CN114274948A - Automatic parking method and device based on 360-degree panorama - Google Patents
Automatic parking method and device based on 360-degree panorama Download PDFInfo
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Abstract
The invention relates to an automatic parking method and device based on 360-degree panorama, which carries out ring view splicing according to pictures acquired by a fisheye camera; and executing the automatic parking action, estimating the parking posture by using the ring view after the automatic parking action is finished, quitting the parking action if the parking posture meets the requirement, and returning and executing the automatic parking action again according to the original path if the parking posture does not meet the requirement. The scheme only uses the fisheye camera, does not need a sensor such as a radar, and has lower cost. Meanwhile, the scheme is simple in calculation and easy to realize, only simpler image processing is used in the scheme, and complicated logic judgment such as parking space identification is omitted.
Description
Technical Field
The invention relates to the technical field of automatic parking, in particular to an automatic parking method and device based on 360-degree panorama.
Background
The automatic parking system collects information around the automobile by using different sensors on the automobile and makes a decision according to the collected information through related calculation so as to realize automatic parking. After the parking action is finished, the user needs to judge the parking gesture, whether the vehicle body gesture is matched with the parking space, and if the parking gesture is poor, the user needs to park again.
Automatic parking can be roughly divided into the following steps: 1. the sensing system obtains surrounding environment parameters by using a sensor, and calculates the position information of the vehicle and the information of the target parking space. 2. And the path planning system calculates the optimal route according to the position information. 3. And the control system performs parking control according to the optimal route. In the process, each step has a certain error, and the parking posture of the parking space finally deviates from the original assumption under the accumulation of the errors.
Currently, fewer automatic parking systems will display parking poses. However, whether the user uses the parking system or the technician debugs the automatic parking system, the parking posture needs to be judged. The user can judge whether the vehicle body needs to be adjusted according to the posture of the vehicle body, or judge the door opening amplitude according to the distance between the distance line and the vehicle body. During the development process of automatic parking, technicians can judge the optimization direction of the automatic parking technology according to the data of the attitude evaluation. Therefore, the parking gesture display is realized, the workload of a driver can be reduced, and the use feeling of a client is favorably improved.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides an automatic parking method and device based on 360-degree panorama.
The technical scheme for solving the technical problems is as follows:
in a first aspect, the invention provides an automatic parking method based on 360-degree panorama, which comprises the following steps:
s1, performing ring view splicing according to the pictures acquired by the fisheye camera;
and S2, executing the automatic parking action, estimating the parking posture by using the ring view after the automatic parking action is finished, quitting the parking action if the parking posture meets the requirement, and returning and executing the automatic parking action again if the parking posture does not meet the requirement.
Further, the ring view splicing according to the pictures collected by the fisheye camera comprises:
acquiring images of 4 fisheye cameras around the vehicle after the camera is fixed;
establishing a ground-based overlook coordinate system, and dividing the overlook into 4 directions of forward-looking, backward-looking, left-looking and right-looking;
and calculating external parameters of the 4 fisheye cameras by using four calibration plates based on the ground, converting images acquired by the 4 fisheye cameras into top views through the calibrated external parameter matrix, cutting each converted top view picture, and splicing into a 360-degree panoramic image, namely a ring view.
Further, the using the ring view to estimate the parking gesture, exiting the parking action if the parking gesture meets the requirement, otherwise returning and re-executing the automatic parking action according to the original path, includes:
s301, preprocessing the annular view according to vehicle body information, and reserving an area around the vehicle body within a preset range from the vehicle body;
s302, judging whether a complete parking space line exists in the area within the preset range, if not, controlling the vehicle to return along the original path and re-executing the automatic parking action, and if so, executing the step S303;
s303, binarizing the preprocessed ring view and increasing the contrast ratio of the parking space line and the ground;
s304, the parking space lines in the annular view are searched, and the inclination angle of the vehicle body relative to the parking space lines and the distance from the center point of the rear axle of the vehicle to the parking space lines on the two sides of the vehicle body are calculated.
Further, after the step S303, performing morphological etching operation on the binary image, leveling the bit line, and filling the hole that appears after the adaptive binarization.
Further, the calculating the inclination angle of the vehicle body relative to the vehicle location line and the distance from the center point of the rear axle to the vehicle location lines on two sides of the vehicle body includes:
respectively taking contact points of a left front wheel and a left rear wheel of the vehicle and the ground as starting points, transversely traversing pixels to the left side to search a vehicle position line, stopping searching after the vehicle position line is searched, and determining the number of the traversed pixels as a left front vehicle distance or a left rear vehicle distance;
calculating the inclination angle of the vehicle body relative to the vehicle line according to the lengths of the left front vehicle distance and the left rear vehicle distance, namely the posture of the vehicle in the parking space;
and calculating the distance from the central point of the rear axle of the vehicle to the left side position line of the vehicle body according to the distance from the central point of the rear axle of the vehicle to the left rear wheel, the inclination angle of the vehicle body relative to the position line and the left rear distance of the vehicle, and calculating the distance from the central point of the rear axle of the vehicle to the right side position line of the vehicle body in the same way.
Further, if the distance from the central point of the rear axle of the vehicle to the vehicle line on the left side of the vehicle body or the distance from the central point of the rear axle of the vehicle to the vehicle line on the right side of the vehicle body is smaller than a preset threshold value, the vehicle is controlled to return according to the original path and the automatic parking action is executed again, and if the inclination angle of the vehicle body relative to the vehicle line is larger than a preset angle, the vehicle is controlled to return according to the original path and the automatic parking action is executed again.
In a second aspect, the present invention provides an automatic parking apparatus based on a 360-degree panorama, comprising:
the image processing module is used for carrying out ring view splicing according to the pictures acquired by the fisheye camera;
and the parking and posture estimation module executes the automatic parking action, performs parking posture estimation by using the ring view after the automatic parking action is finished, exits the parking action if the parking posture meets the requirement, and returns and executes the automatic parking action again according to the original path if the parking posture does not meet the requirement.
In a third aspect, the present invention provides an electronic device comprising:
a memory for storing a computer software program;
and the processor is used for reading and executing the computer software program so as to further realize the automatic parking method based on the 360-degree panorama in the first aspect of the invention.
In a fourth aspect, the present invention provides a non-transitory computer readable storage medium, wherein a computer software program for implementing the 360 degree panorama based automatic parking method according to the first aspect of the present invention is stored in the storage medium.
The invention has the beneficial effects that: the method has the following advantages: the scheme only uses the fisheye camera, does not need a sensor such as a radar, and has lower cost. The advantages are as follows: the scheme is simple to calculate and easy to realize, and only simpler image processing is used in the scheme, so that complicated logic judgment such as parking space identification is omitted. The advantages are three: the user can obtain the image of the parking gesture, so that the user can understand the parking gesture without getting off the vehicle after the parking action is finished, and can directly judge whether the vehicle needs to be parked again according to the angle and the distance displayed in the view changing.
Drawings
Fig. 1 is a schematic flow chart of an automatic parking method based on a 360-degree panorama according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an automatic parking device based on a 360-degree panorama according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an electronic device according to the present invention;
fig. 4 is a schematic structural diagram of a computer-readable storage medium according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides an automatic parking method based on a 360-degree panorama, including the following steps:
and S1, performing ring view splicing according to the pictures collected by the fisheye camera to generate 360 holographic images.
Acquiring images of 4 fisheye cameras around the vehicle after the camera is fixed; although the visual angle of the fisheye camera can reach 180 degrees, the distortion is serious and useless scenes are included in the picture. Therefore, the region of interest of the camera needs to be cut and then distorted.
Establishing a ground-based overlook coordinate system, and dividing the overlook into 4 directions of forward-looking, backward-looking, left-looking and right-looking;
and calculating external parameters of the 4 fisheye cameras by using four calibration plates based on the ground, converting images acquired by the 4 fisheye cameras into top views through the calibrated external parameter matrix, cutting each converted top view picture, and splicing into a 360-degree panoramic image, namely a ring view.
And S2, executing the automatic parking action, estimating the parking posture by using the ring view after the automatic parking action is finished, quitting the parking action if the parking posture meets the requirement, and returning and executing the automatic parking action again if the parking posture does not meet the requirement.
The method specifically comprises the following substeps:
s301, preprocessing the annular view according to vehicle body information, and reserving an area around the vehicle body within a preset range from the vehicle body;
s302, judging whether a complete parking space line exists in the area within the preset range, if not, controlling the vehicle to return along the original path and re-executing the automatic parking action, and if so, executing the step S303;
s303, binarizing the preprocessed ring view and increasing the contrast ratio of the parking space line and the ground; performing morphological corrosion operation on the binary image, leveling a tackle bit line, and filling up the holes which appear after self-adaptive binarization;
s304, the parking space lines in the annular view are searched, and the inclination angle of the vehicle body relative to the parking space lines and the distance from the center point of the rear axle of the vehicle to the parking space lines on the two sides of the vehicle body are calculated.
Further, the calculating the inclination angle of the vehicle body relative to the vehicle location line and the distance from the center point of the rear axle to the vehicle location lines on two sides of the vehicle body includes:
respectively taking contact points of a left front wheel and a left rear wheel of the vehicle and the ground as starting points, transversely traversing pixels to the left side to search a vehicle position line, stopping searching after the vehicle position line is searched, and determining the number of the traversed pixels as a left front vehicle distance or a left rear vehicle distance;
calculating the inclination angle of the vehicle body relative to the vehicle line according to the lengths of the left front vehicle distance and the left rear vehicle distance, namely the posture of the vehicle in the parking space;
and calculating the distance from the central point of the rear axle of the vehicle to the left side position line of the vehicle body according to the distance from the central point of the rear axle of the vehicle to the left rear wheel, the inclination angle of the vehicle body relative to the position line and the left rear distance of the vehicle, and calculating the distance from the central point of the rear axle of the vehicle to the right side position line of the vehicle body in the same way.
And if the distance from the central point of the rear axle of the vehicle to the vehicle line on the left side of the vehicle body or the distance from the central point of the rear axle of the vehicle to the vehicle line on the right side of the vehicle body is smaller than a preset threshold value, controlling the vehicle to return according to the original path and re-execute the automatic parking action, and if the inclination angle of the vehicle body relative to the vehicle line is larger than a preset angle, controlling the vehicle to return according to the original path and re-execute the automatic parking action.
The scheme provided by the invention has the following advantages: the scheme only uses the fisheye camera, does not need a sensor such as a radar, and has lower cost. The advantages are as follows: the scheme is simple to calculate and easy to realize, and only simpler image processing is used in the scheme, so that complicated logic judgment such as parking space identification is omitted. The advantages are three: the user can obtain the image of the parking gesture, so that the user can understand the parking gesture without getting off the vehicle after the parking action is finished, and can directly judge whether the vehicle needs to be parked again according to the angle and the distance displayed in the view changing.
In a second aspect, the present invention provides an automatic parking apparatus based on a 360-degree panorama, comprising:
the image processing module is used for carrying out ring view splicing according to the pictures acquired by the fisheye camera;
and the parking and posture estimation module executes the automatic parking action, performs parking posture estimation by using the ring view after the automatic parking action is finished, exits the parking action if the parking posture meets the requirement, and returns and executes the automatic parking action again according to the original path if the parking posture does not meet the requirement.
Referring to fig. 3, fig. 3 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 3, an embodiment of the present invention provides an electronic device, which includes a memory 510, a processor 520, and a computer program 511 stored in the memory 520 and executable on the processor 520, wherein the processor 520 executes the computer program 511 to implement the following steps:
s1, performing ring view splicing according to the pictures acquired by the fisheye camera;
and S2, executing the automatic parking action, estimating the parking posture by using the ring view after the automatic parking action is finished, quitting the parking action if the parking posture meets the requirement, and returning and executing the automatic parking action again if the parking posture does not meet the requirement.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 4, the present embodiment provides a computer-readable storage medium 600 having a computer program 611 stored thereon, the computer program 611, when executed by a processor, implementing the steps of:
s1, performing ring view splicing according to the pictures acquired by the fisheye camera;
and S2, executing the automatic parking action, estimating the parking posture by using the ring view after the automatic parking action is finished, quitting the parking action if the parking posture meets the requirement, and returning and executing the automatic parking action again if the parking posture does not meet the requirement.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. An automatic parking method based on 360-degree panorama is characterized by comprising the following steps:
s1, performing ring view splicing according to the pictures acquired by the fisheye camera;
and S2, executing the automatic parking action, estimating the parking posture by using the ring view after the automatic parking action is finished, quitting the parking action if the parking posture meets the requirement, and returning and executing the automatic parking action again if the parking posture does not meet the requirement.
2. The method of claim 1, wherein the ring-view stitching according to the pictures captured by the fisheye camera comprises:
acquiring images of 4 fisheye cameras around the vehicle after the camera is fixed;
establishing a ground-based overlook coordinate system, and dividing the overlook into 4 directions of forward-looking, backward-looking, left-looking and right-looking;
and calculating external parameters of the 4 fisheye cameras by using four calibration plates based on the ground, converting images acquired by the 4 fisheye cameras into top views through the calibrated external parameter matrix, cutting each converted top view picture, and splicing into a 360-degree panoramic image, namely a ring view.
3. The method of claim 1, wherein the using the ring view for parking gesture estimation, exiting the parking action if the parking gesture satisfies the requirement, otherwise returning and re-executing the automatic parking action as the original path, comprises:
s301, preprocessing the annular view according to vehicle body information, and reserving an area around the vehicle body within a preset range from the vehicle body;
s302, judging whether a complete parking space line exists in the area within the preset range, if not, controlling the vehicle to return along the original path and re-executing the automatic parking action, and if so, executing the step S303;
s303, binarizing the preprocessed ring view and increasing the contrast ratio of the parking space line and the ground;
s304, the parking space lines in the annular view are searched, and the inclination angle of the vehicle body relative to the parking space lines and the distance from the center point of the rear axle of the vehicle to the parking space lines on the two sides of the vehicle body are calculated.
4. The method according to claim 3, wherein after step S303, further comprising performing morphological erosion operation on the binary image, smoothing bit lines, and filling holes after adaptive binarization.
5. The method of claim 3, wherein calculating the inclination of the body relative to the vehicle location line and the distance from the center point of the rear axle to the vehicle location lines on either side of the body comprises:
respectively taking contact points of a left front wheel and a left rear wheel of the vehicle and the ground as starting points, transversely traversing pixels to the left side to search a vehicle position line, stopping searching after the vehicle position line is searched, and determining the number of the traversed pixels as a left front vehicle distance or a left rear vehicle distance;
calculating the inclination angle of the vehicle body relative to the vehicle line according to the lengths of the left front vehicle distance and the left rear vehicle distance, namely the posture of the vehicle in the parking space;
and calculating the distance from the central point of the rear axle of the vehicle to the left side position line of the vehicle body according to the distance from the central point of the rear axle of the vehicle to the left rear wheel, the inclination angle of the vehicle body relative to the position line and the left rear distance of the vehicle, and calculating the distance from the central point of the rear axle of the vehicle to the right side position line of the vehicle body in the same way.
6. The method of claim 5, wherein if the distance from the central point of the rear axle of the vehicle to the left side parking lane of the vehicle body or the distance from the central point of the rear axle of the vehicle to the right side parking lane of the vehicle body is less than a preset threshold, the vehicle is controlled to return as it is and to re-execute the automatic parking action, and if the inclination angle of the vehicle body relative to the parking lane is greater than a preset angle, the vehicle is controlled to return as it is and to re-execute the automatic parking action.
7. An automatic parking device based on 360-degree panorama, comprising:
the image processing module is used for carrying out ring view splicing according to the pictures acquired by the fisheye camera;
and the parking and posture estimation module executes the automatic parking action, performs parking posture estimation by using the ring view after the automatic parking action is finished, exits the parking action if the parking posture meets the requirement, and returns and executes the automatic parking action again according to the original path if the parking posture does not meet the requirement.
8. An electronic device, comprising:
a memory for storing a computer software program;
a processor for reading and executing the computer software program to implement the 360 degree panorama based automatic parking method of any one of claims 1-6.
9. A non-transitory computer readable storage medium, wherein the storage medium stores a computer software program for implementing the 360 degree panorama based automatic parking method according to any one of claims 1-6.
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