Parking space auxiliary detection method and system

Abstract

The invention provides a parking space auxiliary detection method and system, and relates to the technical field of parking space recognition, and the method comprises the steps: obtaining a vehicle surrounding environment image; identifying parking space indicating lamps in the image of the surrounding environment of the vehicle, and if the number of the identified parking space indicating lamps is greater than a set threshold value; identifying a green indicating lamp in the parking space indicating lamps, and when the green indicating lamp is identified, giving out a prompt according to the direction of the green indicating lamp; based on the vehicle surrounding environment image, the surrounding vehicle arrangement rule is recognized, and when the surrounding vehicle arrangement rule changes suddenly, a prompt is given out according to the direction of the sudden change position. The parking space searching efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of parking space recognition, and in particular to a parking space auxiliary detection method and system. Background Art

[0002] As the number of cars increases, the demand for parking spaces grows accordingly. Finding a parking space in a parking lot has become a problem.

[0003] The parking space detection system in the prior art usually performs parking space detection through image recognition, ultrasonic ranging or infrared light and camera technologies. However, most of these systems are established by parking management parties. For parking lots that have not established parking space detection systems, there is still the problem of difficulty in finding parking spaces.

[0004] The parking space detection technology on the vehicle side refers to the technology that detects parking spaces in the parking lot through on-board equipment such as cameras to achieve automatic parking. At present, parking space detection technologies include sensor-based parking space detection technology and image recognition-based parking space detection technology, but the existing technology usually requires parking space detection when passing by or approaching the parking space, which cannot solve the problem of difficulty in finding a parking space.

[0005] Due to the large number of vehicles in the parking lot, it is difficult for the driver to visually observe the location of the empty parking spaces while driving; and due to the limitation that the traditional parking space detection function must be close to or pass by the parking space for detection, when looking for a parking space, the driver usually needs to drive back and forth several times in the venue to find an empty parking space, resulting in a large waste of time, energy and other resources, as well as traffic congestion and safety issues. Summary of the invention

[0006] In order to solve the deficiencies of the prior art, an object of the present invention is to provide a parking space auxiliary detection method and system to improve the efficiency of parking space search.

[0007] In order to achieve the above object, according to some embodiments, a first aspect of the present invention provides a parking space auxiliary detection method, comprising:

[0008] S1, obtaining an image of the vehicle's surrounding environment;

[0009] S2, identifying parking indicator lights in the vehicle surrounding environment image, if the number of identified parking indicator lights is greater than a set threshold, executing S3, otherwise executing S4;

[0010] S3, identifying a green indicator light among the parking space indicator lights, and when the green indicator light is identified, issuing a reminder according to the direction of the green indicator light;

[0011] S4. Based on the image of the vehicle's surrounding environment, identify the arrangement pattern of surrounding vehicles, and when the arrangement pattern of surrounding vehicles suddenly changes, issue a reminder based on the direction of the sudden change.

[0012] A second aspect of the present invention provides a parking space auxiliary detection system, comprising:

[0013] An image acquisition module is configured to acquire an image of the vehicle's surrounding environment;

[0014] The indicator light recognition module is configured to recognize the parking indicator light in the image;

[0015] The first parking space recognition module is configured to recognize a green indicator light among the parking space indicator lights if the number of the parking space indicator lights recognized by the indicator light recognition module is greater than a set threshold, and when a green indicator light is recognized, issue a reminder according to the position of the green indicator light;

[0016] The second parking space recognition module is configured to, if the number of parking indicator lights recognized by the indicator light recognition module is not greater than a set threshold, recognize the surrounding vehicle arrangement pattern based on the vehicle surrounding environment image, and issue a reminder based on the direction of the sudden change when the surrounding vehicle arrangement pattern suddenly changes.

[0017] A third aspect of the present invention provides a parking space auxiliary detection system, comprising:

[0018] The camera module includes a front-view camera and a surround-view camera arranged on the vehicle, and is used to obtain images of the vehicle's surrounding environment;

[0019] A control module connected to the camera module, configured to receive the vehicle surrounding environment image acquired by the camera module, and identify the parking indicator lights in the vehicle surrounding environment image; if the number of identified parking indicator lights is greater than a set threshold, identify the green indicator lights among the parking indicator lights; otherwise, identify the surrounding vehicle arrangement pattern based on the vehicle surrounding environment image;

[0020] The voice broadcast module is connected to the control module and is used to broadcast the position of the green indicator light or the position of the sudden change to the driver when the control module recognizes the green indicator light or recognizes that the surrounding vehicle arrangement pattern has changed suddenly.

[0021] According to a fourth aspect of the present invention, an electronic device is provided, comprising a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to complete the steps of the above-mentioned parking space auxiliary detection method.

[0022] According to a fifth aspect of the present invention, a computer-readable storage medium is provided for storing computer instructions, and when the computer instructions are executed by a processor, the steps of the above-mentioned parking space auxiliary detection method are completed.

[0023] In a sixth aspect of the present invention, a computer program product is provided, comprising a computer program / instruction, which implements the steps of the above-mentioned parking space auxiliary detection method when executed by a processor.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The present invention provides a parking space auxiliary detection method and system, which is based on a visual solution and uses the vehicle's forward and surround cameras to realize parking space auxiliary detection. First, the parking space indicator lights are identified. When a set number of parking space indicator lights are identified, it is judged as an indoor parking scene containing parking space indicator lights. By identifying the green light, it is judged that there is an empty parking space, and the location of the empty parking space is provided to the driver; when the set number of parking space indicator lights are not identified, it is judged as an indoor parking lot, outdoor parking space or roadside parking space that does not contain parking space indicator lights. At this time, by identifying the vehicle arrangement pattern to assist in judging whether there is a parking space, when the vehicle arrangement pattern suddenly changes, it indicates that there may be a parking space, and the corresponding location is provided to the driver as a reference. By using machine vision technology to assist the driver in finding a parking space, the efficiency of finding a parking space can be improved, and the defect of the driver's limited field of vision in the car can be overcome.

[0026] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0028] Figure 1 It is a schematic diagram of the method in Embodiment 1 of the present invention. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] Embodiment 1

[0031] like Figure 1 As shown, the first embodiment of the present invention provides a parking space auxiliary detection method, including:

[0032] S1, obtaining an image of the vehicle's surrounding environment;

[0033] S2, identifying parking indicator lights in the vehicle surrounding environment image, if the number of identified parking indicator lights is greater than a set threshold, executing S3, otherwise executing S4;

[0034] S3, identifying a green indicator light among the parking space indicator lights, and when the green indicator light is identified, issuing a reminder according to the direction of the green indicator light;

[0035] S4. Based on the image of the vehicle's surrounding environment, identify the arrangement pattern of surrounding vehicles, and when the arrangement pattern of surrounding vehicles suddenly changes, issue a reminder based on the direction of the sudden change.

[0036] This embodiment uses a vehicle camera to assist in finding a parking space. The hardware part adopts an existing system architecture with a vehicle-mounted camera, including a front-view camera and a surround-view camera (a rear surround-view camera and a side surround-view camera) installed on the vehicle, which can obtain image data around the vehicle; a control module, connected to the camera module, for receiving the vehicle surrounding environment image obtained by the camera module, and performing data processing and recognition tasks; a voice broadcast module, connected to the control module, when a position where a parking space may exist is identified, the corresponding direction is broadcast to the driver.

[0037] In step S1, the cameras on the vehicle (front view camera, rear view camera and side view camera) are used to obtain the surrounding environment image of the vehicle, including the front image and the surrounding image of the vehicle, for subsequent environment determination and parking space recognition.

[0038] In step S2, the parking scene includes indoor parking scenes including parking indicator lights and scenes such as indoor parking lots, outdoor parking lots or roadside parking lots without parking indicator lights. The parking indicator lights are generally located at the top of the image, so the front view camera, the rear view camera and the side view camera give priority to finding the parking indicator lights at the top of the parking space. When the number of recognized parking indicator lights is greater than the set threshold, it is determined to be an indoor parking scene including parking indicator lights. Based on the color of the parking indicator lights, it is determined whether there is an empty parking space. Usually, a green parking indicator light represents an empty parking space, and the parking space is found by identifying the green light. Otherwise, if the number of recognized parking indicator lights is not greater than the set threshold, it is determined to be an indoor parking lot, outdoor parking lot or roadside parking lot without parking indicator lights, and whether there is an empty parking space is determined based on the vehicle arrangement spacing.

[0039] In step S3, the parking indicator light at the top of the vehicle's surrounding environment image is identified. When a camera in a certain direction detects a green light, it will report the side where the camera is located and pass the information to the central MDC (Mobile Device Center), which then prompts the driver by voice which direction may have a parking space.

[0040] In step S4, in indoor parking scenes, outdoor parking spaces, and roadside parking spaces that do not include parking space indicator lights, the detection focus of the front and surround cameras is the spacing between arranged cars. At this time, the parking spaces can also be divided into vertical parking spaces and horizontal parking spaces according to their directions. For vertical parking spaces, such as parking lots, the parking spaces are perpendicular to the road, and the front or rear of the vehicle is parked facing the road; for horizontal parking spaces, such as parking spaces on both sides of the road, the parking spaces are parallel to the road, and the body of the vehicle is parallel to the road. Based on the principle of perspective, for vertical parking spaces, the distance between the front (tail) of each vehicle decreases from near to far; for horizontal parking spaces, the distance between the sides of the vehicle close to the road also decreases from near to far. At this time, parking space recognition can be performed based on this rule. The camera obtains image information in a certain direction, extracts the edge lines of the vehicles on both sides of the road in this direction, and obtains the vehicle arrangement rule (the change rule of the distance between the head, tail or side of each vehicle). When the arrangement of vehicles changes suddenly, such as for vertical parking spaces, the distance between the front (tail) of adjacent vehicles at a certain position suddenly increases, or for horizontal parking spaces, the distance between the sides of adjacent vehicles at a certain position suddenly increases, it indicates that there may be an empty parking space at that position. If the arrangement of vehicles in the collected image changes suddenly, it is judged that there may be a parking space at the corresponding position of the image.

[0041] In order to improve accuracy, the car's forward-looking and surround-view cameras work simultaneously to calculate the arrangement patterns of vehicles in different directions. When the vehicle is moving at a low speed to find a parking space, the vehicle's surrounding environment images are continuously collected according to the set time interval, and the vehicle arrangement pattern at the corresponding position in the image is calculated. If there are three consecutive images collected at the same position, it is judged that there is a sudden change in the vehicle arrangement pattern, that is, for the images collected at different angles at the same position, it is judged that there may be a parking space, which indicates that there is a high probability of a parking space at this location, and then a reminder is sent to the driver. In this way, parking spaces can be found more accurately, and real-time voice and / or central control screen display prompts can be provided to the driver.

[0042] This embodiment is based on image data acquired by the on-board camera and machine vision technology to assist the driver in finding an empty parking space, thereby overcoming the defect of the driver's limited field of vision in the car. Compared with the driver's naked eye observation, the recognition range is wider. The location of possible parking spaces is determined by the arrangement pattern of vehicles, and the direction of possible parking spaces can be given for the driver to judge without approaching or passing by the parking spaces, thereby improving the efficiency and convenience of parking.

[0043] Embodiment 2

[0044] This embodiment provides a parking space auxiliary detection system, including:

[0045] An image acquisition module is configured to acquire an image of the vehicle's surrounding environment;

[0046] The indicator light recognition module is configured to recognize the parking indicator light in the image;

[0047] The first parking space recognition module is configured to recognize a green indicator light among the parking space indicator lights if the number of the parking space indicator lights recognized by the indicator light recognition module is greater than a set threshold, and when a green indicator light is recognized, issue a reminder according to the position of the green indicator light;

[0048] The second parking space recognition module is configured to, if the number of parking indicator lights recognized by the indicator light recognition module is not greater than a set threshold, recognize the surrounding vehicle arrangement pattern based on the vehicle surrounding environment image, and issue a reminder based on the direction of the sudden change when the surrounding vehicle arrangement pattern suddenly changes.

[0049] It should be noted here that the various modules in this embodiment correspond one-to-one to the steps of the method in Example 1, and the specific implementation process is the same, which will not be repeated here.

[0050] Embodiment 3

[0051] This embodiment provides a parking space auxiliary detection system, including:

[0052] The camera module includes a front-view camera and a surround-view camera arranged on the vehicle, and is used to obtain images of the vehicle's surrounding environment;

[0053] A control module connected to the camera module, configured to receive the vehicle surrounding environment image acquired by the camera module, and identify the parking indicator lights in the vehicle surrounding environment image; if the number of identified parking indicator lights is greater than a set threshold, identify the green indicator lights among the parking indicator lights; otherwise, identify the surrounding vehicle arrangement pattern based on the vehicle surrounding environment image;

[0054] The voice broadcast module is connected to the control module and is used to broadcast the position of the green indicator light or the position of the sudden change to the driver when the control module recognizes the green indicator light or recognizes that the surrounding vehicle arrangement pattern has changed suddenly.

[0055] In some embodiments, the system may also include an on-board display that can display images captured by the camera and / or the locations of possible parking spaces identified for the driver to view, thereby assisting the driver in finding a parking space and improving the efficiency of finding a parking space.

[0056] Embodiment 4

[0057] This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to complete the steps of the method in the first embodiment.

[0058] Embodiment 5

[0059] This embodiment provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, the steps of the method in the first embodiment are completed.

[0060] Embodiment 6

[0061] This embodiment provides a computer program product, including a computer program / instruction, which implements the steps of the method in Embodiment 1 when executed by a processor.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A parking space auxiliary detection method, characterized in that: include: S1, obtaining an image of the vehicle's surrounding environment; S2, identifying parking indicator lights in the vehicle surrounding environment image, if the number of identified parking indicator lights is greater than a set threshold, executing S3, otherwise executing S4; S3, identifying a green indicator light among the parking space indicator lights, and when the green indicator light is identified, issuing a reminder according to the direction of the green indicator light; S4. Based on the image of the vehicle's surrounding environment, identify the arrangement pattern of surrounding vehicles, and when the arrangement pattern of surrounding vehicles suddenly changes, issue a reminder based on the direction of the sudden change.

2. The parking space auxiliary detection method according to claim 1, characterized in that: The vehicle surrounding environment image includes a front image and a side image of the vehicle.

3. The parking space auxiliary detection method according to claim 1, characterized in that: The surrounding vehicle arrangement rule includes a vertical parking space arrangement rule. When the head distance between adjacent vehicles at a certain position suddenly increases, it indicates that there may be an empty parking space at the position.

4. The parking space auxiliary detection method according to claim 1, characterized in that: The surrounding vehicle arrangement rule includes a horizontal parking space arrangement rule. When the vehicle side distance between adjacent vehicles at a certain position suddenly increases, it indicates that there may be an empty parking space at the position.

5. A parking space auxiliary detection method as claimed in claim 3 or 4, characterized in that: During the movement of the vehicle, images of the vehicle's surrounding environment are collected multiple times at set intervals. If there is a sudden change in the arrangement of vehicles at the same position in the images collected for a set number of consecutive times, it is determined that there is an empty parking space at that position.

6. A parking space auxiliary detection system, characterized in that: include: An image acquisition module is configured to acquire an image of the vehicle's surrounding environment; The indicator light recognition module is configured to recognize the parking indicator light in the image; The first parking space recognition module is configured to recognize a green indicator light among the parking space indicator lights if the number of the parking space indicator lights recognized by the indicator light recognition module is greater than a set threshold, and when a green indicator light is recognized, issue a reminder according to the position of the green indicator light; The second parking space recognition module is configured to, if the number of parking indicator lights recognized by the indicator light recognition module is not greater than a set threshold, recognize the surrounding vehicle arrangement pattern based on the vehicle surrounding environment image, and issue a reminder based on the direction of the sudden change when the surrounding vehicle arrangement pattern suddenly changes.

7. A parking space auxiliary detection system, characterized in that: include: The camera module includes a front-view camera and a surround-view camera arranged on the vehicle, and is used to obtain images of the vehicle's surrounding environment; A control module connected to the camera module, configured to receive the vehicle surrounding environment image acquired by the camera module, and identify the parking indicator lights in the vehicle surrounding environment image; if the number of identified parking indicator lights is greater than a set threshold, identify the green indicator lights among the parking indicator lights; otherwise, identify the surrounding vehicle arrangement pattern based on the vehicle surrounding environment image; The voice broadcast module is connected to the control module and is used to broadcast the position of the green indicator light or the position of the sudden change to the driver when the control module recognizes the green indicator light or recognizes that the surrounding vehicle arrangement pattern has changed suddenly.

8. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to complete the steps of the method according to any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that: Used to store computer instructions, which, when executed by a processor, complete the steps of the method according to any one of claims 1 to 5.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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