target parking space line from the target parking image" specifically includes the following steps:

[0079] The initial parking image corresponding to each parking session is cropped around the vehicle at a preset distance from the edge, and the cropped initial parking image is then preprocessed to enhance parking space information.

[0080] Specifically, in this embodiment, based on the vehicle body size information, a wraparound cropping is performed at a preset distance from the vehicle edge to obtain... Figure 3 As shown; then the cropped initial parking image is preprocessed, including image binarization, edge extraction, straight line fitting of parking spaces, and parking space stitching, to enhance parking space information and facilitate subsequent operations.

[0081] See also Figure 5 As shown, this embodiment of the invention also provides a parking stability error correction system, including:

[0082] The parking image acquisition module is used to acquire the initial parking image corresponding to a preset number of parking attempts at the target location;

[0083] The image processing module is communicatively connected to the parking image acquisition module and is used to perform cropping preprocessing on the initial parking image corresponding to each parking, acquire the target parking image, and extract the target parking space line from the target parking image.

[0084] An initial error module, which is communicatively connected to the image processing module, is used to obtain the initial parking error value corresponding to each parking based on the target parking space line.

[0085] The target error module is communicatively connected to the initial error module and is used to take the median of all the initial parking error values ​​to obtain the target parking error value.

[0086] The compensation module is communicatively connected to the target error module and is used to obtain the latest current parking control value of the target position and compensate the target parking error value to the latest current parking control value.

[0087] Therefore, after each parking action is completed, the present invention acquires the initial parking image corresponding to the preset number of parking attempts at the target location, and then performs parking space posture detection. After a preset number of parking attempts (10 times), the initial parking error value corresponding to each parking attempt is obtained based on the target parking space line. The median of all initial parking error values ​​is then taken to obtain the target parking error value as a compensation amount. Finally, during the 11th parking attempt, the latest current parking point of the target location in the automatic parking system search state is compensated based on the compensation amount calculated from the preset number of parking attempts. Therefore, the stable parking error accumulated in the previous stage can be compensated and corrected.

[0088] Therefore, the present invention has the following advantages:

[0089] Advantage 1: Parking space recognition relies solely on cameras and traditional algorithms, resulting in lower recognition costs.

[0090] Advantage 2: Traditional recognition algorithms fit the target parking error value and compensation amount based on multiple parking results in the early stage. The algorithm is simple and has a small amount of computation.

[0091] Specifically, this embodiment corresponds one-to-one with the above method embodiments. The functions of each module have been described in detail in the corresponding method embodiments, so they will not be repeated here.

[0092] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements all or part of the method steps of the above method.

[0093] The present invention can implement all or part of the processes in the above methods, or it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0094] Based on the same inventive concept, embodiments of this application also provide an electronic device, including a memory and a processor. The memory stores a computer program that runs on the processor. When the processor executes the computer program, it implements all or part of the method steps described above.

[0095] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the computer device, connecting all parts of the computer device through various interfaces and lines.

[0096] Memory can be used to store computer programs and / or modules. The processor performs various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and by accessing data stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system and at least one application program required for a function (e.g., sound playback, image playback, etc.); the data storage area can store data created based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, SmartMedia Cards (SMC), Secure Digital (SD) cards, Flash Cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0097] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0098] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0099] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0100] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0101] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A parking stability error correction method, characterized in that, Specifically, the following steps are included: Obtain the initial parking image corresponding to the preset number of parking attempts at the target location; The initial parking image corresponding to each parking session is pre-processed by cropping to obtain the target parking image, and the target parking space line is extracted from the target parking image. The initial parking error value for each parking session is obtained based on the target parking space line. The target parking error value is obtained by taking the median of all the initial parking error values. Obtain the latest current parking control value for the target location, and compensate the target parking error value to the latest current parking control value.

2. The parking stability error correction method as described in claim 1, characterized in that, The step of "obtaining the initial parking error value corresponding to each parking based on the target parking space line" specifically includes the following steps: Establish a vehicle coordinate system with the vehicle's center point as the origin; The coordinates of the center point of the target parking space are obtained based on the vehicle coordinate system, and the coordinates of the center point of the parking space are the initial parking error value.

3. The parking stability error correction method as described in claim 1, characterized in that, The step of "taking the median of all the initial parking error values ​​to obtain the target parking error value" specifically includes the following steps: Any initial parking error value is: (x n y n yaw n ); For all initial parking error values ​​(x) n y n yaw n The target parking error value is calculated by sorting the three components in order of magnitude and taking the median value of each component. (x correct ,y correct ,yaw correct ); In the formula, n is the preset number of parking attempts.

4. The parking stability error correction method as described in claim 1, characterized in that, The step of "compensating the target parking error value to the latest current parking control value" specifically includes the following steps: The target parking error value is: (x correct y correct yaw correct ); The latest current parking control quantity is: (x Control y Control yaw Control ); The target parking error value is compensated to the latest current parking control value as follows: (x Control +x correct ,y Control +y correct ,yaw Control +yaw correct )。 5. The parking stability error correction method as described in claim 1, characterized in that, The step of "performing cropping preprocessing on the initial parking image corresponding to each parking session to obtain the target parking image, and extracting the target parking space line from the target parking image" specifically includes the following steps: The initial parking image corresponding to each parking session is cropped around the vehicle at a preset distance from the edge, and the cropped initial parking image is then preprocessed to enhance parking space information.

6. The parking stability error correction method as described in claim 3, characterized in that, Before the step of "taking the median of all the initial parking error values ​​to obtain the target parking error value", the following steps are specifically included: For all initial parking error values ​​(x) n y n yaw n The standard deviation is calculated along each of the three components to obtain the target parking standard deviation: (x std y std yaw std ); When the target parking standard deviation (x) std y std yaw std All are less than their respective preset thresholds (x) Δ y Δ yaw Δ If the initial parking error value is 0, then all initial parking error values ​​are determined to be stable error values.

7. A parking stability error correction system, characterized in that, include: The parking image acquisition module is used to acquire the initial parking image corresponding to a preset number of parking attempts at the target location; The image processing module is communicatively connected to the parking image acquisition module and is used to perform cropping preprocessing on the initial parking image corresponding to each parking, acquire the target parking image, and extract the target parking space line from the target parking image. An initial error module, which is communicatively connected to the image processing module, is used to obtain the initial parking error value corresponding to each parking based on the target parking space line. The target error module is communicatively connected to the initial error module and is used to take the median of all the initial parking error values ​​to obtain the target parking error value. The compensation module is communicatively connected to the target error module and is used to obtain the latest current parking control value of the target position and compensate the target parking error value to the latest current parking control value.

8. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the parking stability error correction method as described in any one of claims 1 to 6.

9. An electronic device comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, characterized in that, When the processor runs the computer program, it implements the parking stability error correction method as described in any one of claims 1 to 6.

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