Parking control method and system and storage medium

Abstract

The invention provides a parking control method and system and a storage medium. The method comprises the following steps: acquiring a view around a vehicle; in the process of parking in the mechanical garage location, the tail of the mechanical garage location is detected based on the view around the vehicle, so that a tail detection result of the mechanical garage location is obtained; determining a parking space stop line of the mechanical parking space based on the tail detection result of the mechanical parking space; and controlling the vehicle to park based on the parking space stop line. The problem that no wheel chock is used for giving the parking space to serve as a stop line in the mechanical parking space parking process can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle parking, and in particular to a parking control method, system and storage medium. Background Art

[0002] Mechanical parking spaces usually refer to parking spaces in mechanical parking garages. They are non-fixed parking spaces that use mechanical equipment to park and retrieve vehicles. Mechanical parking spaces can significantly improve land utilization and space utilization, and are an effective way to solve the problem of difficult urban parking. Mechanical parking spaces are movable, non-independent spaces that must rely on the overall operation of machinery and the exchange of space to achieve the use of a single parking space. Mechanical parking equipment can flexibly and conveniently convert empty spaces to store and retrieve vehicles through actions such as raising, lowering or lateral movement of the vehicle loading plate. This type of parking space is different from traditional fixed parking spaces, and it can create more parking spaces in a limited space.

[0003] However, mechanical storage spaces are usually not provided with wheel chocks, which may result in a problem of having no parking boundary reference when a vehicle is parked in the mechanical storage space. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a parking control method, system and storage medium, which can solve the problem that there is no wheel block for a given storage space as a stop line during parking in a mechanical storage space.

[0005] One aspect of an embodiment of the present application provides a parking control method. The method includes: obtaining a view around a vehicle; in the process of parking in a mechanical storage location, detecting the tail of the mechanical storage location based on the view around the vehicle to obtain a tail detection result of the mechanical storage location; determining a storage stop line of the mechanical storage location based on the tail detection result of the mechanical storage location; and controlling the vehicle to park based on the storage stop line.

[0006] Further, determining the storage location stop line of the mechanical storage location based on the tail detection result of the mechanical storage location includes: determining the storage location tail grounding line of the mechanical storage location based on the tail detection result of the mechanical storage location; and obtaining the storage location stop line based on the storage location tail grounding line.

[0007] Furthermore, the method also includes: when the rear end of the vehicle enters a first predetermined distance in the depth direction of the mechanical storage location, caching the storage location tail detection results of the most recent predetermined number of frames, wherein obtaining the storage location stop line based on the storage location tail grounding line includes: fusing the storage location tail grounding line determined based on the storage location tail detection results of the most recent predetermined number of frames to obtain the storage location stop line.

[0008] Furthermore, the fusion of the storage location tail grounding line determined based on the storage location tail detection results of the most recent predetermined number of frames to obtain the storage location stop line includes: averaging the storage location tail grounding lines determined based on the storage location tail detection results of the most recent predetermined number of frames to obtain the storage location stop line.

[0009] Furthermore, the method further includes: when the rear end of the vehicle is at a second predetermined distance from the parking stop line, locking the parking stop line at that moment; and using the parking stop line at that moment as the parking stop line ultimately used to guide the vehicle to park.

[0010] Furthermore, the detecting the tail of the mechanical storage location based on the view around the vehicle to obtain the tail detection result of the mechanical storage location includes: inputting the view around the vehicle into a storage location tail detection model, and outputting the tail detection result of the mechanical storage location, wherein the storage location tail detection model is used to detect the storage location tail overall frame and multiple projected grounding points of the storage location tail overall frame on the ground, and the storage location tail overall frame is used to define the physical boundary of the storage location tail area, and obtaining the storage location stop line based on the storage location tail grounding line includes: inputting the multiple projected grounding points detected by the storage location tail detection model into the storage location post-processing algorithm to obtain the storage location tail grounding line.

[0011] Furthermore, the method also includes: obtaining multiple views around the vehicle in advance; marking the overall frame of the mechanical storage location's tail and multiple projection ground points of the overall frame of the storage location's tail for the tail of each mechanical storage location in the multiple views to obtain a labeled training data set; constructing an initial model for storage location tail detection based on a deep learning target detection model; and using the labeled training data set to train the initial model for storage location tail detection to obtain a final trained model for the storage location tail detection.

[0012] Furthermore, the multiple projected grounding points detected by the storage location tail detection model are input into the storage location post-processing algorithm to obtain the storage location tail grounding line, including: based on the multiple projected grounding points detected by the storage location tail detection model, the least squares straight line fitting method is adopted to obtain the storage location tail grounding line.

[0013] Furthermore, the view around the vehicle includes a bird's-eye view around the vehicle, and a front fisheye lens, a rear fisheye lens, a left fisheye lens and a right fisheye lens are respectively installed on the front, back, left and right sides of the vehicle. The acquisition of the view around the vehicle includes: acquiring four surround fisheye images of the vehicle through the front fisheye lens, the rear fisheye lens, the left fisheye lens and the right fisheye lens; and obtaining the bird's-eye view based on the four surround fisheye images and using a stitching algorithm to stitch together.

[0014] Another aspect of an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the parking control method described above are implemented.

[0015] Another aspect of the embodiments of the present application provides a parking control system. The mechanical storage location detection system includes a memory, a processor, and a computer program stored in the memory, and the processor executes the computer program to implement the steps of the parking control method described above.

[0016] The parking control method, system and storage medium of one or more embodiments of the present application detect the tail of the mechanical storage space based on the view around the vehicle to obtain the tail detection result of the mechanical storage space, and then determine the storage space stop line of the mechanical storage space based on the tail detection result of the mechanical storage space, thereby solving the problem of no wheel chock for a given storage space as a storage space stop line during parking in the mechanical storage space. By determining the storage space stop line of the mechanical storage space, a clear parking boundary can be provided for the vehicle to prevent the vehicle from offside during reversing or parking, help to accurately control the vehicle position during parking, ensure that the vehicle is parked in the designated area, and prevent the vehicle from colliding with adjacent vehicles or parking facilities during parking, thereby reducing the risk of accidents.

[0017] In addition, the parking control method, system and storage medium of one or more embodiments of the present application can directly detect the tail of the mechanical storage location, obtain the grounding point at the tail of the storage location through the detection result of the tail of the mechanical storage location, and then perform straight line fitting based on the grounding point to obtain the grounding line at the tail of the storage location, and then obtain the result of the storage location stop line, thereby effectively solving the problem that there is no real grounding point at the tail of the mechanical storage location. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a flowchart of a parking control method according to an embodiment of the present application.

[0019] Figure 2 This is a step of determining a storage location stop line of a mechanical storage location based on a tail detection result of the mechanical storage location in one embodiment of the present application.

[0020] Figure 3 This is a schematic diagram of the tail detection results of a mechanical storage location according to an embodiment of the present application.

[0021] Figure 4 This is a schematic diagram of the fusion of the ground wire at the tail of a storage location according to an embodiment of the present application.

[0022] Figure 5 A schematic block diagram of a parking control system according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0024] The parking control method, system and storage medium of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0025] Figure 1 A flow chart of a parking control method according to an embodiment of the present application is disclosed. Figure 1 As shown, the parking control method according to an embodiment of the present application may include steps S11 to S14.

[0026] In step S11 , a view around the vehicle is acquired.

[0027] The view around the vehicle may include, for example, a bird's-eye view (BEV) around the vehicle.

[0028] In some embodiments, a front fisheye lens, a rear fisheye lens, a left fisheye lens, and a right fisheye lens are installed on the front, rear, left, and right sides of the vehicle, respectively. Therefore, the front fisheye lens, the rear fisheye lens, the left fisheye lens, and the right fisheye lens can be used to obtain the front surround fisheye image, the rear surround fisheye image, the left surround fisheye image, and the right surround fisheye image of the vehicle, respectively. Then, the bird's-eye view can be obtained by stitching these four surround fisheye images using a stitching algorithm.

[0029] In step S12, during the process of parking in the mechanical storage location, the tail of the mechanical storage location may be detected based on the view around the vehicle acquired in step S11 to obtain a tail detection result of the mechanical storage location.

[0030] In step S13, the storage stop line L of the mechanical storage location 200 (eg, Figure 4 shown).

[0031] In step S14, the vehicle may be controlled to park based on the parking stop line L determined in step S13.

[0032] The parking control method of the present application obtains the tail detection result of the mechanical storage location 200 by detecting the tail of the mechanical storage location 200 based on the view around the vehicle, and then determines the storage location stop line L of the mechanical storage location 200 based on the tail detection result of the mechanical storage location 200, thereby solving the problem that there is no wheel chock for a given storage location as the storage location stop line L during the parking process of the mechanical storage location. By determining the storage location stop line L of the mechanical storage location 200, a clear parking boundary can be provided for the vehicle to prevent the vehicle from offside during reversing or parking, help to accurately control the vehicle position during parking, ensure that the vehicle is parked in the designated area, and prevent the vehicle from colliding with adjacent vehicles or parking facilities during parking, thereby reducing the risk of accidents.

[0033] Figure 2 The present invention discloses the steps of determining the storage stop line of the mechanical storage location based on the tail detection result of the mechanical storage location in one embodiment. Figure 2 As shown, in some embodiments, step S13 of determining the storage location stop line L of the mechanical storage location 200 based on the tail detection result of the mechanical storage location 200 may further include step S131 and step S132.

[0034] In step S131 , the tail grounding line of the mechanical storage location 200 is determined based on the tail detection result of the mechanical storage location 200 .

[0035] In step S132, the storage location stop line L is obtained based on the storage location tail ground line.

[0036] The parking control method of the present application can determine the tail grounding line of the mechanical storage location 200 according to the tail detection result of the mechanical storage location 200, thereby solving the problem that there is no real grounding point P at the tail of the mechanical storage location (such as Figure 3 The problem shown in the figure can be solved to better determine the position of the storage location stop line L.

[0037] In some embodiments, the view around the vehicle may be input into a storage location tail detection model, and then the storage location tail detection model outputs the tail detection result of the mechanical storage location 200 . Figure 3 A schematic diagram of the tail detection result of a mechanical storage location 200 according to an embodiment of the present application is disclosed. Figure 3As shown, the storage location tail detection model can be used to detect the storage location tail overall frame 210 and multiple projected ground points P of the storage location tail overall frame 210 on the ground. The storage location tail overall frame 210 is located at the tail of the mechanical storage location 200, and is usually used to define the physical boundary of the tail area of ​​the storage location 200. In one embodiment, the storage location tail overall frame 210 can be a railing located at the tail of the mechanical storage location, and the railing maintains a certain distance from the ground. The storage location tail detection model can detect the position of the railing at the tail of the storage location 200, and determine multiple projected ground points P of the railing on the ground according to the position of the railing.

[0038] In some embodiments, the parking control method of the present application further includes: pre-establishing a parking location tail detection model.

[0039] The following will introduce in detail how to pre-establish the storage location tail detection model.

[0040] First, multiple views around the vehicle are obtained in advance, for example, 50,000 BEV views can be collected and annotated. Then, each mechanical storage location 200 in the multiple BEV views can be annotated as follows: Figure 3 The overall frame 210 of the mechanical storage location 200 and the N projected ground points P of the overall frame 210 on the ground, the length of two adjacent projected ground points P is equal to 1 / N of the length of the ground line segment, so that a labeled training data set can be obtained. Figure 3 FIG. 5 shows five projection grounding points P of the storage location tail overall frame 210 on the ground.

[0041] The initial model for detecting the tail of a storage location can be constructed based on the target detection model of deep learning. In one embodiment, the model can be improved based on the yolov5 model so that the model can simultaneously detect the overall frame 210 of the tail of the storage location and multiple projected ground points P of the overall frame 210 of the tail of the storage location on the ground, thereby obtaining the initial model for detecting the storage location.

[0042] Next, the labeled training data set can be used to train the constructed initial model for storage location tail detection, so as to obtain the final trained storage location tail detection model.

[0043] In some embodiments, after determining the multiple projected grounding points P of the overall frame 210 at the tail of the storage location on the ground, the multiple projected grounding points P detected by the tail detection model of the storage location can be input into the storage location post-processing algorithm to obtain the tail grounding line of the storage location. For example, the tail grounding line of the storage location can be obtained by using the least squares straight line fitting method based on the multiple projected grounding points P detected by the tail detection model of the storage location.

[0044] Figure 4 A schematic diagram of the fusion of the grounding wire at the tail of a storage location according to an embodiment of the present application is disclosed. Figure 4As shown, in some embodiments, the parking control method of the present application may further include step S15.

[0045] In step S15, when the rear end of the vehicle enters the first predetermined distance in the depth direction of the mechanical storage location 200, the storage location tail detection results of the most recent predetermined number of frames are cached.

[0046] For example, when the rear end of the vehicle enters half of the depth of the storage location 200, the detection results of the rear end of the storage location for the most recent 20 frames are cached.

[0047] Wherein, obtaining the storage location stop line L based on the storage location tail grounding line in step 132 may further include: fusing the storage location tail grounding lines determined based on the storage location tail detection results of the most recent predetermined number of frames to obtain the storage location stop line L.

[0048] In one embodiment, the storage location tail grounding lines determined based on the storage location tail detection results of the most recent predetermined number of frames may be averaged to obtain the storage location stop line L. For example, the storage location tail grounding lines determined based on the storage location tail detection results of the most recent 20 frames may be averaged to obtain the storage location stop line L.

[0049] The parking control method of the present application can make the determined parking stop line L more accurate by fusing the parking tail grounding line determined by the most recent multiple-frame parking tail detection results when the vehicle 100 is parked in the parking space 200 to a predetermined depth.

[0050] In some embodiments, the parking control method of the present application may further include step S16 and step S17.

[0051] In step S16, when the rear end of the vehicle is at a second predetermined distance from the storage location stop line L, the result of the storage location stop line L at that moment is locked.

[0052] For example, when the rear end of the vehicle is about 0.5 m (meter) away from the storage stop line L, the result of locking the storage stop line L at that moment is that the storage stop line L at that moment is kept unchanged.

[0053] In step S17, the parking position stop line L at that time is used as the parking position stop line L for the final parking guidance.

[0054] The parking control method of the present application can directly detect the tail of the mechanical storage location 200, and use the detection result of the tail of the mechanical storage location to obtain the result of the storage location stop line L, thereby solving the problem that the mechanical storage location 200 has no wheel chocks.

[0055] The parking control method of the present application can directly detect the tail of the mechanical storage location 200, obtain the grounding point P at the tail of the storage location through the detection result of the tail of the mechanical storage location, and then perform straight line fitting based on the grounding point P to obtain the grounding line at the tail of the storage location, and then obtain the result of the storage location stop line L, thereby effectively solving the problem that there is no real grounding point P at the tail of the mechanical storage location.

[0056] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the parking control method described above are implemented.

[0057] The present application also provides a parking control system. Figure 5 A schematic block diagram of a parking control system 500 according to an embodiment of the present application is disclosed. Figure 5 As shown, a parking control system 500 of an embodiment of the present application includes a processor 501, an internal bus 502, a network interface 503, a memory 504, and a non-volatile memory 505, and may also include hardware required for other services. The processor 501 can read the corresponding computer program from the non-volatile memory 505 into the memory 504 and then run it to implement the steps of the parking control method described above. Of course, in addition to the software implementation, the present application does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic components.

[0058] The parking control system 500 of the present application may have similar beneficial technical effects as the above parking control method, so it will not be described in detail here.

[0059] The above is a detailed introduction to the parking control method, system and storage medium provided in the embodiments of the present application. This article uses specific examples to illustrate the parking control method, system and storage medium of the embodiments of the present application. The description of the above embodiments is only used to help understand the core idea of ​​the present application and is not intended to limit the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the spirit and principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications should also fall within the scope of protection of the claims attached to the present application.

Claims

1. A parking control method, characterized in that: include: Get a view around the vehicle; In the process of parking in the mechanical storage location, detecting the tail of the mechanical storage location based on the view around the vehicle to obtain a tail detection result of the mechanical storage location; Determine a storage stop line of the mechanical storage location based on the tail detection result of the mechanical storage location; Based on the parking stop line, the vehicle is controlled to park.

2. The method according to claim 1, characterized in that The determining of the storage stop line of the mechanical storage location based on the tail detection result of the mechanical storage location includes: Determine the tail grounding wire of the mechanical storage location based on the tail detection result of the mechanical storage location; The storage location stop line is obtained based on the storage location tail ground line.

3. The method according to claim 2, characterized in that Also includes: When the rear end of the vehicle enters the first predetermined distance in the depth direction of the mechanical storage location, the storage location tail detection results of the most recent predetermined number of frames are cached, Wherein, obtaining the storage location stop line based on the storage location tail grounding line includes: The storage location tail grounding line determined based on the storage location tail detection results of the most recent predetermined number of frames is fused to obtain the storage location stop line.

4. The method according to claim 3, characterized in that The step of fusing the storage location tail grounding line determined based on the storage location tail detection results of the most recent predetermined number of frames to obtain the storage location stop line comprises: The storage location tail grounding lines determined based on the storage location tail detection results of the most recent predetermined number of frames are averaged to obtain the storage location stop line.

5. The method according to claim 3, characterized in that Also includes: When the rear end of the vehicle is at a second predetermined distance from the storage stop line, the result of locking the storage stop line at the time corresponding to the second predetermined distance from the rear end of the vehicle to the storage stop line; The storage location stop line at this moment is used as the storage location stop line finally used to guide the vehicle to park.

6. The method according to claim 2, characterized in that The detecting the tail of the mechanical storage location based on the view around the vehicle to obtain the tail detection result of the mechanical storage location includes: The view around the vehicle is input into a storage location tail detection model, and the tail detection result of the mechanical storage location is output, wherein the storage location tail detection model is used to detect the storage location tail overall frame and multiple projection ground points of the storage location tail overall frame on the ground, and the storage location tail overall frame is used to define the physical boundary of the storage location tail area, The obtaining of the storage location stop line based on the storage location tail grounding line comprises: The multiple projected grounding points detected by the storage location tail detection model are input into a storage location post-processing algorithm to obtain a storage location tail grounding line.

7. The method according to claim 6, characterized in that The method further comprises: Obtain multiple views of the vehicle's surroundings in advance; For the tail of each mechanical storage location in the multiple views, annotate the overall frame of the tail of the mechanical storage location and multiple projection points of the overall frame of the tail of the storage location to obtain a labeled training data set; Build an initial model for location tail detection based on a deep learning-based target detection model; The labeled training data set is used to train the initial model for detecting the tail end of the storage location, so as to obtain the finally trained model for detecting the tail end of the storage location.

8. The method according to claim 6, characterized in that The step of inputting the plurality of projected grounding points detected by the storage location tail detection model into a storage location post-processing algorithm to obtain a storage location tail grounding line includes: Based on the multiple projected grounding points detected by the storage location tail detection model, the storage location tail grounding line is obtained by adopting the least squares straight line fitting method.

9. The method according to claim 1, characterized in that The view around the vehicle includes a bird's-eye view around the vehicle. A front fisheye lens, a rear fisheye lens, a left fisheye lens and a right fisheye lens are respectively installed on the front, back, left and right sides of the vehicle. The view around the vehicle includes: Acquire four surround fisheye images of the vehicle through the front fisheye lens, the rear fisheye lens, the left fisheye lens and the right fisheye lens; The bird's-eye view is obtained by stitching the four surround fisheye images using a stitching algorithm.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the parking control method according to any one of claims 1 to 9 are implemented.

11. A parking control system, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the parking control method according to any one of claims 1 to 9.

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