Intelligent vehicle positioning system for parking assistance

Abstract

The present invention relates to the technical field of vehicle parking positioning, and in particular to a vehicle intelligent positioning system for parking assistance, comprising: a sensing module for detecting the position information of a vehicle; a correction module connected to the sensing module for adjusting the spatial position of a camera, including a rotating component connected to the camera for adjusting the angle between the camera and the vertical direction; a display module for displaying the real-time position and parking information of the vehicle; and a control module for adjusting the sampling rate of the ultrasonic radar when it is determined that the vehicle positioning stability is lower than an allowable range according to the fluctuation amplitude of a number of actual parking misalignment areas. The present invention achieves an improvement in the stability and accuracy of vehicle parking positioning.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle parking positioning, and in particular to a vehicle intelligent positioning system for parking assistance. Background Art

[0002] In the prior art, the parking vehicle positioning process generally adopts a combination of radar and camera. However, in actual situations, changes in external environmental factors often interfere with the parking positioning stability of the automatic parking positioning system.

[0003] Chinese Patent Publication No.: CN116494958A discloses an automatic positioning parking system and method, which includes: a first positioning mark, used to determine the position of the car before parking; a second positioning mark, used to determine whether the parking is in place; a camera, installed at a preset position of the car, used to collect image information of the first positioning mark and the second positioning mark; a positioning module, installed at a preset position of the car, used to pre-determine the position of the first positioning mark and the second positioning mark based on the current position of the car; a controller, used to determine the relative position of the car and the first positioning mark / the second positioning mark according to the image information, and control the automatic parking of the car. The automatic positioning parking system and method provided by the embodiment of the present invention, through the positioning mark to assist in determining the position of the car and the pre-parking position, plans the motion trajectory and controls the automatic parking of the car, does not rely on the parking space frame line, can automatically park at any suitable position, and improves the parking efficiency. It can be seen that the automatic positioning parking system and method have the problem that the reflection of light during the parking positioning process and the aging of the shell material of the camera itself affect the accuracy of image acquisition. Summary of the invention

[0004] To this end, the present invention provides a vehicle intelligent positioning system for parking assistance, which is used to overcome the problem in the prior art that the reflection of light during the parking positioning process and the aging of the camera housing material affect the accuracy of image acquisition.

[0005] To achieve the above-mentioned object, the present invention provides a vehicle intelligent positioning system for parking assistance, comprising: a sensing module for detecting the position information of the vehicle, including a plurality of ultrasonic radars respectively arranged at different horizontal positions of the vehicle to obtain the coordinates of the empty parking space of the vehicle and a plurality of cameras respectively arranged at the head and the rear of the vehicle to obtain the spatial image and video of the surrounding area of ​​the vehicle; a correction module connected to the sensing module to adjust the spatial position of the camera, including a rotating component connected to the camera to adjust the angle between the camera and the vertical direction; a display module connected to the sensing module to display the real-time position and parking information of the vehicle; a control module respectively connected to the sensing module and the correction module to and the display module, for adjusting the sampling rate of the ultrasonic radar when it is determined that the vehicle positioning stability is lower than the allowable range according to the fluctuation amplitude of several actual parking misalignment areas, or, when it is initially determined that the image acquisition accuracy is lower than the allowable range, performing a secondary determination on the image acquisition accuracy according to the image area of ​​the noise points of the parking image, and, when it is secondarily determined that the image acquisition accuracy is lower than the allowable range, performing a primary adjustment on the brightness of the vehicle lights, or, adjusting the vertical tilt angle of the camera according to the noise point density of the parking image, and, under the first condition, performing a secondary adjustment on the brightness of the vehicle lights according to the variance of the brightness of several sampling points of the parking image; wherein, the first condition is that the control module completes the primary adjustment of the brightness of the vehicle lights.

[0006] Furthermore, the rotating assembly comprises:

[0007] A rotating shaft connected to the camera to drive the camera to rotate in a vertical direction;

[0008] The rotary motor is connected to the rotary shaft and is used to provide rotary power for the rotary shaft.

[0009] Furthermore, the control module determines whether the vehicle positioning stability is within the allowable range in three ways according to the fluctuation range of several actual parking misalignment areas, wherein:

[0010] The first determination method is that the control module determines that the vehicle stability is within an allowable range under a preset first fluctuation amplitude condition;

[0011] The second determination method is that the control module determines that the vehicle stability is lower than the allowable range under the preset second fluctuation amplitude condition, preliminarily determines that the accuracy of image acquisition is lower than the allowable range, and performs a secondary determination on the accuracy of image acquisition according to the image area of ​​the noise points of the parking image;

[0012] The third determination method is that the control module determines that the vehicle stability is lower than the allowable range under the preset third fluctuation amplitude condition, and adjusts the sampling rate of the ultrasonic radar to the corresponding value by calculating the difference between the fluctuation amplitude of a number of actual parking misalignment areas and the preset second fluctuation amplitude;

[0013] Among them, the preset first fluctuation amplitude condition is that the fluctuation amplitude of a number of actual parking staggered areas is less than or equal to the preset first fluctuation amplitude; the preset second fluctuation amplitude condition is that the fluctuation amplitude of a number of actual parking staggered areas is greater than the preset first fluctuation amplitude and less than or equal to the preset second fluctuation amplitude; the preset third fluctuation amplitude condition is that the fluctuation amplitude of a number of actual parking staggered areas is greater than the preset second fluctuation amplitude; the preset first fluctuation amplitude is less than the preset second fluctuation amplitude.

[0014] Furthermore, the control module determines two types of adjustment methods for the sampling rate of the ultrasonic radar according to the difference between the fluctuation amplitudes of a number of actual parking misalignment areas and the preset second fluctuation amplitude under the preset third fluctuation amplitude condition, wherein:

[0015] The first type of adjustment method is that the control module uses a preset first sampling rate adjustment coefficient to adjust the sampling rate of the ultrasonic radar to a first sampling rate under a preset first fluctuation amplitude difference condition;

[0016] The second type of adjustment method is that the control module uses a preset second sampling rate adjustment coefficient to adjust the sampling rate of the ultrasonic radar to a second sampling rate under a preset second fluctuation amplitude difference condition;

[0017] Among them, the preset first fluctuation amplitude difference condition is that the difference between the fluctuation amplitude of a number of actual parking staggered areas and the preset second fluctuation amplitude is less than or equal to the preset fluctuation amplitude difference; the preset second fluctuation amplitude difference condition is that the difference between the fluctuation amplitude of a number of actual parking staggered areas and the preset second fluctuation amplitude is greater than the preset fluctuation amplitude difference; the preset first sampling rate adjustment coefficient is less than the preset second sampling rate adjustment coefficient.

[0018] Furthermore, the control module determines three types of secondary determination methods of the accuracy of image acquisition according to the image area of ​​the noise points of the parking image under the preset second fluctuation amplitude condition, wherein:

[0019] The first type of secondary determination method is that the control module secondary determines that the accuracy of image acquisition is within an allowable range under a preset first area condition;

[0020] The second secondary determination method is that the control module secondary determines that the accuracy of image acquisition is lower than the allowable range under the preset second area condition, preliminarily determines that the aging degree of the camera housing material exceeds the allowable range, and secondary determines the aging degree of the camera housing material according to the noise density of the parking image;

[0021] The third secondary determination method is that the control module determines that the accuracy of image acquisition is lower than the allowable range under the preset third area condition, and performs the initial adjustment of the vehicle light brightness by calculating the difference between the noise image area of ​​the parking image and the preset second area;

[0022] Among them, the preset first area condition is that the noise image area of ​​the parking image is less than or equal to the preset first area; the preset second area condition is that the noise image area of ​​the parking image is greater than the preset first area and less than or equal to the preset second area; the preset third area condition is that the noise image area of ​​the parking image is greater than the preset second area; the preset first area is smaller than the preset second area.

[0023] Furthermore, the control module determines two types of adjustment methods for the vehicle light brightness according to the difference between the noise image area of ​​the parking image and the preset second area under the preset third area condition, wherein:

[0024] The first type of brightness adjustment method is that the control module uses a preset second brightness adjustment coefficient to adjust the brightness of the vehicle light to a first brightness under a preset first area difference condition;

[0025] The second type of brightness adjustment method is that the control module uses a preset first brightness adjustment coefficient to adjust the brightness of the vehicle light to a second brightness under a preset second area difference condition;

[0026] Among them, the preset first area difference condition is that the difference between the noise image area of ​​the parking image and the preset second area is less than or equal to the preset area difference; the preset second area difference condition is that the difference between the noise image area of ​​the parking image and the preset second area is greater than the preset area difference; the preset first brightness adjustment coefficient is less than the preset second brightness adjustment coefficient.

[0027] Furthermore, the control module determines two types of secondary determination methods for the aging degree of the camera housing material according to the noise density of the parking image under the preset second area condition, wherein:

[0028] The first type of secondary aging degree determination method is that the control module secondary determines that the aging degree of the camera housing material is within an allowable range under a preset first density condition;

[0029] The second type of secondary aging degree determination method is that the control module secondary determines that the aging degree of the camera housing material exceeds the allowable range under a preset second density condition, and adjusts the vertical tilt angle of the camera to a corresponding angle by calculating the difference between the noise point density of the parking image and the preset noise point density;

[0030] The preset first density condition is that the noise density of the parking image is less than or equal to the preset noise density; the preset second density condition is that the noise density of the parking image is greater than the preset noise density.

[0031] Furthermore, the control module determines two types of adjustment methods for the vertical tilt angle of the camera according to the difference between the noise density of the parking image and the preset noise density under the preset second density condition, wherein:

[0032] The first type of angle adjustment method is that the control module uses a preset second angle adjustment coefficient to adjust the vertical tilt angle of the camera to a first tilt angle under a preset first density difference condition;

[0033] The second angle adjustment method is that the control module uses a preset first angle adjustment coefficient to adjust the vertical tilt angle of the camera to a second tilt angle under a preset second density difference condition;

[0034] Among them, the preset first density difference condition is that the difference between the noise density of the parking image and the preset noise density is less than or equal to the preset noise density difference; the preset second density difference condition is that the difference between the noise density of the parking image and the preset noise density is greater than the preset noise density difference; the preset first angle adjustment coefficient is less than the preset second angle adjustment coefficient.

[0035] Furthermore, the control module determines whether the stability of image acquisition is within an allowable range according to the variance of the brightness of a plurality of sampling points of the parking image under the preset first condition, wherein:

[0036] The first type of stability determination method is that the control module determines that the stability of image acquisition is within an allowable range under a preset first variance condition;

[0037] The second type of stability determination method is that the control module determines that the stability of image acquisition exceeds the allowable range under a preset second variance condition, and performs secondary adjustment on the vehicle light brightness by calculating the difference between the variance of brightness of several sampling points of the parking image and the preset variance;

[0038] The preset first variance condition is that the variance of the brightness of several sampling points of the parking image is less than or equal to the preset variance; the preset second variance condition is that the variance of the brightness of several sampling points of the parking image is greater than the preset variance.

[0039] Furthermore, the control module determines two types of secondary adjustment methods for the vehicle light brightness according to the difference between the brightness variance of a plurality of sampling points of the parking image and the preset variance under the preset second variance condition, wherein:

[0040] The first type of secondary brightness adjustment method is that the control module uses a preset third brightness adjustment coefficient to secondary adjust the vehicle light brightness to a third brightness under a preset first variance difference condition;

[0041] The second type of secondary brightness adjustment method is that the control module uses a preset fourth brightness adjustment coefficient to secondary adjust the vehicle light brightness to a fourth brightness under a preset second variance difference condition;

[0042] Among them, the preset first variance difference condition is that the difference between the variance of the brightness of several sampling points of the parking image and the preset variance is less than or equal to the preset variance difference; the preset second variance difference condition is that the difference between the variance of the brightness of several sampling points of the parking image and the preset variance is greater than the preset variance difference; the preset third brightness adjustment coefficient is less than the preset fourth brightness adjustment coefficient.

[0043] Compared with the prior art, the beneficial effects of the present invention are that the system of the present invention adjusts the angle between the camera and the vertical direction through the sensor module, the correction module, the display module and the control module, and reduces the influence of volatile particulate matter generated by the aging of the camera shell material on the accuracy of camera image acquisition by adjusting the sampling rate of the ultrasonic radar when the vehicle positioning stability is judged to be lower than the allowable range according to the fluctuation amplitude of several actual parking misalignment areas, or, when the accuracy of image acquisition is initially judged to be lower than the allowable range, a secondary judgment is made on the accuracy of image acquisition according to the noise image area of ​​the parking image, thereby reducing the inaccurate judgment of the vehicle positioning stability and the image reflected by the noise image area of ​​the parking image. The invention reduces the influence of inaccurate determination of image acquisition accuracy on vehicle positioning accuracy; by initially adjusting the brightness of vehicle lights when the accuracy of secondary determination of image acquisition is lower than the allowable range, or by adjusting the vertical tilt angle of the camera according to the noise density of the parking image, the influence of inaccurate adjustment of the brightness of vehicle lights and inaccurate adjustment of the vertical tilt angle of the camera on vehicle positioning accuracy is reduced; by performing secondary adjustment of the brightness of vehicle lights according to the variance of the brightness of several sampling points of the parking image, the influence of inaccurate determination of the stability of image acquisition reflected by the variance of the brightness of several sampling points of the parking image and inaccurate secondary adjustment of the brightness of vehicle lights on vehicle positioning stability is reduced; the improvement of vehicle positioning stability and accuracy is achieved.

[0044] Furthermore, the system of the present invention reduces the impact of inaccurate judgment on image acquisition accuracy on vehicle positioning stability by setting a preset first fluctuation amplitude and a preset second fluctuation amplitude, and by using three types of judgment methods to determine whether the vehicle positioning stability is within an allowable range based on the fluctuation amplitudes of several actual parking misalignment areas, thereby further improving the vehicle positioning stability and accuracy.

[0045] Furthermore, the system of the present invention reduces the influence of inaccurate judgment on the accuracy of image acquisition on the accuracy of vehicle positioning by setting a preset first area and a preset second area, and by using three types of secondary judgment methods for determining the accuracy of image acquisition according to the noise image area of ​​the parking image under the preset second fluctuation amplitude condition, thereby further improving the stability and accuracy of vehicle positioning.

[0046] Furthermore, the system of the present invention sets a preset first angle adjustment coefficient and a preset second angle adjustment coefficient, and determines two types of adjustment methods for the vertical tilt angle of the camera according to the difference between the noise point density of the parking image and the preset noise point density under the preset second density condition, thereby reducing the impact of inaccurate adjustment of the vertical tilt angle of the camera on the accuracy of image acquisition, and further improving the stability and accuracy of vehicle positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The overall structure diagram of the vehicle intelligent positioning system for parking assistance according to an embodiment of the present invention;

[0048] Figure 2 The overall structural block diagram of the vehicle intelligent positioning system for parking assistance according to an embodiment of the present invention;

[0049] Figure 3 This is a specific structural block diagram of a sensing module of a vehicle intelligent positioning system for parking assistance according to an embodiment of the present invention;

[0050] Figure 4 The invention is a block diagram of the connection structure of the sensing module and the control module of the vehicle intelligent positioning system for parking assistance according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0052] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0053] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0054] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] See also Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, they are respectively an overall structural diagram of a vehicle intelligent positioning system for parking assistance according to an embodiment of the present invention, an overall structural block diagram, a specific structural block diagram of a sensing module, and a connection structural block diagram of a sensing module and a control module. A vehicle intelligent positioning system for parking assistance according to the present invention comprises:

[0056] A sensing module, used to detect the position information of the vehicle, including a plurality of ultrasonic radars respectively arranged at different horizontal positions of the vehicle to obtain the coordinates of the empty parking space of the vehicle and a plurality of cameras respectively arranged at the head and the rear of the vehicle to obtain images and videos of the space around the vehicle;

[0057] A correction module, connected to the sensing module, for adjusting the spatial position of the camera, including a rotation component connected to the camera for adjusting the angle between the camera and the vertical direction;

[0058] A display module, connected to the sensing module, for displaying the real-time position and parking information of the vehicle;

[0059] a control module, which is connected to the sensing module, the correction module and the display module respectively, and is used to adjust the sampling rate of the ultrasonic radar when it is determined that the vehicle positioning stability is lower than the allowable range according to the fluctuation amplitude of a number of actual parking misalignment areas, or to perform a secondary determination on the accuracy of image acquisition according to the image area of ​​the noise points of the parking image when it is initially determined that the accuracy of image acquisition is lower than the allowable range,

[0060] and, when the accuracy of the secondary image acquisition is determined to be lower than the allowable range, adjusting the brightness of the vehicle lights for the first time, or adjusting the vertical tilt angle of the camera according to the noise density of the parking image,

[0061] and, under the first condition, performing secondary adjustment on the vehicle light brightness according to the variance of brightness of a plurality of sampling points of the parking image;

[0062] The first condition is that the control module completes the initial adjustment of the vehicle light brightness.

[0063] The system of the present invention adjusts the angle between the camera and the vertical direction by means of a sensing module, a correction module, a display module and a control module, and adjusts the angle between the camera and the vertical direction by means of a rotating component arranged in the correction module, thereby reducing the influence of volatile particulate matter generated by the aging of the camera housing material on the accuracy of camera image acquisition; by adjusting the sampling rate of the ultrasonic radar when it is determined that the vehicle positioning stability is lower than the allowable range according to the fluctuation amplitude of a number of actual parking misalignment areas, or by making a secondary determination of the image acquisition accuracy according to the image area of ​​the noise points of the parking image when it is initially determined that the image acquisition accuracy is lower than the allowable range, thereby reducing the inaccurate determination of the vehicle positioning stability and the inaccurate determination of the image acquisition accuracy reflected by the image area of ​​the noise points of the parking image. The invention reduces the influence of inaccurate adjustment of the brightness of the vehicle lights and the vertical tilt angle of the camera on the vehicle positioning accuracy by adjusting the brightness of the vehicle lights for the first time when the accuracy of the secondary image acquisition is lower than the allowable range, or by adjusting the vertical tilt angle of the camera according to the noise density of the parking image; reduces the influence of inaccurate adjustment of the brightness of the vehicle lights and the vertical tilt angle of the camera on the vehicle positioning accuracy by adjusting the brightness of the vehicle lights for the second time according to the variance of the brightness of several sampling points of the parking image; reduces the influence of inaccurate judgment of the stability of image acquisition reflected by the variance of the brightness of several sampling points of the parking image and inaccurate secondary adjustment of the brightness of the vehicle lights on the stability of vehicle positioning; improves the stability and accuracy of vehicle positioning.

[0064] Specifically, among the several ultrasonic radars respectively arranged at different horizontal positions of the vehicle to obtain the coordinates of the empty parking spaces of the vehicle, those located at the front and rear ends of the vehicle are the first type of ultrasonic radars 3, and those located at the sides of the vehicle are the second type of ultrasonic radars 4. Among them, the first type of ultrasonic radar has a short detection distance and a wide detection width, while the second type of ultrasonic radar has a long detection distance and a narrow detection width.

[0065] Please continue reading Figure 1 As shown, the rotating assembly includes:

[0066] A rotating shaft 2, which is connected to the camera and is used to drive the camera to rotate in a vertical direction;

[0067] The rotating motor 1 is connected to the rotating shaft to provide rotating power for the rotating shaft.

[0068] Please continue reading Figure 1 and Figure 2 As shown, the control module determines whether the vehicle positioning stability is within the allowable range in three ways according to the fluctuation range of several actual parking misalignment areas, wherein:

[0069] The first determination method is that the control module determines that the vehicle stability is within an allowable range under a preset first fluctuation amplitude condition;

[0070] The second determination method is that the control module determines that the vehicle stability is lower than the allowable range under the preset second fluctuation amplitude condition, preliminarily determines that the accuracy of image acquisition is lower than the allowable range, and performs a secondary determination on the accuracy of image acquisition according to the image area of ​​the noise points of the parking image;

[0071] The third determination method is that the control module determines that the vehicle stability is lower than the allowable range under the preset third fluctuation amplitude condition, and adjusts the sampling rate of the ultrasonic radar to the corresponding value by calculating the difference between the fluctuation amplitude of a number of actual parking misalignment areas and the preset second fluctuation amplitude;

[0072] Among them, the preset first fluctuation amplitude condition is that the fluctuation amplitude of a number of actual parking staggered areas is less than or equal to the preset first fluctuation amplitude; the preset second fluctuation amplitude condition is that the fluctuation amplitude of a number of actual parking staggered areas is greater than the preset first fluctuation amplitude and less than or equal to the preset second fluctuation amplitude; the preset third fluctuation amplitude condition is that the fluctuation amplitude of a number of actual parking staggered areas is greater than the preset second fluctuation amplitude; the preset first fluctuation amplitude is less than the preset second fluctuation amplitude.

[0073] The system of the present invention reduces the impact of inaccurate judgment on image acquisition accuracy on vehicle positioning stability by setting a preset first fluctuation amplitude and a preset second fluctuation amplitude, and by using three types of judgment methods to determine whether the vehicle positioning stability is within an allowable range based on the fluctuation amplitudes of several actual parking misalignment areas, thereby further improving the vehicle positioning stability and accuracy.

[0074] Specifically, the fluctuation amplitude of several actual parking staggered areas is recorded as F, the preset first fluctuation amplitude is recorded as F1, and the preset second fluctuation amplitude is recorded as F2, wherein F1<F2, and the difference between the fluctuation amplitude of several actual parking staggered areas and the preset second fluctuation amplitude is recorded as △F, and △F=F-F2 is set.

[0075] Specifically, the calculation formula for the fluctuation range of the actual parking staggered areas is:

[0076] F=F MAX -F MIN

[0077] Among them, F is the fluctuation range of some actual parking misalignment areas, F MAX is the maximum misaligned area among several actual parking misaligned areas, F MIN It is the minimum staggered area among several actual parking staggered areas.

[0078] Specifically, the parking misalignment area is the misalignment area between the actual parking area and the standard parking area.

[0079] Please continue reading Figure 2 As shown, the control module determines two types of adjustment methods for the sampling rate of the ultrasonic radar according to the difference between the fluctuation amplitude of a number of actual parking misalignment areas and the preset second fluctuation amplitude under the preset third fluctuation amplitude condition, wherein:

[0080] The first type of adjustment method is that the control module uses a preset first sampling rate adjustment coefficient to adjust the sampling rate of the ultrasonic radar to a first sampling rate under a preset first fluctuation amplitude difference condition;

[0081] The second type of adjustment method is that the control module uses a preset second sampling rate adjustment coefficient to adjust the sampling rate of the ultrasonic radar to a second sampling rate under a preset second fluctuation amplitude difference condition;

[0082] Among them, the preset first fluctuation amplitude difference condition is that the difference between the fluctuation amplitude of a number of actual parking staggered areas and the preset second fluctuation amplitude is less than or equal to the preset fluctuation amplitude difference; the preset second fluctuation amplitude difference condition is that the difference between the fluctuation amplitude of a number of actual parking staggered areas and the preset second fluctuation amplitude is greater than the preset fluctuation amplitude difference; the preset first sampling rate adjustment coefficient is less than the preset second sampling rate adjustment coefficient.

[0083] Specifically, the preset fluctuation amplitude difference is denoted as △F0, the preset first sampling rate adjustment coefficient is denoted as α1, and the preset second sampling rate adjustment coefficient is denoted as α2, wherein 1<α1<α2, the sampling rate of the ultrasonic radar is denoted as Q, and the sampling rate of the adjusted ultrasonic radar is denoted as Q', and Q'=Q×(1+αi) / 2 is set, wherein αi is the preset i-th sampling rate adjustment coefficient, and i is set as 1, 2.

[0084] Please continue reading Figure 2 and Figure 3 As shown, the control module determines three types of secondary determination methods of the accuracy of image acquisition according to the image area of ​​the noise points of the parking image under the preset second fluctuation amplitude condition, wherein:

[0085] The first type of secondary determination method is that the control module secondary determines that the accuracy of image acquisition is within an allowable range under a preset first area condition;

[0086] The second secondary determination method is that the control module secondary determines that the accuracy of image acquisition is lower than the allowable range under the preset second area condition, preliminarily determines that the aging degree of the camera housing material exceeds the allowable range, and secondary determines the aging degree of the camera housing material according to the noise density of the parking image;

[0087] The third secondary determination method is that the control module determines that the accuracy of image acquisition is lower than the allowable range under the preset third area condition, and performs the initial adjustment of the vehicle light brightness by calculating the difference between the noise image area of ​​the parking image and the preset second area;

[0088] Among them, the preset first area condition is that the noise image area of ​​the parking image is less than or equal to the preset first area; the preset second area condition is that the noise image area of ​​the parking image is greater than the preset first area and less than or equal to the preset second area; the preset third area condition is that the noise image area of ​​the parking image is greater than the preset second area; the preset first area is smaller than the preset second area.

[0089] Specifically, the noise image area of ​​the parking image is recorded as S, the preset first area is recorded as S1, and the preset second area is recorded as S2, wherein S1<S2, the difference between the noise image area of ​​the parking image and the preset second area is recorded as △S, and △S=S-S2 is set.

[0090] The system of the present invention reduces the influence of inaccurate judgment on the accuracy of image acquisition on the accuracy of vehicle positioning by setting a preset first area and a preset second area, and by using three types of secondary judgment methods for determining the accuracy of image acquisition according to the noise image area of ​​the parking image under the preset second fluctuation amplitude condition, thereby further improving the stability and accuracy of vehicle positioning.

[0091] Please continue reading Figure 2 As shown, the control module determines two types of adjustment methods for the vehicle light brightness according to the difference between the noise image area of ​​the parking image and the preset second area under the preset third area condition, wherein:

[0092] The first type of brightness adjustment method is that the control module uses a preset second brightness adjustment coefficient to adjust the brightness of the vehicle light to a first brightness under a preset first area difference condition;

[0093] The second type of brightness adjustment method is that the control module uses a preset first brightness adjustment coefficient to adjust the brightness of the vehicle light to a second brightness under a preset second area difference condition;

[0094] Among them, the preset first area difference condition is that the difference between the noise image area of ​​the parking image and the preset second area is less than or equal to the preset area difference; the preset second area difference condition is that the difference between the noise image area of ​​the parking image and the preset second area is greater than the preset area difference; the preset first brightness adjustment coefficient is less than the preset second brightness adjustment coefficient.

[0095] Specifically, the preset area difference is recorded as △S0, the preset first brightness adjustment coefficient is recorded as β1, the preset second brightness adjustment coefficient is recorded as β2, where 0<β1<β2<1, the vehicle light brightness is recorded as R, and the adjusted vehicle light brightness is recorded as R', setting R'=R×βj, where βj is the preset j-th brightness adjustment coefficient, and setting j=1,2.

[0096] Please continue reading Figure 2 and Figure 3 As shown, the control module determines two types of secondary determination methods for the aging degree of the camera housing material according to the noise density of the parking image under the preset second area condition, wherein:

[0097] The first type of secondary aging degree determination method is that the control module secondary determines that the aging degree of the camera housing material is within an allowable range under a preset first density condition;

[0098] The second type of secondary aging degree determination method is that the control module secondary determines that the aging degree of the camera housing material exceeds the allowable range under a preset second density condition, and adjusts the vertical tilt angle of the camera to a corresponding angle by calculating the difference between the noise point density of the parking image and the preset noise point density;

[0099] The preset first density condition is that the noise density of the parking image is less than or equal to the preset noise density; the preset second density condition is that the noise density of the parking image is greater than the preset noise density.

[0100] Specifically, the noise density of the parking image is recorded as E, the preset noise density is recorded as E0, the difference between the noise density of the parking image and the preset noise density is recorded as ΔE, and ΔE=E-E0 is set.

[0101] Please continue reading Figure 2 As shown, the control module determines two types of adjustment methods for the vertical tilt angle of the camera according to the difference between the noise density of the parking image and the preset noise density under the preset second density condition, wherein:

[0102] The first type of angle adjustment method is that the control module uses a preset second angle adjustment coefficient to adjust the vertical tilt angle of the camera to a first tilt angle under a preset first density difference condition;

[0103] The second angle adjustment method is that the control module uses a preset first angle adjustment coefficient to adjust the vertical tilt angle of the camera to a second tilt angle under a preset second density difference condition;

[0104] Among them, the preset first density difference condition is that the difference between the noise density of the parking image and the preset noise density is less than or equal to the preset noise density difference; the preset second density difference condition is that the difference between the noise density of the parking image and the preset noise density is greater than the preset noise density difference; the preset first angle adjustment coefficient is less than the preset second angle adjustment coefficient.

[0105] Specifically, the preset noise density difference is recorded as △E0, the preset first angle adjustment coefficient is recorded as γ1, and the preset second angle adjustment coefficient is recorded as γ2, wherein 0<γ1<γ2<1, the vertical tilt angle of the camera is recorded as T, and the adjusted vertical tilt angle of the camera is recorded as T', and T'=T×(1+2γg) / 3 is set, wherein γg is the preset g-th angle adjustment coefficient, and g=3,4 is set.

[0106] The system of the present invention sets a preset first angle adjustment coefficient and a preset second angle adjustment coefficient, and determines two types of adjustment methods for the vertical tilt angle of the camera according to the difference between the noise point density of the parking image and the preset noise point density under the preset second density condition, thereby reducing the influence of inaccurate adjustment of the vertical tilt angle of the camera on the accuracy of image acquisition, and further improving the stability and accuracy of vehicle positioning.

[0107] Please continue reading Figure 2 As shown, under the preset first condition, the control module determines whether the stability of image acquisition is within the allowable range according to the variance of the brightness of several sampling points of the parking image in two types of determination methods, wherein:

[0108] The first type of stability determination method is that the control module determines that the stability of image acquisition is within an allowable range under a preset first variance condition;

[0109] The second type of stability determination method is that the control module determines that the stability of image acquisition exceeds the allowable range under a preset second variance condition, and performs secondary adjustment on the vehicle light brightness by calculating the difference between the variance of brightness of several sampling points of the parking image and the preset variance;

[0110] The preset first variance condition is that the variance of the brightness of several sampling points of the parking image is less than or equal to the preset variance; the preset second variance condition is that the variance of the brightness of several sampling points of the parking image is greater than the preset variance.

[0111] Specifically, the variance of the brightness of several sampling points of the parking image is recorded as U, the preset variance is recorded as U0, the difference between the variance of the brightness of several sampling points of the parking image and the preset variance is recorded as ΔU, and ΔU=U-U0 is set.

[0112] Specifically, the method for calculating the variance of brightness of a plurality of sampling points of the parking image is a conventional technical means well known to those skilled in the art, and therefore the calculation process of the variance will not be described in detail herein.

[0113] Please continue reading Figure 3 As shown, the control module determines two types of secondary adjustment methods for the vehicle light brightness according to the difference between the brightness variance of several sampling points of the parking image and the preset variance under the preset second variance condition, wherein:

[0114] The first type of secondary brightness adjustment method is that the control module uses a preset third brightness adjustment coefficient to secondary adjust the vehicle light brightness to a third brightness under a preset first variance difference condition;

[0115] The second type of secondary brightness adjustment method is that the control module uses a preset fourth brightness adjustment coefficient to secondary adjust the vehicle light brightness to a fourth brightness under a preset second variance difference condition;

[0116] Among them, the preset first variance difference condition is that the difference between the variance of the brightness of several sampling points of the parking image and the preset variance is less than or equal to the preset variance difference; the preset second variance difference condition is that the difference between the variance of the brightness of several sampling points of the parking image and the preset variance is greater than the preset variance difference; the preset third brightness adjustment coefficient is less than the preset fourth brightness adjustment coefficient.

[0117] Specifically, the preset variance difference is recorded as △U0, the preset third brightness adjustment coefficient is recorded as β3, and the preset fourth brightness adjustment coefficient is recorded as β4, wherein 1<β3<β4, and the vehicle light brightness after secondary adjustment is recorded as R", and R"=R'×βh is set, wherein βh is the preset hth brightness adjustment coefficient, and h is set to 3,4.

[0118] Example 1

[0119] The control module of this embodiment 1 determines two types of adjustment methods for the sampling rate of the ultrasonic radar according to the difference between the fluctuation amplitude of a number of actual parking staggered areas and the preset second fluctuation amplitude under the preset third fluctuation amplitude condition. The preset fluctuation amplitude difference is recorded as △F0, the preset first sampling rate adjustment coefficient is recorded as α1, and the preset second sampling rate adjustment coefficient is recorded as α2. α1=1.1, α2=1.2, △F0=0.05m 2 , the sampling rate of ultrasonic radar is recorded as Q, set Q = 700Hz,

[0120] In this embodiment 1, ΔF=0.08m 2 The control module determines that ΔF>ΔF0 and uses the preset second sampling rate adjustment coefficient α2 to adjust the sampling rate of the ultrasonic radar to the second sampling rate Q', and calculates Q'=×700Hz(1+1.2) / 2=770Hz.

[0121] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0122] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle intelligent positioning system for parking assistance, characterized in that: include: A sensing module, used to detect the position information of the vehicle, including a plurality of ultrasonic radars respectively arranged at different horizontal positions of the vehicle to obtain the coordinates of the empty parking space of the vehicle and a plurality of cameras respectively arranged at the head and the rear of the vehicle to obtain images and videos of the space around the vehicle; A correction module, which is connected to the sensing module and is used to adjust the spatial position of the camera, includes a rotating component connected to the camera and used to adjust the angle between the camera and the vertical direction; the rotating component includes: A rotating shaft connected to the camera to drive the camera to rotate in a vertical direction; A rotating motor connected to the rotating shaft to provide rotational power for the rotating shaft; A display module, connected to the sensing module, for displaying the real-time position and parking information of the vehicle; a control module, which is connected to the sensing module, the correction module and the display module respectively, The control module determines whether the vehicle positioning stability is within the allowable range according to the fluctuation range of a number of actual parking misalignment areas, including three types of determination methods, wherein: The first determination method is that the control module determines that the vehicle stability is within an allowable range under a preset first fluctuation amplitude condition; The second determination method is that the control module determines that the vehicle stability is lower than the allowable range under the preset second fluctuation amplitude condition, preliminarily determines that the accuracy of image acquisition is lower than the allowable range, and performs a secondary determination on the accuracy of image acquisition according to the image area of ​​the noise points of the parking image. When it is secondarily determined that the accuracy of image acquisition is lower than the allowable range, the brightness of the vehicle light is initially adjusted and the brightness of the vehicle light is secondarily adjusted according to the variance of the brightness of a plurality of sampling points of the parking image under the first condition, or the vertical tilt angle of the camera is adjusted according to the noise point density of the parking image. Wherein, the first condition is that the control module completes the initial adjustment of the vehicle light brightness; The third determination method is that the control module determines that the vehicle stability is lower than the allowable range under the preset third fluctuation amplitude condition, and adjusts the sampling rate of the ultrasonic radar to the corresponding value by calculating the difference between the fluctuation amplitude of a number of actual parking misalignment areas and the preset second fluctuation amplitude; Among them, the preset first fluctuation amplitude condition is that the fluctuation amplitude of a number of actual parking staggered areas is less than or equal to the preset first fluctuation amplitude; the preset second fluctuation amplitude condition is that the fluctuation amplitude of a number of actual parking staggered areas is greater than the preset first fluctuation amplitude and less than or equal to the preset second fluctuation amplitude; the preset third fluctuation amplitude condition is that the fluctuation amplitude of a number of actual parking staggered areas is greater than the preset second fluctuation amplitude; the preset first fluctuation amplitude is less than the preset second fluctuation amplitude; The control module determines two types of adjustment methods for the sampling rate of the ultrasonic radar according to the difference between the fluctuation amplitude of a number of actual parking misalignment areas and the preset second fluctuation amplitude under the preset third fluctuation amplitude condition, wherein: The first type of adjustment method is that the control module uses a preset first sampling rate adjustment coefficient to adjust the sampling rate of the ultrasonic radar to a first sampling rate under a preset first fluctuation amplitude difference condition; The second type of adjustment method is that the control module uses a preset second sampling rate adjustment coefficient to adjust the sampling rate of the ultrasonic radar to a second sampling rate under a preset second fluctuation amplitude difference condition; Among them, the preset first fluctuation amplitude difference condition is that the difference between the fluctuation amplitude of a number of actual parking staggered areas and the preset second fluctuation amplitude is less than or equal to the preset fluctuation amplitude difference; the preset second fluctuation amplitude difference condition is that the difference between the fluctuation amplitude of a number of actual parking staggered areas and the preset second fluctuation amplitude is greater than the preset fluctuation amplitude difference; the preset first sampling rate adjustment coefficient is less than the preset second sampling rate adjustment coefficient.

2. The vehicle intelligent positioning system for parking assistance according to claim 1, characterized in that: The control module determines three types of secondary determination methods of the accuracy of image acquisition according to the image area of ​​the noise points of the parking image under the preset second fluctuation amplitude condition, wherein: The first type of secondary determination method is that the control module secondary determines that the accuracy of image acquisition is within an allowable range under a preset first area condition; The second secondary determination method is that the control module secondary determines that the accuracy of image acquisition is lower than the allowable range under the preset second area condition, preliminarily determines that the aging degree of the camera housing material exceeds the allowable range, and secondary determines the aging degree of the camera housing material according to the noise density of the parking image; The third secondary determination method is that the control module determines that the accuracy of image acquisition is lower than the allowable range under the preset third area condition, and performs the initial adjustment of the vehicle light brightness by calculating the difference between the noise image area of ​​the parking image and the preset second area; Among them, the preset first area condition is that the noise image area of ​​the parking image is less than or equal to the preset first area; the preset second area condition is that the noise image area of ​​the parking image is greater than the preset first area and less than or equal to the preset second area; the preset third area condition is that the noise image area of ​​the parking image is greater than the preset second area; the preset first area is smaller than the preset second area.

3. The vehicle intelligent positioning system for parking assistance according to claim 2, characterized in that: The control module determines two types of adjustment methods for the vehicle light brightness according to the difference between the noise image area of ​​the parking image and the preset second area under the preset third area condition, wherein: The first type of brightness adjustment method is that the control module uses a preset second brightness adjustment coefficient to adjust the brightness of the vehicle light to a first brightness under a preset first area difference condition; The second type of brightness adjustment method is that the control module uses a preset first brightness adjustment coefficient to adjust the brightness of the vehicle light to a second brightness under a preset second area difference condition; Among them, the preset first area difference condition is that the difference between the noise image area of ​​the parking image and the preset second area is less than or equal to the preset area difference; the preset second area difference condition is that the difference between the noise image area of ​​the parking image and the preset second area is greater than the preset area difference; the preset first brightness adjustment coefficient is less than the preset second brightness adjustment coefficient.

4. The vehicle intelligent positioning system for parking assistance according to claim 3, characterized in that: The control module determines two secondary determination methods for the aging degree of the camera housing material according to the noise density of the parking image under the preset second area condition, wherein: The first type of secondary aging degree determination method is that the control module secondary determines that the aging degree of the camera housing material is within an allowable range under a preset first density condition; The second type of secondary aging degree determination method is that the control module secondary determines that the aging degree of the camera housing material exceeds the allowable range under a preset second density condition, and adjusts the vertical tilt angle of the camera to a corresponding angle by calculating the difference between the noise point density of the parking image and the preset noise point density; The preset first density condition is that the noise density of the parking image is less than or equal to the preset noise density; the preset second density condition is that the noise density of the parking image is greater than the preset noise density.

5. The vehicle intelligent positioning system for parking assistance according to claim 4, characterized in that: The control module determines two types of adjustment methods for the vertical tilt angle of the camera according to the difference between the noise density of the parking image and the preset noise density under the preset second density condition, wherein: The first type of angle adjustment method is that the control module uses a preset second angle adjustment coefficient to adjust the vertical tilt angle of the camera to a first tilt angle under a preset first density difference condition; The second angle adjustment method is that the control module uses a preset first angle adjustment coefficient to adjust the vertical tilt angle of the camera to a second tilt angle under a preset second density difference condition; Among them, the preset first density difference condition is that the difference between the noise density of the parking image and the preset noise density is less than or equal to the preset noise density difference; the preset second density difference condition is that the difference between the noise density of the parking image and the preset noise density is greater than the preset noise density difference; the preset first angle adjustment coefficient is less than the preset second angle adjustment coefficient.

6. The vehicle intelligent positioning system for parking assistance according to claim 5, characterized in that: The control module determines whether the stability of image acquisition is within an allowable range according to the variance of the brightness of a plurality of sampling points of the parking image under the preset first condition, wherein: The first type of stability determination method is that the control module determines that the stability of image acquisition is within an allowable range under a preset first variance condition; The second type of stability determination method is that the control module determines that the stability of image acquisition exceeds the allowable range under a preset second variance condition, and performs secondary adjustment on the vehicle light brightness by calculating the difference between the variance of brightness of several sampling points of the parking image and the preset variance; The preset first variance condition is that the variance of the brightness of several sampling points of the parking image is less than or equal to the preset variance; the preset second variance condition is that the variance of the brightness of several sampling points of the parking image is greater than the preset variance.

7. The vehicle intelligent positioning system for parking assistance according to claim 6, characterized in that: The control module determines two types of secondary adjustment methods for the vehicle light brightness according to the difference between the brightness variance of several sampling points of the parking image and the preset variance under the preset second variance condition, wherein: The first type of secondary brightness adjustment method is that the control module uses a preset third brightness adjustment coefficient to secondary adjust the vehicle light brightness to a third brightness under a preset first variance difference condition; The second type of secondary brightness adjustment method is that the control module uses a preset fourth brightness adjustment coefficient to secondary adjust the vehicle light brightness to a fourth brightness under a preset second variance difference condition; Among them, the preset first variance difference condition is that the difference between the variance of the brightness of several sampling points of the parking image and the preset variance is less than or equal to the preset variance difference; the preset second variance difference condition is that the difference between the variance of the brightness of several sampling points of the parking image and the preset variance is greater than the preset variance difference; the preset third brightness adjustment coefficient is less than the preset fourth brightness adjustment coefficient.

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