Mobile terminal assisted positioning parking method, system and equipment and medium

Abstract

The invention relates to a mobile terminal assisted positioning parking method, system and device and a medium. The method comprises the steps that a pre-parking area image obtained and sent by a mobile terminal and terminal position information when the mobile terminal collects the pre-parking area image are obtained; planning a driving path according to the current vehicle position information of the motor vehicle and the terminal position information; acquiring an environment image of the motor vehicle in the driving process of the motor vehicle along the driving path; obtaining a parking area image according to the pre-parking area image and the environment image; and parking the motor vehicle in the parking area according to the parking area image. Compared with the prior art, the method has the advantages that the vehicle can be parked in the specified parking space (preferred position) through the mobile terminal held by the user, the practical effect that the vehicle of the user is parked in the specific parking space (for example, free of a unit) can be achieved through image information collected by the mobile terminal of other people, and the user experience is improved.

Description

Technical Field

[0001] The present invention belongs to the field of communication technology, and in particular relates to a method, system, device and medium for assisting positioning parking by a mobile terminal. Background Art

[0002] The development of the intelligence of motor vehicles is of great necessity in improving traffic efficiency, optimizing driving experience, enhancing safety, promoting industrial upgrading and environmental protection. With the continuous advancement of technology and the deepening of application, the intelligence of motor vehicles will become an important trend in the future development of transportation. At present, motor vehicles can realize a variety of functions, such as automatic driving and automatic parking. For example, Chinese patent CN111942373B discloses an automatic parking method, comprising: identifying a parking space and calculating a parking position confidence to determine a parking space identification result; initiating corresponding parking prompt information according to the parking space identification result; wherein initiating corresponding parking prompt information according to the parking space identification result comprises: when the parking space identification result includes a high-confidence parking space, determining the high-confidence parking space as an available parking space; when the parking space identification result includes a low-confidence parking space or a narrow parking space, determining the low-confidence parking space or the narrow parking space as an available parking space, and when the low-confidence parking space or the narrow parking space is determined to be a parking space, issuing a prompt information for using a remote parking function; when the parking space identification result includes an unparkable space and / or an unknown parking space, determining the unparkable space and / or the unknown parking space as an unavailable parking space.

[0003] However, during the automatic parking of the motor vehicle, the user is unable to select a specific preferred or designated parking location. Summary of the invention

[0004] The purpose of the present invention is to provide a mobile terminal assisted positioning parking method, system, device and medium, which can conveniently park a vehicle in a specified position according to specific requirements and effectively improve the user experience.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] One aspect of the present invention provides a method for assisting positioning and parking by a mobile terminal, comprising the following steps:

[0007] Acquire a pre-parking area image acquired and sent by a mobile terminal;

[0008] Acquiring terminal location information when the mobile terminal generates the pre-parking area image;

[0009] Planning a vehicle path based on the current vehicle position information and terminal position information of the motor vehicle;

[0010] collecting an environmental image of the motor vehicle while the motor vehicle is traveling along the driving path;

[0011] Obtaining a parking area image according to the pre-parking area image and the environment image;

[0012] The motor vehicle is parked in the parking area according to the parking area image.

[0013] Furthermore, the mobile terminal is a user's own mobile terminal or another person's mobile terminal.

[0014] Furthermore, the generation of the driving path includes:

[0015] A starting point is obtained based on the current vehicle position information of the motor vehicle, an end point is obtained based on the terminal position information, and a path planning algorithm is used to generate the driving path.

[0016] Further, obtaining a parking area image according to the pre-parking area image and the environment image includes:

[0017] Extracting features from the pre-parking area image to obtain a plurality of area features;

[0018] It is determined whether the environment image contains all the area features. If so, the parking area image is obtained by fitting the environment image.

[0019] Furthermore, the parking area image is obtained by fitting a rectangular frame including all the area features.

[0020] Further, parking the motor vehicle into a parking area according to the parking area image includes:

[0021] Fitting and generating at least one parking space contour in the parking area image;

[0022] According to the parking space contour and the pre-parking area image, the motor vehicle is driven into an area in the parking area corresponding to one of the parking space contours.

[0023] Furthermore, the parking space contour is generated based on the position fitting of the ground parking space line in the parking area image.

[0024] Furthermore, a marking point is set in the pre-parking area image, and the motor vehicle is driven into an area corresponding to the parking space contour including the marking point.

[0025] A second aspect of the present invention provides a mobile terminal assisted positioning parking system, comprising:

[0026] A receiving module, acquiring a pre-parking area image sent by a mobile terminal;

[0027] A terminal location module, for acquiring terminal location information when the mobile terminal generates the pre-parking area image;

[0028] A planning module plans a vehicle path based on the current vehicle position information and terminal position information of the motor vehicle;

[0029] A collection module for collecting an environmental image of the motor vehicle while the motor vehicle is traveling along the driving path;

[0030] A comparison module, for obtaining a parking area image according to the pre-parking area image and the environment image;

[0031] The parking module parks the motor vehicle in the parking area according to the parking area image.

[0032] A third aspect of the present invention provides a mobile terminal assisted positioning parking device, comprising:

[0033] processor;

[0034] a memory storing executable instructions of the processor;

[0035] The processor is configured to execute the steps of the mobile terminal assisted positioning parking method as described above by executing the executable instructions.

[0036] A fourth aspect of the present invention provides a computer-readable storage medium for storing a program, wherein the program, when executed, implements the steps of the mobile terminal assisted positioning parking method as described above.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] 1. The present invention can establish a data connection with a motor vehicle through a mobile terminal. The mobile terminal can collect a pre-parking area image, and transmit the pre-parking area image and the terminal position information corresponding to the mobile terminal to the motor vehicle. The motor vehicle can collect the surrounding environment image, and obtain the parking area image in the environment image through the pre-parking area image, so as to park the motor vehicle in the parking area corresponding to the parking area image, so as to achieve the practical effect that the user can park the vehicle in a designated parking space (preferred position) through the self-held mobile terminal, and can also park the user's vehicle in a specific (for example, free of charge at the unit) parking space through the image information collected by other people's mobile terminals, thereby improving the user experience.

[0039] 2. The present invention generates a parking area image by comparing the pre-parking area image with the environment image, and further fits the parking space contour, so as to park the motor vehicle in a specific parking space more accurately.

[0040] Other features and advantages of the present invention and the structure and operation of various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the present invention is not limited to the specific embodiments described herein. These embodiments provided herein are for illustrative purposes only. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a flow chart of the mobile terminal assisted positioning parking method of the present invention;

[0042] Figure 2 A schematic diagram of a pre-parking area image collected by an embodiment of the present invention;

[0043] Figure 3 A schematic diagram of a driving path according to an embodiment of the present invention;

[0044] Figure 4 The parking area image acquisition method process of an embodiment of the present invention;

[0045] Figure 5 A schematic diagram of a parking area image according to an embodiment of the present invention;

[0046] Figure 6 A schematic diagram of a parking process according to an embodiment of the present invention;

[0047] Figure 7 A schematic diagram of a parking space outline according to an embodiment of the present invention;

[0048] Figure 8 A schematic diagram of a mobile terminal assisted positioning parking system of the present invention;

[0049] Fig. 9 This is a structural block diagram of the mobile terminal auxiliary positioning parking device of the present invention;

[0050] Fig.10 It is a schematic diagram of the structure of the computer-readable storage medium of the present invention.

[0051] The features and advantages of the present invention will become more apparent from the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same drawings identify corresponding elements. In the accompanying drawings, the same reference numerals generally indicate the same, functionally similar and / or structurally similar elements. DETAILED DESCRIPTION

[0052] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] The words "first", "second" and similar terms used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprises" and similar terms mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0055] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0056] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0057] Example 1

[0058] like Figure 1 As shown, this embodiment provides a mobile terminal assisted positioning parking method, which runs in a vehicle-side control system and includes:

[0059] In step S101, a pre-parking area image is acquired through a mobile terminal.

[0060] The mobile terminal is provided with an imaging module. Specifically, the user uses the imaging module of the mobile terminal to capture an image of the pre-parking area. Figure 2 shown.

[0061] Preferably, the user can mark a point 21 in the pre-parking area image. The marked point 21 is marked by the user in the pre-parking area image to further define the specific parking position of the motor vehicle.

[0062] In step S102, the control system of the motor vehicle receives the terminal position information when the mobile terminal generates the pre-parking area image while receiving the pre-parking area image sent by the mobile terminal.

[0063] In step S103, a vehicle path is planned according to the current vehicle position information of the motor vehicle and the terminal position information. Figure 3 The figure shows a schematic diagram of the driving path obtained in this embodiment. Figure 3 As shown, the motor vehicle 22 is at the starting point 23, and the end point 24 can be obtained according to the terminal position information of the mobile terminal 26. When the starting point 23 and the end point 24 are obtained, a driving path 25 can be obtained through path planning, and the motor vehicle 22 will travel along the driving path 25.

[0064] In step S104, the motor vehicle collects an image of the environment of the motor vehicle while it is traveling along the driving path. Specifically, the motor vehicle collects an image of the surrounding environment through an imaging device disposed on the motor vehicle during the driving process, forming, for example, Figure 5 The illustrated surroundings image 29 is a parking area image obtained by surroundings image processing.

[0065] like Figure 4 As shown, the parking area image acquisition includes:

[0066] Step S201: extract features from the pre-parking area image to obtain multiple area features. Figure 2 By performing feature extraction on the pre-parking area image, multiple area features, such as features 271 and 272, can be obtained.

[0067] Step S202: If the environment image includes all the area features, fitting the parking area image corresponding to the parking area in the environment image. In this embodiment, the parking area image is obtained by fitting a rectangular frame including all the area features.

[0068] refer to Figure 5 In the current environment image 29, after feature extraction, the environment image contains Figure 2 The features 271 and 272 shown in FIG. Figure 2 The pre-parking area image shown in FIG. 2 can be fitted to obtain the corresponding parking area image 28 in the environment image 29 .

[0069] In step S106, the motor vehicle is parked in a parking area according to the parking area image, thereby realizing automatic parking of the motor vehicle.

[0070] refer to Figure 6 As shown, step S106 specifically includes:

[0071] Step S301: Fitting the parking area image to generate at least one parking space contour. At least one parking space contour can be fitted in the parking area image. In this embodiment, the parking space contour is generated based on the position of the ground parking space line in the parking area image. For example, Figure 7 Parking space contours 281 , 282 , 283 are shown in FIG.

[0072] Step S302: according to the parking space contour, the motor vehicle is driven into an area in the parking area image corresponding to a parking space contour. In some embodiments, a marking point 21 is marked in the pre-parking area image, then the motor vehicle is driven into an area in the parking area corresponding to a parking space contour containing the marking point, for example, Figure 7 Parking space outline 281 is shown in FIG.

[0073] Example 2

[0074] like Figure 8 As shown, this embodiment provides a mobile terminal assisted positioning parking system, including:

[0075] The receiving module 701 acquires a pre-parking area image through a mobile terminal;

[0076] The terminal location module 702 receives the pre-parking area image and the terminal location information of the mobile terminal sent by the mobile terminal;

[0077] A planning module 703 plans a vehicle path according to the current vehicle position information of the motor vehicle and the terminal position information;

[0078] A collection module 704, which collects an environmental image of the motor vehicle while the motor vehicle is traveling along the driving path;

[0079] A comparison module 705 is configured to obtain a parking area image according to the pre-parking area image and the environment image;

[0080] The parking module 706 parks the motor vehicle in a parking area according to the parking area image.

[0081] The rest of the detailed description refers to Example 1.

[0082] Example 3

[0083] This embodiment provides a mobile terminal assisted positioning parking device, including: a processor; a memory, in which executable instructions of the processor are stored; wherein when the executable instructions are executed, the processor executes the steps of the mobile terminal assisted positioning parking method described in Example 1.

[0084] Fig. 9 This is a structural block diagram of the mobile terminal auxiliary positioning parking device of this embodiment. Fig. 9 An electronic device 800 according to this embodiment of the present invention will be described. Fig. 9 The electronic device 800 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0085] like Fig. 9 As shown, the electronic device 800 is in the form of a general computing device. The components of the electronic device 800 may include, but are not limited to: at least one processing unit 810, at least one storage unit 820, a bus 830 connecting different platform components (including the storage unit 820 and the processing unit 810), a display unit 840, etc.

[0086] The storage unit stores program codes, which can be executed by the processing unit 810, so that the processing unit 810 performs the above steps of this specification. For example, the processing unit 810 can execute the following steps: Figure 1 Follow the steps shown in .

[0087] The storage unit 820 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 8201 and / or a cache memory unit 8202 , and may further include a read-only memory unit (ROM) 8203 .

[0088] The storage unit 820 may also include a program / utility 8204 having a set (at least one) of program modules 6205, such program modules 8205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0089] Bus 830 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0090] The electronic device 800 may also communicate with one or more external devices 870 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 800, and / or communicate with any device that enables the electronic device 800 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 850. Furthermore, the electronic device 800 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 860. The network adapter 660 may communicate with other modules of the electronic device 800 via a bus 830. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 800, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, etc.

[0091] Example 4

[0092] This embodiment provides a computer-readable storage medium for storing a program, and when the program is executed, the steps of the method described in Embodiment 1 are implemented.

[0093] Fig.10 Schematic diagram of the structure of the computer-readable storage medium of the present invention. Fig.10 As shown, a program product 900 for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0094] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0095] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, wherein readable program codes are carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program codes contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0096] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0097] In summary, the mobile terminal assisted positioning parking method, system, device and medium of the present invention can establish a data connection with a motor vehicle through a mobile terminal, and the mobile terminal can collect the pre-parking area image, and transmit the pre-parking area image and the terminal position information corresponding to the mobile terminal to the motor vehicle. The control system of the motor vehicle can collect the surrounding environment image, and the parking area image in the environment image can be obtained through the pre-parking area image, so as to park the motor vehicle in the parking area corresponding to the parking area image. In actual application, the user can park the vehicle in a designated parking space (preferred position) through the self-held mobile terminal, and can also park the user's vehicle in a specific (for example, free of charge) parking space through the image information collected by other people's mobile terminals.

[0098] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A mobile terminal assisted positioning parking method, characterized in that: The following steps are involved: Acquire a pre-parking area image acquired and sent by a mobile terminal; Acquiring terminal location information when the mobile terminal generates the pre-parking area image; Planning a vehicle path based on the current vehicle position information and terminal position information of the motor vehicle; collecting an environmental image of the motor vehicle while the motor vehicle is traveling along the driving path; Obtaining a parking area image according to the pre-parking area image and the environment image; The motor vehicle is parked in the parking area according to the parking area image.

2. The mobile terminal assisted positioning parking method according to claim 1, characterized in that: The generation of the driving path includes: A starting point is obtained based on the current vehicle position information of the motor vehicle, an end point is obtained based on the terminal position information, and a path planning algorithm is used to generate the driving path.

3. The mobile terminal assisted positioning parking method according to claim 1, characterized in that: Obtaining a parking area image according to the pre-parking area image and the environment image includes: Extracting features from the pre-parking area image to obtain a plurality of area features; It is determined whether the environment image contains all the area features. If so, the parking area image is obtained by fitting the environment image.

4. The mobile terminal assisted positioning parking method according to claim 3, characterized in that: The parking area image is obtained by fitting a rectangular frame that includes all the area features.

5. The mobile terminal assisted positioning parking method according to claim 1, characterized in that: Parking the motor vehicle in a parking area according to the parking area image comprises: Fitting and generating at least one parking space contour in the parking area image; According to the parking space contour and the pre-parking area image, the motor vehicle is driven into an area in the parking area corresponding to one of the parking space contours.

6. The mobile terminal assisted positioning parking method according to claim 5, characterized in that: The parking space contour is generated based on position fitting of ground parking space lines in the parking area image.

7. The mobile terminal assisted positioning parking method according to claim 5, characterized in that: The pre-parking area image is provided with a marking point, and the motor vehicle is driven into an area corresponding to the parking space contour including the marking point.

8. A mobile terminal assisted positioning parking system, characterized in that: include: A receiving module, acquiring a pre-parking area image sent by a mobile terminal; A terminal location module, for acquiring terminal location information when the mobile terminal generates the pre-parking area image; A planning module plans a vehicle path based on the current vehicle position information and terminal position information of the motor vehicle; A collection module for collecting an environmental image of the motor vehicle while the motor vehicle is traveling along the driving path; A comparison module, for obtaining a parking area image according to the pre-parking area image and the environment image; The parking module parks the motor vehicle in the parking area according to the parking area image.

9. A mobile terminal assisted positioning parking device, characterized in that: include: processor; a memory storing executable instructions of the processor; The processor is configured to execute the steps of the mobile terminal assisted positioning parking method according to any one of claims 1 to 7 by executing the executable instructions.

10. A computer-readable storage medium for storing a program, characterized in that: When the program is executed, the steps of the mobile terminal assisted positioning parking method described in any one of claims 1-7 are implemented.

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