Wheel chock distance measuring method and device, electronic equipment and medium

Abstract

The embodiment of the invention provides a wheel chock distance measuring method and device, electronic equipment and a medium, and the method comprises the steps: determining a first wheel chock distance between a vehicle and a target wheel chock in real time according to a target wheel chock image when the vehicle is parked based on the target wheel chock; the target wheel chock image is shot based on a vehicle-mounted camera of the vehicle; optimizing the first wheel chock distance according to the positioning information of the vehicle to obtain a second wheel chock distance; based on a third wheel chock distance, carrying out distance measurement abnormity judgment on the second wheel chock distance to obtain an abnormity judgment result aiming at the second wheel chock distance; the third chock distance is obtained based on a previous frame of chock image of the target chock image; and when the abnormity judgment result of the second wheel chock distance is that abnormity exists, the second wheel chock distance is optimized based on a preset optimization coefficient and the positioning information of the vehicle. Therefore, the accuracy of wheel chock distance measurement is improved.

Description

Technical Field

[0001] The present application relates to the field of distance measurement technology, and in particular to a wheel block distance measurement method, device, electronic equipment and medium. Background Art

[0002] The distance measurement of the wheel chock of a vehicle is generally used in the parking stage of the vehicle. During the parking process, by obtaining the distance between the vehicle and the parking wheel chock in real time and using it for parking detection, it can effectively ensure that the vehicle can be parked smoothly on the wheel chock, and improve the accuracy and stability of the vehicle parking. However, in the current wheel chock distance measurement scheme, since the vehicle is always in motion during the parking process, the distance measurement accuracy between the vehicle and the wheel chock is poor.

[0003] Therefore, how to solve the problem of poor distance measurement accuracy between the vehicle and the wheel chock in the existing wheel chock distance measurement solution has become a technical problem that technical personnel in this field need to solve urgently. Summary of the invention

[0004] Based on the above problems, in order to solve the problem of poor distance measurement accuracy between the vehicle and the wheel chock in the existing wheel chock distance measurement scheme, the embodiments of the present application provide a wheel chock distance measurement method, device, electronic device and medium.

[0005] The embodiments of the present application disclose the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a wheel block distance measurement method, comprising:

[0007] When the vehicle is parked based on the target wheel chock, a first wheel chock distance between the vehicle and the target wheel chock is determined in real time based on a target wheel chock image; the target wheel chock image is obtained based on a camera mounted on the vehicle;

[0008] Optimizing the first wheel block distance according to the positioning information of the vehicle to obtain a second wheel block distance;

[0009] Based on the third wheel block distance, the second wheel block distance is subjected to distance measurement abnormality determination to obtain an abnormality determination result for the second wheel block distance; the third wheel block distance is obtained based on a previous wheel block image of the target wheel block image;

[0010] When the abnormality determination result of the second wheel block distance is that an abnormality exists, the second wheel block distance is optimized based on a preset optimization coefficient and the positioning information of the vehicle.

[0011] In a possible implementation, the positioning information of the vehicle is the positioning coordinates of the vehicle in a global coordinate system; and optimizing the first wheel block distance according to the positioning information of the vehicle to obtain the second wheel block distance includes:

[0012] Performing position measurement based on the positioning coordinates of the vehicle in the global coordinate system and the target wheel chock image to determine the positioning coordinates of the target wheel chock in the global coordinate system;

[0013] Based on the positioning coordinates of the target wheel block in the global coordinate system, the first wheel block distance is optimized to obtain the second wheel block distance.

[0014] In a possible implementation, the performing distance measurement abnormality determination on the second wheel block distance based on the third wheel block distance to obtain an abnormality determination result for the second wheel block distance includes:

[0015] determining a wheel block distance difference between the third wheel block distance and the second wheel block distance;

[0016] When the wheel block distance difference is greater than a preset jump threshold, determining that the abnormality determination result is abnormal;

[0017] When the wheel block distance difference is less than the preset jump threshold, it is determined that the abnormality determination result is no abnormality.

[0018] In a possible implementation manner, before determining the first wheel block distance between the vehicle and the target wheel block according to the target wheel block image, the method further includes:

[0019] When the vehicle is performing gear-seeking parking, acquiring a gear-seeking image; the gear-seeking image includes a plurality of wheel chocks;

[0020] Performing wheel block screening based on a preset wheel block screening range and the gear search image to obtain at least two first wheel blocks; each of the first wheel blocks has a corresponding parking space;

[0021] A target wheel chock is screened according to wheel chock position determination information of the first wheel chock in the parking space to determine the target wheel chock; the wheel chock position determination information is obtained based on a wheel chock image of the first wheel chock.

[0022] In a possible implementation manner, after determining the first wheel block distance between the vehicle and the target wheel block according to the target wheel block image, the method further includes:

[0023] When the first wheel block distance is less than a preset threshold, the target wheel block image is photographed by a rearview camera of the vehicle.

[0024] In a possible implementation, the first wheel block distance is obtained based on a vehicle body coordinate system with the vehicle as the origin of the coordinate system.

[0025] In a second aspect, an embodiment of the present application provides a wheel block distance measuring device, comprising:

[0026] a distance measuring module, used for determining a first wheel block distance between the vehicle and the target wheel block in real time according to a target wheel block image when the vehicle is parked based on the target wheel block; the target wheel block image is obtained based on the image captured by the vehicle-mounted camera of the vehicle;

[0027] A first optimization module, configured to optimize the first wheel block distance according to the positioning information of the vehicle to obtain a second wheel block distance;

[0028] an abnormality determination module, configured to perform distance measurement abnormality determination on the second wheel block distance based on a third wheel block distance, and obtain an abnormality determination result for the second wheel block distance; the third wheel block distance is obtained based on a wheel block image of a previous frame of the target wheel block image;

[0029] The second optimization module is used to optimize the second wheel block distance based on a preset optimization coefficient and the positioning information of the vehicle when the abnormality determination result of the second wheel block distance is that an abnormality exists.

[0030] In a possible implementation, the positioning information of the vehicle is the positioning coordinates of the vehicle in a global coordinate system; and the first optimization module is used to:

[0031] Performing position measurement based on the positioning coordinates of the vehicle in the global coordinate system and the target wheel chock image to determine the positioning coordinates of the target wheel chock in the global coordinate system;

[0032] Based on the positioning coordinates of the target wheel block in the global coordinate system, the first wheel block distance is optimized to obtain the second wheel block distance.

[0033] In a third aspect, an embodiment of the present application provides an electronic device, the device comprising: a processor, a memory, and a system bus;

[0034] The processor and the memory are connected via the system bus;

[0035] The memory is used to store one or more programs, wherein the one or more programs include instructions, and when the instructions are executed by the processor, the processor executes the steps of any possible wheel block distance measurement method in the first aspect.

[0036] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any possible wheel block distance measurement method in the first aspect.

[0037] Compared with the prior art, the present application has the following beneficial effects: the embodiment of the present application provides a wheel block distance measurement method, device, electronic device and medium. In the wheel block distance measurement method provided by the embodiment of the present application, in the process of parking the vehicle based on the target wheel block, the first wheel block distance between the vehicle and the target wheel block is determined in real time according to the target wheel block image. Subsequently, the first wheel block distance is optimized according to the positioning information of the vehicle, so as to improve the accuracy of measuring the wheel block distance through the real-time position information of the vehicle, and obtain the second wheel block distance. Thereafter, the second wheel block distance is abnormally determined based on the third wheel block distance obtained in the wheel block image of the previous frame, so as to prevent the measured wheel block distance from jumping rapidly and causing errors. When it is determined that the second wheel block distance is abnormal, the second wheel block distance is further optimized according to the preset optimization coefficient. In this way, the measured wheel block distance is optimized based on the real-time position information of the vehicle, and it is further determined whether the optimized wheel block distance is abnormal according to the wheel block distances of the previous and next frames. When it is abnormal, the wheel block distance is optimized again by the preset optimization coefficient, which effectively improves the accuracy of wheel block distance measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application 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, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 A schematic diagram of a flow chart of a wheel block distance measurement method provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of wheel block distance measurement based on a vehicle body coordinate system provided in an embodiment of the present application;

[0041] Figure 3 A schematic diagram of optimizing the first wheel block distance provided in an embodiment of the present application;

[0042] Figure 4 A schematic diagram of parking a vehicle in global coordinates provided in an embodiment of the present application;

[0043] Figure 5 A schematic diagram of a flow chart of a distance measurement abnormality determination provided in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of vehicle parking provided in an embodiment of the present application;

[0045] Figure 7 Another vehicle parking schematic diagram provided in an embodiment of the present application;

[0046] Figure 8 A schematic flow chart of a method for determining a target wheel block provided in an embodiment of the present application;

[0047] Fig. 9 A schematic diagram of a preset wheel chock screening range provided in an embodiment of the present application;

[0048] Fig.10 A schematic diagram of the structure of a wheel block distance measurement system provided in an embodiment of the present application;

[0049] Fig.11 A schematic structural diagram of a wheel chock distance measuring electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] As described above, in the current wheel chock distance measurement solution, since the vehicle is always in motion during the parking process, the distance measurement accuracy between the vehicle and the wheel chock is poor.

[0051] Therefore, how to solve the problem of poor distance measurement accuracy between the vehicle and the wheel chock in the existing wheel chock distance measurement solution has become a technical problem that technical personnel in this field need to solve urgently.

[0052] In order to solve the above problems, the embodiments of the present application provide a wheel block distance measurement method, device, electronic device and medium. In the wheel block distance measurement method provided by the embodiments of the present application, in the process of parking the vehicle based on the target wheel block, the first wheel block distance between the vehicle and the target wheel block is determined in real time according to the target wheel block image. Subsequently, the first wheel block distance is optimized according to the positioning information of the vehicle, so as to improve the accuracy of measuring the wheel block distance through the real-time position information of the vehicle, and obtain the second wheel block distance. Thereafter, the second wheel block distance is abnormally determined based on the third wheel block distance obtained in the wheel block image of the previous frame, so as to prevent the measured wheel block distance from jumping rapidly and causing errors. When it is determined that the second wheel block distance is abnormal, the second wheel block distance is further optimized according to the preset optimization coefficient. In this way, the measured wheel block distance is optimized based on the real-time position information of the vehicle, and it is further determined whether the optimized wheel block distance is abnormal according to the wheel block distances of the previous and next frames. When it is abnormal, the wheel block distance is optimized again by the preset optimization coefficient, which effectively improves the accuracy of wheel block distance measurement.

[0053] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] See also Figure 1 , which is a schematic flow chart of a wheel block distance measurement method provided in an embodiment of the present application, and specifically includes the following steps:

[0055] S101: When a vehicle is parked based on the target wheel chock, a first wheel chock distance between the vehicle and the target wheel chock is determined in real time based on a target wheel chock image; the target wheel chock image is captured based on a vehicle-mounted camera of the vehicle.

[0056] The wheel block distance measurement method provided in the embodiment of the present application is applied to the parking process of the vehicle. When the vehicle is parked based on the target wheel block, the vehicle-mounted camera arranged inside or outside the vehicle is controlled in real time to capture the wheel block image, and the target wheel block image including the target wheel block is obtained. Subsequently, the first wheel block distance between the vehicle and the target wheel block is determined by performing image analysis on the target wheel block image obtained in real time.

[0057] Specifically, in the process of capturing the target wheel chock image, when the vehicle determines the target wheel chock and parks accordingly, the vehicle camera can be controlled to capture the image through the ECU (Electronic Control Unit) in the vehicle. When it is detected that the vehicle is parking, the ECU sends a capture control instruction to the vehicle camera to control the vehicle camera to capture the target wheel chock image, thereby obtaining the target wheel chock image. In actual application scenarios, the capture control of the vehicle camera can also be completed by the parking assistance system configured by the vehicle itself, or the driver can manually control the start and capture of the camera. This embodiment does not limit the capture method of the vehicle camera.

[0058] After obtaining the target wheel chock image, the target wheel chock image is subjected to image analysis to determine the first wheel chock distance between the vehicle and the wheel chock. Specifically, the image analysis process of the target wheel chock image can be implemented by computer vision technology, such as edge detection, shape recognition, and deep learning models, so as to determine the position of the target wheel chock in the image. When the position of the target wheel chock in the image is determined, further measurement is performed based on the shooting parameters of the vehicle-mounted camera, such as focal length, installation height, and installation angle, so as to obtain the first wheel chock distance between the vehicle and the target wheel chock.

[0059] There are many types of vehicle-mounted cameras, and the vehicle-mounted cameras can be various types such as the vehicle's front view camera, rear view camera, side view camera, and panoramic camera. Accordingly, when calculating the distance between the vehicle and the wheel chock, the target wheel chock image taken by one of the vehicle-mounted cameras can be used for calculation, or multiple target wheel chock images taken by multiple vehicle-mounted cameras can be integrated and processed through stereo vision technology to determine the distance between the vehicle and the wheel chock.

[0060] It should be noted that, in the process of determining the first wheel block distance between the vehicle and the target wheel block according to the target wheel block image, the first wheel block distance is the wheel block distance determined based on the vehicle body coordinate system. Figure 2 , Figure 2 A schematic diagram of wheel chock distance measurement based on a vehicle body coordinate system provided in an embodiment of the present application.

[0061] like Figure 2 As shown in FIG. 1 , the body coordinate system is a coordinate system with the vehicle itself as the origin of the coordinates. Since the on-board camera in the vehicle is usually installed at a fixed position of the vehicle, and the body coordinate system is directly related to the direction and motion state of the vehicle, at different entry times T1 and T2, the forward and backward movement of the vehicle and the left and right steering operations can directly affect the body coordinate system of the vehicle. Therefore, the first wheel block distance between the vehicle and the target wheel block is determined by the body coordinate system, which can ensure the measurement accuracy of the first wheel block distance.

[0062] S102: Optimizing the first wheel block distance according to the positioning information of the vehicle to obtain a second wheel block distance.

[0063] In the process of calculating the first wheel block distance between the vehicle and the target wheel block according to the target wheel block image in real time, it is necessary to simultaneously optimize the measured first wheel block distance based on the vehicle positioning information to improve the measurement accuracy between the vehicle and the target wheel block and obtain the second wheel block distance.

[0064] The positioning information of the vehicle may be any information that can represent the position information of the vehicle, and the GPS position information of the vehicle is taken as an example. In the process of optimizing the first wheel block distance based on the GPS position information of the vehicle, the first wheel block distance can be optimized based on the GPS position information of the vehicle and the Kalman filter. The Kalman filter is an algorithm for positioning optimization. By integrating the position information of the vehicle and the position information of the target wheel block, the position estimate of the vehicle can be adjusted in real time during the dynamic parking process of the vehicle, so that the measured distance between the vehicle and the target wheel block is more accurate, thereby obtaining a second wheel block distance with higher accuracy.

[0065] Specifically, in the process of optimizing the first wheel block distance between the vehicle and the target wheel block according to the vehicle's positioning information, in order to improve the accuracy of the second wheel block distance and the robustness of the optimization process, the optimization process needs to be completed based on the positioning coordinates of the vehicle and the target wheel block in the global coordinate system. Next, the above-mentioned optimization process for the first wheel block distance will be introduced in conjunction with the specific embodiment drawings.

[0066] See also Figure 3 and Figure 4 , Figure 3 A schematic diagram of optimizing the first wheel block distance provided in an embodiment of the present application is shown in FIG. Figure 4 A parking diagram of a vehicle in global coordinates provided in an embodiment of the present application, Figure 4 In the schematic diagram, the vehicle positioning information is represented by the global position coordinates (X, Y) of the vehicle body, and the positioning information of the target wheel block is represented by the global position coordinates (n, m) of the wheel block. Figure 4 Further understanding of the optimization process of the first wheel block distance.

[0067] Specifically, Figure 3 The schematic diagram shown includes the following steps:

[0068] S201: Calculate the position of the vehicle according to the positioning coordinates of the vehicle in the global coordinate system and the target wheel chock image to determine the positioning coordinates of the target wheel chock in the global coordinate system.

[0069] First, it is necessary to determine the positioning coordinates of the vehicle in the global coordinate system based on the positioning information of the vehicle, and perform position measurement based on the target wheel chock image and the positioning coordinates of the vehicle itself, so as to determine the positioning coordinates of the target wheel chock in the global coordinate system.

[0070] Among them, the positioning coordinates of the vehicle in the global coordinate system can be the actual GPS coordinates of the vehicle, and correspondingly, the positioning coordinates of the target wheel chock in the global coordinate system are the GPS coordinates of the target wheel chock. In the process of calculating the GPS coordinates of the target wheel chock based on the GPS coordinates of the vehicle and the target wheel chock image, it is necessary to extract the feature points of the target wheel chock from the target wheel chock image, and use the calibration parameters of the on-board camera to convert these feature points into coordinates in the vehicle body coordinate system. Subsequently, combined with the GPS coordinates of the vehicle, the coordinates of the wheel chock in the vehicle body coordinate system are converted into GPS coordinates in the global coordinate system, and the positioning coordinates of the target wheel chock in the global coordinate system can be obtained.

[0071] S202: Optimizing the first wheel block distance based on the positioning coordinates of the target wheel block in the global coordinate system to obtain the second wheel block distance.

[0072] As can be seen from the above introduction to the first wheel block distance, the first wheel block distance is obtained based on the vehicle body coordinate system. Through the positioning coordinates of the target wheel block in the global coordinate system, the position measurement error of the target wheel block in the global coordinate system and the vehicle body coordinate system can be obtained, so that the initial first wheel block distance can be optimized based on the errors in the two coordinate systems through the optimization algorithm to improve the accuracy of the wheel block distance and obtain the second wheel block distance. In a possible implementation, the optimization algorithm used can be a Kalman filter algorithm, a least squares method or a particle filter method, etc., which is not specifically limited in this embodiment.

[0073] S103: performing distance measurement abnormality determination on the second wheel block distance based on the third wheel block distance to obtain an abnormality determination result for the second wheel block distance; the third wheel block distance is obtained based on a previous wheel block image of the target wheel block image.

[0074] After optimizing the first wheel block distance based on the vehicle positioning information to obtain the second wheel block distance, based on the third wheel block distance measured in the previous frame of wheel block image, the second wheel block distance is judged for ranging abnormality to determine whether the vehicle's wheel block ranging has an excessive jump.

[0075] Among them, the third wheel block distance is the wheel block distance measured based on the target wheel block image of the previous frame of the current target wheel block image, and the third wheel block distance has also undergone the optimization link of the vehicle positioning information. Therefore, by comparing the wheel block distance difference between the third wheel block distance and the second wheel block distance, it is possible to judge whether there is an abnormality in the wheel block distance measurement of the vehicle through the jump of the wheel block distance between the previous and next frames.

[0076] It is understandable that during the actual parking process, the parking speed of the vehicle is often maintained in a relatively low speed range, so the speed of the vehicle will not cause excessive jumps in the wheel block distance. However, when the wheel block distance measured between the previous and next frames has excessive jumps, it indicates that the currently measured wheel block distance is abnormal.

[0077] Next, the process of determining the abnormality of distance measurement of the second wheel block distance based on the third wheel block distance will be introduced in conjunction with the drawings of specific embodiments.

[0078] See also Figure 5 , which is a schematic diagram of a flow chart of a distance measurement abnormality determination provided by an embodiment of the present application, and specifically includes the following steps:

[0079] S301: Determine a wheel block distance difference between the third wheel block distance and the second wheel block distance.

[0080] Since the third wheel block distance is the wheel block distance measured based on the previous target wheel block image of the current target wheel block image, by comparing the wheel block distance difference between the third wheel block distance and the second wheel block distance, it can be determined whether there is an abnormality in the currently measured second wheel block distance.

[0081] S302: When the wheel block distance difference is greater than a preset jump threshold, determining that the abnormality determination result is abnormal;

[0082] The wheel block distance difference is compared with the preset jump threshold. When the wheel block distance difference is greater than the preset jump threshold, it is judged that the currently measured second wheel block distance has a larger jump than the third wheel block distance measured in the previous frame. At this time, the abnormal judgment result of the second wheel block distance measurement is determined to be abnormal.

[0083] Among them, since the parking speed of the vehicle determines the jump degree of the wheel block distance measured by it in the front and rear frame images, the preset jump threshold value can be calculated and determined based on the parking speed of the vehicle during parking.

[0084] S303: When the wheel block distance difference is less than the preset jump threshold, determine that the abnormality determination result is no abnormality.

[0085] Correspondingly, if the wheel block distance difference between the second wheel block distance and the third wheel block distance is less than the preset jump threshold, it indicates that the jump of the second wheel block distance is consistent with the current vehicle parking speed, and thus it can be determined that the abnormality determination result of the second wheel block distance is normal.

[0086] S104: When the abnormality determination result of the second wheel block distance is that an abnormality exists, optimizing the second wheel block distance based on a preset optimization coefficient and the positioning information of the vehicle.

[0087] Finally, from the foregoing description, it can be seen that when the abnormal determination result of the second wheel block distance is that an abnormality exists, the wheel block distance difference between the second wheel block distance and the third wheel block distance is greater than the preset jump threshold, and the currently measured second wheel block distance has a larger jump than the third wheel block distance measured in the previous frame image. Therefore, in order to solve the problem of excessive jump of the second wheel block distance, the second wheel block distance can be optimized based on the preset optimization coefficient so that the wheel block distance difference between the second wheel block and the third wheel block is less than the preset jump threshold.

[0088] Specifically, in the process of optimizing the second wheel block distance by using the preset optimization coefficient, it is necessary to perform the optimization based on the relative size between the second wheel block distance and the third wheel block distance. For example, when the second wheel block distance is greater than the third wheel block distance, it is necessary to appropriately lower the second wheel block distance, and the preset optimization coefficient can be adjusted to an optimization coefficient less than 1. Correspondingly, when the second wheel block distance is less than the third wheel block distance, it is necessary to appropriately increase the second wheel block distance, and the preset optimization coefficient can be set to an optimization coefficient greater than 1.

[0089] From the description of the vehicle-mounted camera in the previous article, it can be known that in the process of acquiring the target wheel chock image, it can be acquired based on a single vehicle-mounted camera or based on all vehicle-mounted cameras in the vehicle. However, in actual application scenarios, the rear-view camera of the vehicle often has higher shooting accuracy. When the distance between the vehicle and the target wheel chock is close, using a rear-view camera with higher shooting accuracy to capture the target wheel chock image can improve the image accuracy of the target wheel chock image, thereby indirectly improving the accuracy of the wheel chock distance measurement.

[0090] Specifically, during the process of parking the vehicle based on the target wheel block, when the first wheel block distance is less than a preset threshold, the rear view camera of the vehicle can be directly used to capture the target wheel block image, thereby improving the accuracy of the wheel block distance calculation. Figure 6 A vehicle parking schematic diagram is shown. When the vehicle is close to the target wheel chock, that is, the first wheel chock distance is less than a preset threshold, the vehicle's rearview camera can be used to shoot the high-precision wheel chock area in the diagram to obtain the target wheel chock image, thereby improving the image accuracy of the target wheel chock image.

[0091] See also Figure 7 , which is another schematic diagram of vehicle parking provided by an embodiment of the present application. It is understandable that, in the actual parking process of a vehicle, there are often multiple parking spaces with parking wheel chocks around the vehicle, and each parking space has a corresponding parking wheel chock. However, in actual parking scenarios, the parking wheel chocks in some parking spaces may have unreasonable proportions to the parking spaces, or the wheel chocks may be set above the parking space line, and the wheel chocks in these parking spaces cannot effectively realize the parking of the vehicle.

[0092] Therefore, in order to ensure the parking accuracy of the vehicle, it is necessary to select wheel chocks that can be used for parking from multiple wheel chocks around the vehicle, and select a target wheel chock from them, so as to control the vehicle to park based on the determined target wheel chock.

[0093] Next, the process of screening and filtering the target wheel block in the embodiment of the present application will be introduced in conjunction with the specific embodiment drawings, see Figure 8, which is a flow chart of a method for determining a target wheel block provided in an embodiment of the present application, and specifically comprises the following steps:

[0094] S401: when the vehicle is performing gear-searching parking, acquiring a gear-searching image; the gear-searching image includes a plurality of wheel chocks;

[0095] When a vehicle is parking in a parking garage or outdoor parking lot, the ECU controls the on-board camera in the vehicle to capture the surrounding parking images. The parking images include multiple parking spaces and parking wheel chocks in each space. When the vehicle approaches a parking space, the ECU controls the camera in the vehicle to capture the surrounding wheel chock images to facilitate the selection of target wheel chocks.

[0096] In one possible implementation, while controlling the vehicle-mounted camera to capture the gear-seeking image, the captured image can be preprocessed, such as graying, denoising, and edge detection, etc., so as to improve the image quality of the gear-seeking image and facilitate the subsequent identification of each wheel block in the image.

[0097] S402: Perform wheel block screening based on a preset wheel block screening range and the gear search image to obtain at least two first wheel blocks; each of the first wheel blocks has a corresponding parking space.

[0098] After the gear-seeking image is captured, the vehicle is taken as the center point of the screening range, and wheel block screening is performed based on the preset wheel block screening range and the gear-seeking image, thereby screening wheel block closer to the vehicle and eliminating wheel block farther away from the vehicle.

[0099] For details, please refer to Fig. 9 A schematic diagram of a preset wheel block screening range is shown. As shown in the figure, under the distance filter frame of the vehicle, the wheel block in the upper part of the figure will be screened by the distance filter frame, which is used as the first wheel block in the embodiment of the present application, and the wheel block in the lower part of the figure will be eliminated. In this way, the wheel block screening can be performed based on the gear search image to obtain the first wheel block. It should be particularly noted that the distance filter frame in the figure is only an example of the preset wheel block screening range in the embodiment of the present application, and the preset wheel block screening range can be any screening range centered on the parked vehicle.

[0100] S403: Screening a target wheel block according to wheel block position determination information of the first wheel block in the parking space to determine the target wheel block; the wheel block position determination information is obtained based on a wheel block image of the first wheel block.

[0101] Accordingly, after determining the first wheel block, it is necessary to determine whether the position of the first wheel block in the parking space is reasonable and whether the vehicle can be effectively parked in the parking wheel block in the parking space. The wheel block position determination information can be determined by performing image analysis on the wheel block image of the first wheel block. Figure 8 As shown, in the parking spaces and parking wheel blocks shown in the figure, the parking wheel blocks in some parking spaces are placed on their parking space lines, and there are some parking wheel blocks that are placed in the middle of the parking spaces. Such parking wheel blocks cannot guarantee stable parking of the vehicle. Therefore, after determining the first wheel block that is closer to the vehicle, it is necessary to perform image feature analysis based on the gear search image to obtain the wheel block position determination information of the first wheel block, and then determine whether the position of the first wheel block in the wheel block is reasonable based on the wheel block position determination information of the first wheel block, and whether it can meet the parking needs of the vehicle. Among them, the wheel block position determination information can be used to determine whether the wheel block corresponding to the storage space is in the storage space, whether the position ratio of the wheel block in the storage space is reasonable, whether it is located on the storage space line, and whether the angle between the wheel block and the storage space edge line is reasonable, etc., so as to filter the wireless filtering in the first wheel block to determine the target wheel block.

[0102] In one possible implementation, the output result of the wheel block distance measurement can also be controlled according to the usage characteristics of the driver or user. The user or driver can control the ECU to output the detected wheel block distance when needed, thereby avoiding false detection in the non-parking stage of the vehicle, thereby improving the detection efficiency of the wheel block distance.

[0103] The embodiment of the present application provides a wheel block distance measurement method, device, electronic device and medium. In the wheel block distance measurement method provided by the embodiment of the present application, in the process of parking the vehicle based on the target wheel block, the first wheel block distance between the vehicle and the target wheel block is determined in real time according to the target wheel block image. Subsequently, the first wheel block distance is optimized according to the positioning information of the vehicle, so as to improve the accuracy of measuring the wheel block distance through the real-time position information of the vehicle, and obtain the second wheel block distance. Thereafter, the second wheel block distance is abnormally determined based on the third wheel block distance obtained in the wheel block image of the previous frame, so as to prevent the measured wheel block distance from jumping rapidly and causing errors. When it is determined that the second wheel block distance is abnormal, the second wheel block distance is further optimized according to the preset optimization coefficient. In this way, the measured wheel block distance is optimized based on the real-time position information of the vehicle, and it is further determined whether the optimized wheel block distance is abnormal according to the wheel block distances of the previous and next frames. When it is abnormal, the wheel block distance is optimized again by the preset optimization coefficient, which effectively improves the accuracy of wheel block distance measurement.

[0104] A wheel chock distance measuring device provided in an embodiment of the present application is introduced below. The wheel chock distance measuring device described below and the wheel chock distance measuring method described above can refer to each other.

[0105] See also Fig.10 , which is a schematic diagram of the structure of a wheel block distance measuring device provided in an embodiment of the present application, specifically comprising the following modules:

[0106] The distance measuring module 100 is used to determine the first wheel block distance between the vehicle and the target wheel block in real time according to the target wheel block image when the vehicle is parked based on the target wheel block; the target wheel block image is obtained based on the vehicle-mounted camera of the vehicle;

[0107] A first optimization module 200, configured to optimize the first wheel block distance according to the positioning information of the vehicle to obtain a second wheel block distance;

[0108] The abnormality determination module 300 is used to perform distance measurement abnormality determination on the second wheel block distance based on the third wheel block distance to obtain an abnormality determination result for the second wheel block distance; the third wheel block distance is obtained based on the wheel block image of the previous frame of the target wheel block image;

[0109] The second optimization module 400 is used to optimize the second wheel block distance based on a preset optimization coefficient and the positioning information of the vehicle when the abnormality determination result of the second wheel block distance is that an abnormality exists.

[0110] In a possible implementation, the positioning information of the vehicle is the positioning coordinates of the vehicle in a global coordinate system; the first optimization module 200 is used to:

[0111] Performing position measurement based on the positioning coordinates of the vehicle in the global coordinate system and the target wheel chock image to determine the positioning coordinates of the target wheel chock in the global coordinate system;

[0112] Based on the positioning coordinates of the target wheel block in the global coordinate system, the first wheel block distance is optimized to obtain the second wheel block distance.

[0113] In a possible implementation, the abnormality determination module 300 is used to:

[0114] determining a wheel block distance difference between the third wheel block distance and the second wheel block distance;

[0115] When the wheel block distance difference is greater than a preset jump threshold, determining that the abnormality determination result is abnormal;

[0116] When the wheel block distance difference is less than the preset jump threshold, it is determined that the abnormality determination result is no abnormality.

[0117] In a possible implementation, the device further includes: a wheel block screening module; the wheel block screening module is used to:

[0118] When the vehicle is performing gear-seeking parking, acquiring a gear-seeking image; the gear-seeking image includes a plurality of wheel chocks;

[0119] Performing wheel block screening based on a preset wheel block screening range and the gear search image to obtain at least two first wheel blocks; each of the first wheel blocks has a corresponding parking space;

[0120] A target wheel chock is screened according to wheel chock position determination information of the first wheel chock in the parking space to determine the target wheel chock; the wheel chock position determination information is obtained based on a wheel chock image of the first wheel chock.

[0121] In a possible implementation, the device further includes: a shooting adjustment module; the shooting adjustment module is used to:

[0122] When the first wheel block distance is less than a preset threshold, the target wheel block image is photographed by a rearview camera of the vehicle.

[0123] In a possible implementation, the first wheel block distance is obtained based on a vehicle body coordinate system with the vehicle as the origin of the coordinate system.

[0124] See also Fig.11 , which is a schematic diagram of the structure of a wheel block distance measuring electronic device provided in an embodiment of the present application, including:

[0125] A memory 11, used for storing computer programs;

[0126] The processor 12 is used to implement the steps of a wheel block distance measurement method described in any of the above method embodiments when executing the computer program.

[0127] In this embodiment, the device may be a vehicle-mounted computer, a PC (Personal Computer), or a terminal device such as a smart phone, a tablet computer, a PDA, or a portable computer.

[0128] The device may include a memory 11 , a processor 12 , and a bus 13 .

[0129] Among them, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the device, such as a hard disk of the device. In other embodiments, the memory 11 can also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory 11 can also include both an internal storage unit of the device and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the device, such as program codes for executing fault prediction methods, etc., but can also be used to temporarily store data that has been output or is to be output. The processor 12 can be a central processing unit (CPU) in some embodiments.

[0130] In some embodiments, the processor 12 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip, and is used to run program codes or process data stored in the memory 11, such as program codes for executing a fault prediction method.

[0131] The bus 13 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.11 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0132] Furthermore, the device may also include a network interface 14, which may optionally include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the device and other electronic devices.

[0133] Optionally, the device may further include a user interface 15, which may include a display (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 15 may also include a standard wired interface and a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device, etc. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the device and to display a visual user interface.

[0134] Fig.11 Only the device with components 11-15 is shown, and it can be understood by those skilled in the art that Fig.11 The structure shown does not constitute a limitation of the device, and may include fewer or more components than shown, or combine certain components, or arrange the components differently.

[0135] It should be noted that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for methods, devices, electronic devices and media, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments. The methods, devices, electronic devices and media described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0136] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A wheel block distance measurement method, characterized in that: include: When the vehicle is parked based on the target wheel chock, determining a first wheel chock distance between the vehicle and the target wheel chock in real time according to the target wheel chock image; The target wheel chock image is obtained by taking pictures with a vehicle-mounted camera of the vehicle; Optimizing the first wheel block distance according to the positioning information of the vehicle to obtain a second wheel block distance; Performing distance measurement abnormality determination on the second wheel block distance based on the third wheel block distance to obtain an abnormality determination result for the second wheel block distance; The third wheel block distance is obtained based on a wheel block image of the previous frame of the target wheel block image; When the abnormality determination result of the second wheel block distance is that an abnormality exists, the second wheel block distance is optimized based on a preset optimization coefficient and the positioning information of the vehicle.

2. The method according to claim 1, characterized in that: The positioning information of the vehicle is the positioning coordinates of the vehicle in the global coordinate system; and optimizing the first wheel block distance according to the positioning information of the vehicle to obtain the second wheel block distance includes: Performing position measurement based on the positioning coordinates of the vehicle in the global coordinate system and the target wheel chock image to determine the positioning coordinates of the target wheel chock in the global coordinate system; Based on the positioning coordinates of the target wheel block in the global coordinate system, the first wheel block distance is optimized to obtain the second wheel block distance.

3. The method according to claim 1, characterized in that The performing distance measurement abnormality determination on the second wheel block distance based on the third wheel block distance to obtain an abnormality determination result for the second wheel block distance includes: determining a wheel block distance difference between the third wheel block distance and the second wheel block distance; When the wheel block distance difference is greater than a preset jump threshold, determining that the abnormality determination result is abnormal; When the wheel block distance difference is less than the preset jump threshold, it is determined that the abnormality determination result is no abnormality.

4. The method according to claim 1, characterized in that: Before determining the first wheel block distance between the vehicle and the target wheel block according to the target wheel block image, the method further includes: When the vehicle is performing gear-seeking parking, acquiring a gear-seeking image; the gear-seeking image includes a plurality of wheel chocks; Performing wheel block screening based on a preset wheel block screening range and the gear search image to obtain at least two first wheel blocks; each of the first wheel blocks has a corresponding parking space; A target wheel chock is screened according to wheel chock position determination information of the first wheel chock in the parking space to determine the target wheel chock; the wheel chock position determination information is obtained based on a wheel chock image of the first wheel chock.

5. The method according to claim 1, characterized in that After determining the first wheel block distance between the vehicle and the target wheel block according to the target wheel block image, the method further includes: When the first wheel block distance is less than a preset threshold, the target wheel block image is photographed by a rearview camera of the vehicle.

6. The method according to claim 1, characterized in that The first wheel block distance is obtained based on a vehicle body coordinate system with the vehicle as the origin of the coordinate system.

7. A wheel block distance measuring device, characterized in that: include: a distance measuring module, used for determining a first wheel block distance between the vehicle and the target wheel block in real time according to a target wheel block image when the vehicle is parked based on the target wheel block; the target wheel block image is obtained based on the image captured by the vehicle-mounted camera of the vehicle; A first optimization module, configured to optimize the first wheel block distance according to the positioning information of the vehicle to obtain a second wheel block distance; an abnormality determination module, used for performing distance measurement abnormality determination on the second wheel block distance based on the third wheel block distance, and obtaining an abnormality determination result for the second wheel block distance; The third wheel block distance is obtained based on a wheel block image of the previous frame of the target wheel block image; The second optimization module is used to optimize the second wheel block distance based on a preset optimization coefficient and the positioning information of the vehicle when the abnormality determination result of the second wheel block distance is that an abnormality exists.

8. The device according to claim 7, characterized in that The positioning information of the vehicle is the positioning coordinates of the vehicle in the global coordinate system; the first optimization module is used to: Performing position measurement based on the positioning coordinates of the vehicle in the global coordinate system and the target wheel chock image to determine the positioning coordinates of the target wheel chock in the global coordinate system; Based on the positioning coordinates of the target wheel block in the global coordinate system, the first wheel block distance is optimized to obtain the second wheel block distance.

9. An electronic device, characterized in that: The device comprises: a processor, a memory and a system bus; The processor and the memory are connected via the system bus; The memory is used to store one or more programs, wherein the one or more programs include instructions, and when the instructions are executed by the processor, the processor executes the wheel block distance measurement method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the wheel block distance measurement method described in any one of claims 1 to 6 is implemented.

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