Parking assisting method and device, equipment and medium

Abstract

The invention relates to a parking assisting method, device and equipment and a medium, and the method comprises the steps: detecting whether a panoramic image parking assisting system meets a parking assisting condition or not after the parking intention of a driver is determined; under the condition that the parking assisting condition is met, the surrounding environment information of the vehicle is collected through the panoramic image parking assisting system; planning a target parking path based on the current position of the vehicle and the surrounding environment information; and playing the target parking path. The parking guidance can be provided for the driver, and the parking efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of automobile technology, and in particular to a parking assistance method, device, equipment and medium. Background Art

[0002] When the driver parks the vehicle in a parking space, the panoramic image parking assistance system can only display image-related information, but cannot provide the user with a reminder to park in the parking space. This makes it difficult for users who do not use the automatic parking function or whose vehicles are not equipped with the automatic parking function to park in the parking space quickly and safely. Therefore, based on the panoramic image parking assistance system, it is necessary to find a solution that can help drivers park more efficiently and safely. Summary of the invention

[0003] In order to solve the above technical problems, the present disclosure provides a parking assistance method, device, equipment and medium.

[0004] According to one aspect of the present disclosure, a parking assistance method is provided, comprising:

[0005] After determining the driver's parking intention, the panoramic image parking assistance system detects whether it meets the parking assistance conditions;

[0006] When the parking assistance condition is met, the surrounding environment information of the vehicle is collected by the panoramic image parking assistance system;

[0007] Planning a target parking path based on the current position of the vehicle and the surrounding environment information;

[0008] The target parking path is played.

[0009] According to one aspect of the present disclosure, a parking assistance device is also provided, comprising:

[0010] A condition detection module, used to detect whether the panoramic image parking assistance system meets the parking assistance conditions after determining the driver's parking intention;

[0011] An environment acquisition module, used to acquire the surrounding environment information of the vehicle through the panoramic image parking assistance system when the parking assistance condition is met;

[0012] A path planning module, used for planning a target parking path based on the current position of the vehicle and the surrounding environment information;

[0013] The path playing module is used to play the target parking path.

[0014] According to one aspect of the present disclosure, there is also provided an electronic device, the electronic device comprising:

[0015] processor;

[0016] a memory for storing instructions executable by the processor;

[0017] The processor is used to read the executable instructions from the memory and execute the instructions to implement the above parking assistance method.

[0018] According to one aspect of the present disclosure, a computer-readable storage medium is further provided, wherein the storage medium stores a computer program, and the computer program is used to execute the above parking assistance method.

[0019] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0020] The technical solution provided by the disclosed embodiment includes: after determining the driver's parking intention, detecting whether the panoramic image parking assistance system meets the parking assistance conditions; if the parking assistance conditions are met, collecting the vehicle's surrounding environment information through the panoramic image parking assistance system; planning the target parking path based on the vehicle's current position and surrounding environment information; and playing the target parking path. This technical solution is based on the panoramic image parking assistance system, plans the target parking path based on the vehicle's current position and surrounding environment information, and assists the driver to park more efficiently and safely by playing the target parking path. Under the premise that the driver does not use the automatic parking function, it can still provide parking guidance to the driver, improve parking efficiency, and enhance the driver's confidence in the vehicle's intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0023] Figure 1 is a flow chart of the parking assistance method according to an embodiment of the present disclosure;

[0024] Figure 2 is a structural block diagram of the parking assistance device according to an embodiment of the present disclosure;

[0025] Figure 3 It is a schematic diagram of the structure of the electronic device described in the embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0027] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0028] In order to help the driver park more efficiently and safely based on the panoramic image parking assistance system, the embodiments of the present disclosure provide a parking assistance method, device, equipment and medium. The present disclosure is applicable to the scenario of providing assistance to the driver to park in a parking space based on the panoramic image parking assistance system. Among them, the panoramic image parking assistance system, also known as the 360-degree panoramic visual parking system, during the parking process, the driver can view the surrounding camera images through the vehicle display screen to help the driver understand the blind spots around the vehicle, making parking more intuitive.

[0029] When the driver is preparing to park the vehicle into a parking space, some scenarios are not suitable for automatic parking. For example: the driver did not use the automatic parking function; the vehicle is not equipped with the automatic parking function; the interaction process of the automatic parking function is long, causing the driver to think that the automatic parking is too slow; or, some parking spaces did not successfully release the automatic parking function due to parking capacity reasons. Compared with the above scenarios that are not suitable for the use of automatic parking functions, the 360-degree panoramic imaging function turned on by the panoramic imaging parking assistance system can adapt to almost all parking scenarios. Based on this, this technical solution, based on the panoramic imaging parking assistance system, can not only park into a parking space by viewing the 360-degree panoramic image, but also use the 360-degree panoramic image to plan the parking path, to assist the driver to park quickly and safely.

[0030] Figure 1 This is a flow chart of a parking assistance method provided by an embodiment of the present disclosure. The method plans and plays a target parking path based on the current position of the vehicle and the surrounding environment information of the vehicle collected by a panoramic imaging parking assistance system, thereby assisting the driver to park more quickly and safely. The parking assistance method can be executed by a parking assistance device, which can be implemented in software and / or hardware. Figure 1 The parking assistance method provided by the embodiment of the present disclosure may include the following steps S102-S108.

[0031] S102: After determining the driver's parking intention, detecting whether the panoramic image parking assistance system meets the parking assistance conditions.

[0032] In this embodiment, the driver's parking intention can be determined in the following manner: based on the depth image captured by the camera and / or the detection signal of the radar, the distance between the vehicle and the available parking space is determined; when the distance is within a preset distance range and the vehicle is in reverse mode, it is determined that the driver has the intention to park.

[0033] In a specific implementation, the distance between the vehicle itself and surrounding objects can be determined based on the depth image collected by the camera and / or the detection signal of the radar, so as to determine whether there is a parking space available for parking around the vehicle, which can be a marked parking space, or a larger empty space, an empty space between vehicles, etc. After the parking space is determined, the distance between the vehicle and the parking space can be identified based on the depth image, and / or the distance between the vehicle and the parking space can be determined based on the detection signal between the vehicle and the parking space detected by the radar.

[0034] When the distance between the vehicle and the parking space is within a preset distance range (e.g., 1.5 meters), it indicates that the driver is driving the vehicle close to the parking space and is more likely to want to park. In order to more accurately determine the driver's parking intention, the vehicle's gear signal can be obtained. When the gear signal is a reverse signal, it means that the vehicle is determined to enter the reverse mode. It is easy to understand that reverse is a key action of parking. Therefore, when the distance between the vehicle and the parking space is within a preset distance range and the vehicle is in reverse mode, it can be determined that the driver has the intention to park.

[0035] After determining the driver's parking intention, the panoramic image parking assistance system detects whether it meets the parking assistance conditions. The detection methods include:

[0036] Detect whether the automatic parking function of the vehicle is turned on; if the automatic parking function is not turned on, detect whether the panoramic image parking assistance system has turned on the parking assistance function; if the parking assistance function is turned on, determine whether the panoramic image parking assistance system meets the parking assistance conditions.

[0037] This embodiment first detects whether the vehicle has an automatic parking function turned on; the automatic parking function means that the car automatically parks without manual control; in the parking scenario, the priority of the automatic parking function is higher than the parking assistance function based on the panoramic image parking assistance system.

[0038] Based on this, when the automatic parking function is turned on, the vehicle is automatically controlled to enter the parking space based on the automatic parking function.

[0039] When the automatic parking function is not turned on, it is detected whether the panoramic image parking assistance system has the parking assistance function turned on. In particular, a setting item for the parking assistance function is pre-added in the panoramic image parking assistance system, and the automatic parking function is turned on or off through the setting item. When the parking assistance function is turned on, it is determined that the panoramic image parking assistance system meets the parking assistance conditions. Furthermore, even if the user does not use the automatic parking function of the vehicle, the parking assistance function turned on by the panoramic image parking assistance system can still help the user to park in a better parking space.

[0040] Of course, if the panoramic image parking assistance system does not turn on the parking assistance function, that is, the parking assistance conditions are not met, the panoramic image parking assistance system can still maintain the existing 360-degree panoramic imaging function and display the environmental image around the vehicle to the user.

[0041] S104: When the parking assistance conditions are met, the surrounding environment information of the vehicle is collected through the panoramic image parking assistance system.

[0042] In this embodiment, when the automatic parking function of the vehicle is not turned on and the panoramic image parking assistance system turns on the parking assistance function, the panoramic image parking assistance system collects the surrounding environment information of the vehicle. The surrounding environment information is generally an image including parking spaces and obstacles.

[0043] S106, planning a target parking path based on the current position of the vehicle and surrounding environment information.

[0044] The implementation of this embodiment can be referred to as follows.

[0045] (1) Determine available parking spaces based on surrounding environment information. In specific implementation, image recognition can be performed on the surrounding environment information to determine parking spaces around the vehicle that meet parking conditions; the parking conditions can be determined based on the actual parking scenario, for example, including: the length and width of the parking space reach a certain length and width threshold, the location of the parking space belongs to an area where parking is allowed, and the current time is within the allowed parking time range, etc.

[0046] (2) Judging whether there is an obstacle between the current position of the vehicle and the parking space based on the surrounding environment information. Specifically, obstacle recognition can be performed on the surrounding environment information to judge whether there is an obstacle between the current position of the vehicle and the parking space.

[0047] (3) If there are no obstacles, a target parking path between the current position and the parking space is generated according to a preset parking planning algorithm. If there are no obstacles between the current position of the vehicle and the parking space, a target parking path between the current position and the parking space can be generated according to a parking planning algorithm such as a geometric parking planning algorithm or a hybrid A-star algorithm, and by combining information such as the current position of the vehicle, the current steering angle of the vehicle, and the parking space.

[0048] (4) If there is an obstacle, a collision-free target parking path is generated between the current position and the parking space based on the obstacle and the parking planning algorithm. If there is no obstacle between the current position of the vehicle and the parking space, a candidate parking path between the current position and the parking space can be generated based on the preset parking planning algorithm, and then a collision detection is performed on the obstacle. The collision detection is used to detect whether the vehicle can maintain a safe distance from the obstacle during parking along the candidate parking path. The candidate parking path is adjusted based on the collision detection result to generate a collision-free target parking path.

[0049] This embodiment first determines available parking spaces based on surrounding environment information, and then generates target parking paths in different ways according to whether there are obstacles between the current position of the vehicle and the parking space. The target parking paths prompt the driver where to drive forward or backward, how to control the steering wheel angle, how to avoid obstacles, etc., thereby providing parking assistance to the driver and helping the driver to park better in the parking space.

[0050] Based on the above embodiments, the present disclosure can continuously update the current position and surrounding environment information of the vehicle until a preset parking stop condition is met, and stop planning the target parking path based on the current position and surrounding environment information of the vehicle.

[0051] For example, when the driver drives the vehicle to a parking space, the vehicle's current position and surrounding environment information can be updated at a preset time interval (such as 1 second); or, the vehicle's current position and surrounding environment information can be updated when a gear switching operation is detected. The gear switching operation is generally an operation initiated by the driver to adjust the vehicle's position and angle. In this case, the vehicle often undergoes a significant change in position, so the vehicle's current position and surrounding environment information are updated when the gear switching operation is detected.

[0052] Then, the next new target parking path is updated based on the vehicle's current position and surrounding environment information.

[0053] Repeat the above process of updating the target parking path until the preset stop parking condition is met, and then stop planning the target parking path. The above stop parking condition may include any of the following: the gear signal of the vehicle is the parking gear, and the vehicle is determined to have entered the parking space based on the current position of the vehicle.

[0054] S108, playing the target parking path.

[0055] This embodiment can play the target parking path to the driver in the form of voice and image, so as to remind the driver to park according to the target parking path. In one implementation, the target parking path can be rendered and displayed in a preset visualization area; wherein the visualization area includes, for example, an instrument screen, a head-up display (HUD), and a display screen in a panoramic image parking assistance system; and / or, the target parking path is played in the form of voice.

[0056] Specifically, the target parking path is rendered as text, icons, 3D dynamic effects, vehicle trajectory envelope, wheel trajectory lines and other visual prompt information, and the above prompt information is played on the instrument screen, head-up display, display and other visual areas. At the same time, the target parking path can also be played in voice mode, for example, turn left, turn right, forward, backward, there is an obstacle on the left side of the vehicle and other voice content.

[0057] In summary, the parking assistance method provided by the disclosed embodiment includes: after determining the driver's parking intention, detecting whether the panoramic image parking assistance system meets the parking assistance conditions; if the parking assistance conditions are met, collecting the surrounding environment information of the vehicle through the panoramic image parking assistance system; planning the target parking path based on the current position of the vehicle and the surrounding environment information; and playing the target parking path. This technical solution is based on the panoramic image parking assistance system, plans the target parking path based on the current position of the vehicle and the surrounding environment information, and assists the driver to park more efficiently and safely by playing the target parking path. Under the premise that the driver does not use the automatic parking function, it can still provide parking guidance to the driver, improve parking efficiency, and enhance the driver's confidence in the intelligence of the vehicle.

[0058] Figure 2 This is a structural block diagram of a parking assistance device provided by an embodiment of the present disclosure. The device is used to implement the above parking assistance method. The device can be implemented by software and / or hardware. Figure 2 The parking assistance device provided by the embodiment of the present disclosure may include the following modules.

[0059] A condition detection module 210 is used to detect whether the panoramic image parking assistance system meets the parking assistance conditions after determining the driver's parking intention;

[0060] An environment acquisition module 220, configured to acquire the surrounding environment information of the vehicle through the panoramic image parking assistance system when the parking assistance condition is met;

[0061] A path planning module 230, for planning a target parking path based on the current position of the vehicle and the surrounding environment information;

[0062] The path playing module 240 is used to play the target parking path.

[0063] In one embodiment, the condition detection module 210 is further configured to:

[0064] Detect whether the vehicle has the automatic parking function turned on;

[0065] When the automatic parking function is not turned on, detecting whether the parking assistance function of the panoramic image parking assistance system is turned on;

[0066] When the parking assistance function is turned on, it is determined that the panoramic image parking assistance system meets the parking assistance condition.

[0067] The implementation principle and technical effects of the device provided in this embodiment are the same as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0068] Figure 3 The structure diagram of an electronic device provided by the embodiment of the present disclosure is shown in FIG. Figure 3 As shown, the electronic device 300 includes one or more processors 301 and a memory 302 .

[0069] The processor 301 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 300 to perform desired functions.

[0070] The memory 302 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 301 may execute the program instructions to implement the parking assistance method of the embodiment of the present disclosure described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0071] In one example, the electronic device 300 may further include: an input device 303 and an output device 304 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0072] In addition, the input device 303 may also include, for example, a keyboard, a mouse, and the like.

[0073] The output device 304 can output various information to the outside, including the determined distance information, direction information, etc. The output device 304 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0074] Of course, to simplify, Figure 3 Only some of the components related to the present disclosure in the electronic device 300 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 300 may also include any other appropriate components.

[0075] Furthermore, this embodiment also provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the above parking assistance method.

[0076] A computer program product of a parking assistance method, device, electronic device, and medium provided in the embodiments of the present disclosure includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be found in the method embodiments and will not be repeated here.

[0077] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0078] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A parking assistance method, characterized in that: include: After determining the driver's parking intention, the panoramic image parking assistance system detects whether it meets the parking assistance conditions; When the parking assistance condition is met, the surrounding environment information of the vehicle is collected by the panoramic image parking assistance system; Planning a target parking path based on the current position of the vehicle and the surrounding environment information; The target parking path is played.

2. The method according to claim 1, characterized in that The detecting whether the panoramic image parking assistance system meets the parking assistance condition includes: Detect whether the vehicle has the automatic parking function turned on; When the automatic parking function is not turned on, detecting whether the parking assistance function of the panoramic image parking assistance system is turned on; When the parking assistance function is turned on, it is determined that the panoramic image parking assistance system meets the parking assistance condition.

3. The method according to claim 1, characterized in that Determining the driver's parking intention includes: Determine the distance between the vehicle and the available parking space based on the depth image collected by the camera and / or the detection signal of the radar; When the distance is within a preset distance range and the vehicle is in a reverse mode, it is determined that the driver has an intention to park.

4. The method according to claim 1, characterized in that The planning of a target parking path based on the current position of the vehicle and the surrounding environment information includes: determining a parking space available for parking according to the surrounding environment information; Determining whether there is an obstacle between the current position of the vehicle and the parking space according to the surrounding environment information; If the obstacle does not exist, generating a target parking path between the current position and the parking space according to a preset parking planning algorithm; If the obstacle exists, a collision-free target parking path between the current position and the parking space is generated according to the obstacle and the parking planning algorithm.

5. The method according to claim 1, characterized in that The method comprises: The current position of the vehicle and the surrounding environment information are continuously updated until a preset parking stop condition is met, and then the target parking path planning based on the current position of the vehicle and the surrounding environment information is stopped.

6. The method according to claim 1, characterized in that The playing of the target parking path includes: Rendering the target parking path and displaying the rendered target parking path in a preset visualization area; wherein the visualization area includes: an instrument screen, a head-up display HUD, and a display screen in the panoramic image parking assistance system; And / or, the target parking path is played in voice mode.

7. A parking assistance device, characterized in that: include: A condition detection module, used to detect whether the panoramic image parking assistance system meets the parking assistance conditions after determining the driver's parking intention; An environment acquisition module, used to acquire the surrounding environment information of the vehicle through the panoramic image parking assistance system when the parking assistance condition is met; A path planning module, used for planning a target parking path based on the current position of the vehicle and the surrounding environment information; The path playing module is used to play the target parking path.

8. The device according to claim 7, characterized in that The condition detection module is also used for: Detect whether the vehicle has the automatic parking function turned on; When the automatic parking function is not turned on, detecting whether the parking assistance function of the panoramic image parking assistance system is turned on; When the parking assistance function is turned on, it is determined that the panoramic image parking assistance system meets the parking assistance condition.

9. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the method described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device implements the method according to any one of claims 1 to 6.

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