CN110015288B - Method and device for detecting library position and electronic equipment - Google Patents
Method and device for detecting library position and electronic equipment Download PDFInfo
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- CN110015288B CN110015288B CN201810018903.0A CN201810018903A CN110015288B CN 110015288 B CN110015288 B CN 110015288B CN 201810018903 A CN201810018903 A CN 201810018903A CN 110015288 B CN110015288 B CN 110015288B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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Abstract
The invention provides a method, a device and electronic equipment for detecting a library position, wherein a first library position detection result of an ultrasonic library position detection device and a second library position detection result of a look-around library position detection device are obtained, and a final library position detection result is determined based on the first library position detection result and the second library position detection result. The invention simultaneously uses the ultrasonic reservoir position detection method and the all-round reservoir position detection method, so that the detection result of all-round reservoir position detection can be used when no vehicle exists in at least one side adjacent reservoir position of an empty reservoir position, and the detection result of the ultrasonic reservoir position detection can be used when the reservoir position line is not clear, so that the reservoir positions can be detected under different conditions, and the detection rate of the reservoir positions is improved.
Description
Technical Field
The invention relates to the field of automatic parking, in particular to a method and a device for detecting a parking space and electronic equipment.
Background
With the continuous and deep research and development of vehicles, the assisted driving configured on the current vehicles is more and more abundant, and the automatic parking assistance system is applied to more and more vehicles as an important safe driving and driving assistance technology. When the automatic parking auxiliary system is used for automatically parking a vehicle, the parking space needs to be detected, and then the vehicle can be parked according to the detected parking space.
Two methods for detecting the reservoir position currently exist, namely ultrasonic reservoir position detection and around-looking reservoir position detection. When the ultrasonic reservoir position detection is used, vehicles need to be ensured to exist in the adjacent reservoir positions on two sides of the reservoir position, and when no vehicle exists in at least one adjacent reservoir position on one side of the reservoir position, the ultrasonic reservoir position detection method is not applicable. When the look-around library position detection is used, the library position needs to be ensured to have an obvious library position line, and when the library position line is not clear, the look-around library position detection is not applicable.
In the prior art, only one library position detection method is used for detecting the library positions, but the requirement on the library positions is high when the library positions are detected by using a single library position detection method, so that the library position detection rate is low.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus and an electronic device for detecting a library position, so as to solve the problem in the prior art that the library position detection rate is low due to high requirement on the library position when a single library position detection method is used for detecting the library position.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method of detecting a library location, comprising:
acquiring a first library position detection result of the ultrasonic library position detection device and a second library position detection result of the around-view library position detection device;
and determining a final library position detection result based on the first library position detection result and the second library position detection result.
Preferably, determining a final bin position detection result based on the first bin position detection result and the second bin position detection result includes:
and when the content of the first library position detection result is not empty and the content of the second library position detection result is empty, taking the first library position detection result as the final library position detection result.
Preferably, determining a final bin position detection result based on the first bin position detection result and the second bin position detection result includes:
when the content of the first library position detection result is empty and the content of the second library position detection result is not empty, sending the second library position detection result and a first check instruction to the ultrasonic library position detection device; the first check instruction is used for enabling the ultrasonic reservoir position detection device to detect that a first percentage of free areas in the reservoir positions detected in the second reservoir position detection result accounts for the whole reservoir positions and to measure to obtain a first expandable area; the first expandable area is a right idle area of the library location;
receiving the first percentage and the first expandable region sent by the ultrasonic reservoir position detection device;
when the first percentage is larger than a first preset value, taking a region corresponding to the sum of the library position and the first expandable region as the final library position detection result;
and when the first percentage is smaller than the first preset value, the final library bit detection result is no free library bit.
Preferably, determining a final bin position detection result based on the first bin position detection result and the second bin position detection result includes:
when the content of the first library position detection result is not empty and the content of the second library position detection result is not empty, calculating the area coincidence ratio of the library positions in the first library position detection result and the library positions in the second library position detection result;
when the area contact ratio is larger than a second preset value, sending an area detection instruction to the ultrasonic reservoir position detection device; wherein the region detection instruction is used for detecting a second scalable region; the second extensible area is a right idle area of the detected bin in the second bin detection result;
receiving a second expandable region sent by the ultrasonic reservoir position detection device;
taking the area corresponding to the sum of the library position and the second extensible area as the final library position detection result;
when the area contact ratio is smaller than the second preset value, sending the second reservoir position detection result and a second check instruction to the ultrasonic reservoir position detection device; the second check instruction is used for enabling the ultrasonic reservoir position detection device to detect a second percentage of free areas in the reservoir positions detected in the second reservoir position detection result, which account for the whole reservoir positions, and to measure to obtain a third expandable area; the third expandable area is a right free area of the library location;
receiving the second percentage and the third expandable area sent by the ultrasonic reservoir position detection device;
when the second percentage is larger than a first preset value, taking a region corresponding to the sum of the library position and the third extensible region as the final library position detection result;
and when the second percentage is smaller than the first preset value, taking the first library position detection result as the final library position detection result.
Preferably, after the first bin position detection result is used as the final bin position detection result, the method further includes:
setting the library bit detection confidence coefficient as a preset confidence coefficient;
calculating attribute data of the library positions according to the first library position detection result;
the attribute data comprises library position length, library position width, coordinate values of a library position central point in a vehicle body coordinate system, coordinate values of four library position vertexes in the vehicle body coordinate system and a library position data source type.
An apparatus for detecting a library location, comprising:
the acquisition module is used for acquiring a first library position detection result of the ultrasonic library position detection device and a second library position detection result of the around-view library position detection device;
and the bin position determining module is used for determining a final bin position detection result based on the first bin position detection result and the second bin position detection result.
Preferably, the library location determining module includes:
and the first determining submodule is used for taking the first library position detection result as the final library position detection result when the content of the first library position detection result is not empty and the content of the second library position detection result is empty.
Preferably, the library location determining module includes:
the first sending submodule is used for sending the second library position detection result and a first check instruction to the ultrasonic library position detection device when the content of the first library position detection result is empty and the content of the second library position detection result is not empty; the first check instruction is used for enabling the ultrasonic reservoir position detection device to detect that a first percentage of free areas in the reservoir positions detected in the second reservoir position detection result accounts for the whole reservoir positions and to measure to obtain a first expandable area; the first expandable area is a right idle area of the library location;
a first receiving submodule, configured to receive the first percentage and the first expandable region sent by the ultrasonic reservoir position detection apparatus;
a second determining submodule, configured to, when the first percentage is greater than a first preset value, use a region corresponding to a sum of the bin and the first scalable region as the final bin detection result;
a third determining submodule, configured to determine that the final bin bit detection result is a no-free bin bit when the first percentage is smaller than the first preset value.
Preferably, the library location determining module includes:
a calculating submodule, configured to calculate an area overlap ratio between a bin in the first bin position detection result and a bin in the second bin position detection result when the content of the first bin position detection result is not empty and the content of the second bin position detection result is not empty;
the second sending submodule is used for sending an area detection instruction to the ultrasonic reservoir position detection device when the area contact ratio is larger than a second preset value; wherein the region detection instruction is used for detecting a second scalable region; the second extensible area is a right idle area of the detected bin in the second bin detection result;
the second receiving submodule is used for receiving a second expandable area sent by the ultrasonic reservoir position detection device;
a fourth determining submodule, configured to use a region corresponding to a sum of the bin and the second scalable region as the final bin detection result;
the third sending submodule is used for sending the second reservoir position detection result and the second check instruction to the ultrasonic reservoir position detection device when the area contact ratio is smaller than the second preset value; the second check instruction is used for enabling the ultrasonic reservoir position detection device to detect a second percentage of free areas in the reservoir positions detected in the second reservoir position detection result, which account for the whole reservoir positions, and to measure to obtain a third expandable area; the third expandable area is a right free area of the library location;
a third receiving sub-module, configured to receive the second percentage and the third expandable area sent by the ultrasound reservoir position detection apparatus;
a fifth determining submodule, configured to, when the second percentage is greater than a first preset value, use a region corresponding to a sum of the bin and the third scalable region as the final bin detection result;
a sixth determining submodule, configured to take the first bin position detection result as the final bin position detection result when the second percentage is smaller than the first preset value.
Preferably, the method further comprises the following steps:
a confidence setting module, configured to set, by the first determining sub-module, the library bit detection confidence as a preset confidence after the first library bit detection result is used as the final library bit detection result;
the data calculation module is used for calculating the attribute data of the library position according to the first library position detection result;
the attribute data comprises library position length, library position width, coordinate values of a library position central point in a vehicle body coordinate system, coordinate values of four library position vertexes in the vehicle body coordinate system and a library position data source type.
An electronic device, comprising: a memory and a processor;
wherein the memory is used for storing programs;
the processor is configured to invoke a program, wherein the program is configured to:
acquiring a first library position detection result of the ultrasonic library position detection device and a second library position detection result of the around-view library position detection device;
and determining a final library position detection result based on the first library position detection result and the second library position detection result.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a method and a device for detecting a storage position and electronic equipment, wherein an ultrasonic storage position detection method and a look-around storage position detection method are simultaneously used, so that a detection result of the look-around storage position detection can be used when no vehicle exists in at least one side adjacent to the storage position, and when a storage position line is not clear, the detection result of the ultrasonic storage position detection can be used, so that the storage position can be detected under different conditions, and the detection rate of the storage position is improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a method for detecting a library location according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for detecting library locations according to an embodiment of the present invention;
fig. 3 is a scene schematic diagram of a first library position detection result according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for detecting a library location according to another embodiment of the present invention;
fig. 5 is a scene diagram of a bin detection result according to an embodiment of the present invention;
FIG. 6 is a flowchart of a method for detecting library locations according to another embodiment of the present invention;
FIG. 7 is a schematic view of a scene of another library position detection result according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an apparatus for detecting a library position according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a method for detecting a library position, and referring to fig. 1, the method may include:
s11, acquiring a first library position detection result of the ultrasonic library position detection device and a second library position detection result of the around-view library position detection device;
the vehicle in the embodiment of the invention is simultaneously provided with two kinds of storehouse position detection devices, namely an ultrasonic storehouse position detection device and a look-around storehouse position detection device.
It should be noted that, when there is no vehicle in at least one side adjacent to the empty storage location, the ultrasonic storage location detection device cannot normally detect the storage location, and the content in the first storage location detection result is empty. When vehicles exist in the adjacent storage positions on the two sides of the empty storage position, the ultrasonic storage position detection device can normally detect the storage positions, and the content in the first storage position detection result is not empty. When the library position line is not clear, the around-view library position detection device cannot normally detect the library position, and the content in the second library position detection result is empty. When the library position line is clear, the library position can be normally detected by the around-view library position detection device, and the content in the second library position detection result is not empty.
And S12, determining a final library position detection result based on the first library position detection result and the second library position detection result.
Specifically, the embodiment uses a fusion result of the first library position detection result and the second library position detection result.
In this embodiment, the ultrasonic reservoir position detection method and the all-round reservoir position detection method are used simultaneously, so that when no vehicle exists in at least one side of the adjacent reservoir position of the empty reservoir position, the detection result of the all-round reservoir position detection can be used, and when the reservoir position line is not clear, the detection result of the ultrasonic reservoir position detection can be used, so that the reservoir positions can be detected under different conditions, and the detection rate of the reservoir positions is improved.
Optionally, on the basis of the foregoing embodiment, the library position is detected by using the ultrasonic library position detection device and the look-around library position detection device at the same time, and then the detection result has three cases, which are respectively:
1. when the content of the first library position detection result is not empty and the content of the second library position detection result is empty;
2. when the content of the first library position detection result is empty and the content of the second library position detection result is not empty;
3. and when the content of the first library position detection result is not null and the content of the second library position detection result is not null.
These cases are explained separately below.
1. When the content of the first bin detection result is not empty and the content of the second bin detection result is not empty, determining a final bin detection result based on the first bin detection result and the second bin detection result, including:
and taking the first library position detection result as the final library position detection result.
Specifically, when the content of the first library position detection result is not empty and the content of the second library position detection result is not empty, it is indicated that the ultrasonic library position detection device can normally detect the library position, and the look-around library position detection device cannot normally detect the library position. At this time, the first bin detection result is used as the final bin detection result.
Optionally, on the basis of this embodiment, referring to fig. 2, after taking the first library position detection result as the final library position detection result, the method further includes:
s21, setting the library bit detection confidence as a preset confidence;
specifically, in this embodiment, the confidence level is divided into a plurality of levels, which are a first confidence level, a second confidence level, a preset confidence level, and a third confidence level.
The first confidence coefficient represents that the library bit detection result is not credible, the second confidence coefficient represents that the library bit detection result confidence coefficient is lower, and the preset confidence coefficient represents the library bit detection result confidence coefficient; the third confidence coefficient represents that the confidence coefficient of the library bit detection result is higher.
In this embodiment, the first library position detection result of the library position detected by the ultrasonic library position detection device is set as the preset confidence level, which is described in the confidence level.
The confidence levels are set to a plurality of levels, so that the accuracy of parking space detection is provided for automatic parking, and further, the automatic parking is performed adaptively according to different confidence levels in the automatic parking stage.
And S22, calculating the attribute data of the library bit according to the first library bit detection result.
The attribute data comprises library position length, library position width, coordinate values of a library position central point in a vehicle body coordinate system, coordinate values of four library position vertexes in the vehicle body coordinate system and a library position data source type.
Specifically, the ultrasonic reservoir position detection device reflects the ultrasonic waves when encountering the obstacle, and calculates the distance from the ultrasonic reservoir position detection device to the obstacle according to the time of receiving the reflected ultrasonic waves.
This will introduce the concept of the lower vehicle body coordinate system. The vehicle body coordinate system is a coordinate system which takes a projection point of the center of a rear axle of the vehicle to the ground as an original point, the right front direction of the vehicle as an x-axis, the left side of the vehicle as a y-axis and the direction vertical to the ground as a Z-axis, and is fixed relative to the vehicle body and moves along with the vehicle body.
The ultrasonic reservoir position detection device can obtain the distance between the obstacle and the vehicle body, and can determine the coordinate value of the edge of the obstacle under the vehicle body coordinate system and update the coordinate value in real time along with the motion of the vehicle according to the detected distance between the obstacle and the vehicle body, and the sudden change of the distance when the vehicle passes through the obstacle by combining the steering wheel angle of the vehicle and the four-wheel pulse data of the vehicle.
Similarly, when the empty parking space is detected, the coordinate values of the empty parking space in the vehicle body coordinate system can be determined according to the sudden change of the distances between the vehicles at the two ends of the empty parking space and the empty parking space, the coordinate values of the four warehouse location vertexes in the vehicle body coordinate system can be obtained, and the coordinate values of the warehouse location length, the warehouse location width and the warehouse location center point in the vehicle body coordinate system can be calculated according to the coordinate values of the four warehouse location vertexes in the vehicle body coordinate system.
Further, a concept of an expandable region is proposed, and in step S22, the expandable region is a right free region of the bin detected in the first bin detection result. Since the ultrasonic garage position detection device directly uses the left boundary of the right vehicle as the right boundary of the empty garage position, the boundary line of the empty garage position cannot be detected, and the expandable area is 0 at this time.
Referring to fig. 3, a scene diagram of the first bin position detection result is shown in fig. 3.
In fig. 3, the vehicle 1 travels along the free area between the travelable area lines 11 and 12, and when the vehicles 2 and 3 stop in the parking space, the vehicle 1 wants to park and enter the parking space, and the empty space is detected to obtain a first parking space detection result, in the first parking space detection result, the left boundary of the empty space is the right boundary of the vehicle 2, and the right boundary of the empty space is the left boundary of the vehicle 3.
In this embodiment, since the result detected by the ultrasonic library bit detection means is used, the empty library bit in the first library bit detection result may be referred to as an ultrasonic library bit.
In addition, this embodiment may also set a plurality of types of library bit data sources, which are specifically divided into:
0. there are no valid bin bits;
1. an ultrasonic reservoir location;
2. looking around the library location;
3. fusing the library positions by ultrasonic waves and a look around;
in this embodiment, the library bit data source type may be set to 1.
2. Referring to fig. 4, when the content of the first bin detection result is empty and the content of the second bin detection result is not empty, determining a final bin detection result based on the first bin detection result and the second bin detection result includes:
s31, sending the second library position detection result and the first verification instruction to the ultrasonic library position detection device;
the first check instruction is used for enabling the ultrasonic reservoir position detection device to detect that a first percentage of free areas in the reservoir positions detected in the second reservoir position detection result accounts for the whole reservoir positions and to measure to obtain a first expandable area; wherein the first expandable area is a right free area of the library location;
specifically, when the content of the first library position detection result is empty and the content of the second library position detection result is not empty, it indicates that the ultrasonic library position detection device cannot normally detect the library position, but the library position detection device can detect the library position by looking around.
The library bit line of the library bit is detected by the around-view library bit detection device, and then a second library bit detection result can be obtained according to the detected library bit line.
And when the second library position detection result is obtained, the second library position detection result and the first verification instruction are sent to the ultrasonic library position detection device. After receiving the first check instruction and the second storage position detection result, the ultrasonic storage position detection device sends ultrasonic waves to detect whether obstacles exist in the storage positions, wherein the obstacles can be vehicles, nearby conical barrels and other objects.
Wherein the first expandable region is obtained in a process of detecting whether an obstacle exists. Specifically, the region to the right of the right bank bit line of the empty bank bit detected in the second bank bit detection result is the first expandable region.
For the ultrasonic sensor, the output raw data is the distance from the probe to an obstacle, if no obstacle exists in the measuring range, the maximum measuring range is given, and if the obstacle exists in the measuring range, the actual distance is given. By using ultrasonic detection, the first percentage of the free area in the library positions detected in the second library position detection result in the whole library positions can be known.
In addition, since the right boundary of the empty bin bit is known, and an empty region is detected in the region to the right of the right boundary, the empty region is the first expandable region.
S32, receiving the first percentage and the first expandable area sent by the ultrasonic reservoir position detection device;
s33, when the first percentage is larger than a first preset value, taking the area corresponding to the sum of the library position and the first expandable area as the final library position detection result;
specifically, when the first percentage is greater than a first preset value, it indicates that the second bin detection result using the look-around bin detection apparatus is more accurate, and at this time, a bin detected in the second bin detection result and a region corresponding to a sum of the first expandable region are used as the final bin detection result, where the first preset value is 90%.
In this embodiment, the library bit data source type may be set to 2.
Specifically referring to fig. 5, in fig. 5, the vehicle 1 travels along the free area between the travelable area lines 11 and 12, when the vehicle 1 needs to park and enter a garage, the garage position needs to be detected, three parking spaces are detected from left to right, the intermediate parking space is used as a target parking space, at this time, an ultrasonic garage position detection device is used to detect whether an obstacle exists in the intermediate parking space, and meanwhile, the first extensible area is acquired.
In the process of detection, the ultrasonic reservoir position detection device detects the obstacle 8, and the middle reservoir position has no obstacle, at this time, the rectangular areas of the right boundary (namely, a dotted line) of the middle reservoir position and the left boundary of the obstacle 8 are called as a first expandable area, and finally, a reservoir position, namely, the rectangular area on the left side of the left boundary of the obstacle 8 in fig. 5 is obtained.
It should be noted that, after the final library bit detection result is obtained, the library bit detection confidence in this embodiment is a third confidence, which indicates that the library bit detection result confidence is higher.
In addition, the attribute data of the library position is calculated according to the relative position relation between the vehicle and the final library position detection result.
The attribute data comprises library position length, library position width, coordinate values of a library position central point in a vehicle body coordinate system, coordinate values of four library position vertexes in the vehicle body coordinate system and a library position data source type. In this embodiment, the library bit data source type may be set to 2.
It should be noted that, the process of calculating the attribute data of the library bit in this step is similar to the process of calculating the attribute data of the library bit in the foregoing description, please refer to the corresponding description in the foregoing embodiment.
S34, when the first percentage is smaller than the first preset value, the final library position detection result is no free library position.
When the first percentage is smaller than the first preset value, wherein the first preset value can be 90%, the detected storage position is indicated to have an obstacle, the vehicle cannot normally stop in the vehicle, at the moment, the second detection result is indicated to be inaccurate, and the final storage position detection result is no idle storage position.
It should be noted that, at this time, the type of the library bit data source in the attribute data of the library bit is set to 0, and the rest of the data may be filled with 0 or not.
3. Referring to fig. 6, when the content of the first bin detection result is not empty and the content of the second bin detection result is not empty, determining a final bin detection result based on the first bin detection result and the second bin detection result includes:
s41, calculating the area coincidence ratio of the library positions in the first library position detection result and the library positions in the second library position detection result;
specifically, the ultrasonic reservoir position detection device and the look-around reservoir position detection device both detect the reservoir position and respectively obtain a first reservoir position detection result and a second reservoir position detection result.
At this time, the overlapping ratio of the area of the bin in the first bin position detection result and the area of the bin in the second bin position detection result can be detected. The area coincidence degree is the ratio of the area of the overlapping area of the two library positions to the area of the library position in the second library position detection result.
S42, judging whether the area contact ratio is larger than a second preset value; when the area contact ratio is greater than the second preset value, executing step S43; when it is determined that the area coincidence is smaller than the second preset value, step S45 is executed.
And judging whether the area contact ratio is greater than a second preset value or not to verify whether the detection results of the two library positions are consistent or not, and if the area contact ratio is greater than the second preset value or not, indicating that the detection results of the two library positions are more consistent. Wherein the second predetermined value is 90%. At this time, in the present embodiment, the bin data source type may be set to 3.
S43, sending an area detection instruction to the ultrasonic reservoir position detection device;
wherein the region detection instruction is used for detecting a second scalable region; the second expandable region is a right-side free region of the bin detected in the second bin detection result.
S44, receiving a second expandable region sent by the ultrasonic reservoir position detection device;
specifically, the process of obtaining the second expandable region is similar to the process of obtaining the first expandable region, please refer to the process of obtaining the first expandable region, and details are not repeated here.
S45, taking the area corresponding to the sum of the library position and the second extensible area as the final library position detection result;
note that, this step is similar to step S33, please refer to the detailed explanation of step S33.
S46, sending the second library position detection result and the second check instruction to the ultrasonic library position detection device;
the second check instruction is used for enabling the ultrasonic reservoir position detection device to detect a second percentage of free areas in the reservoir positions detected in the second reservoir position detection result, which account for the whole reservoir positions, and to measure to obtain a third expandable area; wherein the third expandable area is a right free area of the library location.
Note that, this step is similar to step S31, please refer to the detailed explanation of step S31.
S47, receiving the second percentage and the third expandable area sent by the ultrasonic reservoir position detection device;
s48, judging whether the second percentage is larger than a first preset value; when the second percentage is greater than the first preset value, executing step S49; when the second percentage is smaller than the first predetermined value, step S410 is executed.
S49, taking the area corresponding to the sum of the library position and the third extensible area as the final library position detection result;
note that, this step is similar to step S33, please refer to the detailed explanation of step S33.
In addition, in this embodiment, the bin data source type may be set to 2.
S410, taking the first library position detection result as the final library position detection result.
Specifically, when the percentage is smaller than a first preset value, the detection result of the ultrasonic reservoir position detection device is used as a standard.
It should be noted that, when the content of the first bin detection result is not empty and the content of the second bin detection result is not empty, the attribute data of the bin may also be calculated according to the specific detection. Reference is made in particular to the corresponding explanations in the above embodiments. In addition, in this embodiment, the bin data source type may be set to 1.
Referring to fig. 7, the vehicle 1 travels along a free area between the travelable area lines 11 and 12, and when the vehicle 1 needs to be parked for garage entry, the garage position needs to be detected. The storehouse position 13 is detected by an ultrasonic storehouse position detection device, the storehouse position 15 is detected by a look-around storehouse position detection device, and an overlapping area and an expandable area of the storehouse position 13 and the storehouse position 15 are obtained, namely, the storehouse position 14.
In this embodiment, explanation is performed by dividing into three cases according to specific contents of the first bin position detection result and the second bin position detection result, so that most of requirements for bin position detection are satisfied from different angles.
It should be noted that the output of the ultrasonic library position detection method and the look-around library position detection method may be a vertical library position or a parallel library position, and the detection in fig. 3, 5 and 7 is a vertical library position, but the present invention can detect both a vertical library position and a parallel library position, that is, the present invention is suitable for the detection of both a vertical library position and a parallel library position.
Optionally, on the basis of the above embodiment of the method for detecting a library position, another embodiment of the present invention provides an apparatus for detecting a library position, with reference to fig. 8, including:
an obtaining module 101, configured to obtain a first library position detection result of the ultrasonic library position detection device and a second library position detection result of the around-view library position detection device;
a library position determining module 102, configured to determine a final library position detection result based on the first library position detection result and the second library position detection result.
In this embodiment, the ultrasonic reservoir position detection method and the all-round reservoir position detection method are used simultaneously, so that when no vehicle exists in at least one side of the adjacent reservoir position of the empty reservoir position, the detection result of the all-round reservoir position detection can be used, and when the reservoir position line is not clear, the detection result of the ultrasonic reservoir position detection can be used, so that the reservoir positions can be detected under different conditions, and the detection rate of the reservoir positions is improved.
Optionally, on the basis of the above embodiment of the apparatus for detecting a library position, the library position determining module includes:
and the first determining submodule is used for taking the first library position detection result as the final library position detection result when the content of the first library position detection result is not empty and the content of the second library position detection result is empty.
Further, the library position determining module further comprises:
the first sending submodule is used for sending the second library position detection result and a first check instruction to the ultrasonic library position detection device when the content of the first library position detection result is empty and the content of the second library position detection result is not empty; the first check instruction is used for enabling the ultrasonic reservoir position detection device to detect that a first percentage of free areas in the reservoir positions detected in the second reservoir position detection result accounts for the whole reservoir positions and to measure to obtain a first expandable area; the first expandable area is a right idle area of the library location;
a first receiving submodule, configured to receive the first percentage and the first expandable region sent by the ultrasonic reservoir position detection apparatus;
a second determining submodule, configured to, when the first percentage is greater than a first preset value, use a region corresponding to a sum of the bin and the first scalable region as the final bin detection result;
a third determining submodule, configured to determine that the final bin bit detection result is a no-free bin bit when the first percentage is smaller than the first preset value.
Further, the library position determining module further comprises:
a calculating submodule, configured to calculate an area overlap ratio between a bin in the first bin position detection result and a bin in the second bin position detection result when the content of the first bin position detection result is not empty and the content of the second bin position detection result is not empty;
the second sending submodule is used for sending an area detection instruction to the ultrasonic reservoir position detection device when the area contact ratio is larger than a second preset value; wherein the region detection instruction is used for detecting a second scalable region; the second extensible area is a right idle area of the detected bin in the second bin detection result;
the second receiving submodule is used for receiving a second expandable area sent by the ultrasonic reservoir position detection device;
a fourth determining submodule, configured to use a region corresponding to a sum of the bin and the second scalable region as the final bin detection result;
the third sending submodule is used for sending the second reservoir position detection result and the second check instruction to the ultrasonic reservoir position detection device when the area contact ratio is smaller than the second preset value; the second check instruction is used for enabling the ultrasonic reservoir position detection device to detect a second percentage of free areas in the reservoir positions detected in the second reservoir position detection result, which account for the whole reservoir positions, and to measure to obtain a third expandable area; the third expandable area is a right free area of the library location;
a third receiving sub-module, configured to receive the second percentage and the third expandable area sent by the ultrasound reservoir position detection apparatus;
a fifth determining submodule, configured to, when the second percentage is greater than a first preset value, use a region corresponding to a sum of the bin and the third scalable region as the final bin detection result;
a sixth determining submodule, configured to take the first bin position detection result as the final bin position detection result when the second percentage is smaller than the first preset value.
Further, still include:
a confidence setting module, configured to set, by the first determining sub-module, the library bit detection confidence as a preset confidence after the first library bit detection result is used as the final library bit detection result;
and the data calculation module is used for calculating the attribute data of the library position according to the first library position detection result.
The attribute data comprises library position length, library position width, coordinate values of a library position central point in a vehicle body coordinate system, coordinate values of four library position vertexes in the vehicle body coordinate system and a library position data source type.
In this embodiment, explanation is performed by dividing into three cases according to specific contents of the first bin position detection result and the second bin position detection result, so that most of requirements for bin position detection are satisfied from different angles.
Optionally, on the basis of the above embodiment of the method and apparatus for detecting a library position, another embodiment of the present invention provides an electronic device, including: a memory and a processor;
wherein the memory is used for storing programs;
the processor is configured to invoke a program, wherein the program is configured to:
acquiring a first library position detection result of the ultrasonic library position detection device and a second library position detection result of the around-view library position detection device;
and determining a final library position detection result based on the first library position detection result and the second library position detection result.
In this embodiment, the ultrasonic reservoir position detection method and the all-round reservoir position detection method are used simultaneously, so that when no vehicle exists in at least one side of the adjacent reservoir position of the empty reservoir position, the detection result of the all-round reservoir position detection can be used, and when the reservoir position line is not clear, the detection result of the ultrasonic reservoir position detection can be used, so that the reservoir positions can be detected under different conditions, and the detection rate of the reservoir positions is improved.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. A method of detecting a library location, comprising:
acquiring a first library position detection result of the ultrasonic library position detection device and a second library position detection result of the around-view library position detection device;
determining a final bin position detection result based on the first bin position detection result and the second bin position detection result, wherein the determining comprises: when the content of the first reservoir position detection result is empty and the content of the second reservoir position detection result is not empty, receiving a first percentage and a first expandable area sent by an ultrasonic reservoir position detection device; the first percentage is the percentage of free areas in the bin detected in the second bin detection result to the whole bin; the first expandable area is a right idle area of the library location; and when the first percentage is larger than a first preset value, taking the area corresponding to the sum of the library position and the first expandable area as the final library position detection result.
2. The method of claim 1, wherein determining a final bin position detection result based on the first bin position detection result and the second bin position detection result comprises:
and when the content of the first library position detection result is not empty and the content of the second library position detection result is empty, taking the first library position detection result as the final library position detection result.
3. The method according to claim 1, wherein when the content of the first bin detection result is empty and the content of the second bin detection result is not empty, before the receiving the first percentage and the first scalable area sent by the ultrasonic bin detection apparatus, further comprising:
sending the second library position detection result and the first verification instruction to the ultrasonic library position detection device; wherein the first verification instruction is configured to cause the ultrasonic reservoir location detection apparatus to detect the first percentage and measure the first expandable region;
after receiving the first percentage and the first expandable area transmitted by the ultrasonic reservoir position detection device, the method further comprises the following steps:
and when the first percentage is smaller than the first preset value, the final library bit detection result is no free library bit.
4. The method of claim 1, wherein determining a final bin position detection result based on the first bin position detection result and the second bin position detection result comprises:
when the content of the first library position detection result is not empty and the content of the second library position detection result is not empty, calculating the area coincidence ratio of the library positions in the first library position detection result and the library positions in the second library position detection result;
when the area contact ratio is larger than a second preset value, sending an area detection instruction to the ultrasonic reservoir position detection device; wherein the region detection instruction is used for detecting a second scalable region; the second extensible area is a right idle area of the detected bin in the second bin detection result;
receiving a second expandable region sent by the ultrasonic reservoir position detection device;
taking the area corresponding to the sum of the library position and the second extensible area as the final library position detection result;
when the area contact ratio is smaller than the second preset value, sending the second reservoir position detection result and a second check instruction to the ultrasonic reservoir position detection device; the second check instruction is used for enabling the ultrasonic reservoir position detection device to detect a second percentage of free areas in the reservoir positions detected in the second reservoir position detection result, which account for the whole reservoir positions, and to measure to obtain a third expandable area; the third expandable area is a right free area of the library location;
receiving the second percentage and the third expandable area sent by the ultrasonic reservoir position detection device;
when the second percentage is larger than a first preset value, taking a region corresponding to the sum of the library position and the third extensible region as the final library position detection result;
and when the second percentage is smaller than the first preset value, taking the first library position detection result as the final library position detection result.
5. The method according to claim 2, wherein the step of using the first bin position detection result as the final bin position detection result further comprises:
setting the library bit detection confidence coefficient as a preset confidence coefficient;
calculating attribute data of the library positions according to the first library position detection result;
the attribute data comprises library position length, library position width, coordinate values of a library position central point in a vehicle body coordinate system, coordinate values of four library position vertexes in the vehicle body coordinate system and a library position data source type.
6. An apparatus for detecting a library location, comprising:
the acquisition module is used for acquiring a first library position detection result of the ultrasonic library position detection device and a second library position detection result of the around-view library position detection device;
a bin position determining module, configured to determine a final bin position detection result based on the first bin position detection result and the second bin position detection result, where the bin position determining module includes: the first receiving submodule is used for receiving the first percentage and the first expandable area sent by the ultrasonic reservoir position detection device; the first percentage is the percentage of free areas in the bin detected in the second bin detection result to the whole bin; the first expandable area is a right idle area of the library location; and the second determining submodule is used for taking the area corresponding to the sum of the library position and the first expandable area as the final library position detection result when the first percentage is larger than a first preset value.
7. The apparatus of claim 6, wherein the bin position determining module comprises:
and the first determining submodule is used for taking the first library position detection result as the final library position detection result when the content of the first library position detection result is not empty and the content of the second library position detection result is empty.
8. The apparatus of claim 6, wherein the bin position determining module further comprises:
the first sending submodule is used for sending the second library position detection result and a first check instruction to the ultrasonic library position detection device when the content of the first library position detection result is empty and the content of the second library position detection result is not empty; wherein the first verification instruction is configured to cause the ultrasonic reservoir location detection apparatus to detect the first percentage and measure the first expandable region;
a third determining submodule, configured to, after the first receiving submodule receives the first percentage and the first expandable area sent by the ultrasonic reservoir position detecting device, if the first percentage is smaller than the first preset value, determine that the final reservoir position detection result is no free reservoir position.
9. The apparatus of claim 6, wherein the bin position determining module comprises:
a calculating submodule, configured to calculate an area overlap ratio between a bin in the first bin position detection result and a bin in the second bin position detection result when the content of the first bin position detection result is not empty and the content of the second bin position detection result is not empty;
the second sending submodule is used for sending an area detection instruction to the ultrasonic reservoir position detection device when the area contact ratio is larger than a second preset value; wherein the region detection instruction is used for detecting a second scalable region; the second extensible area is a right idle area of the detected bin in the second bin detection result;
the second receiving submodule is used for receiving a second expandable area sent by the ultrasonic reservoir position detection device;
a fourth determining submodule, configured to use a region corresponding to a sum of the bin and the second scalable region as the final bin detection result;
the third sending submodule is used for sending the second reservoir position detection result and the second check instruction to the ultrasonic reservoir position detection device when the area contact ratio is smaller than the second preset value; the second check instruction is used for enabling the ultrasonic reservoir position detection device to detect a second percentage of free areas in the reservoir positions detected in the second reservoir position detection result, which account for the whole reservoir positions, and to measure to obtain a third expandable area; the third expandable area is a right free area of the library location;
a third receiving sub-module, configured to receive the second percentage and the third expandable area sent by the ultrasound reservoir position detection apparatus;
a fifth determining submodule, configured to, when the second percentage is greater than a first preset value, use a region corresponding to a sum of the bin and the third scalable region as the final bin detection result;
a sixth determining submodule, configured to take the first bin position detection result as the final bin position detection result when the second percentage is smaller than the first preset value.
10. The apparatus of claim 7, further comprising:
a confidence setting module, configured to set, by the first determining sub-module, the library bit detection confidence as a preset confidence after the first library bit detection result is used as the final library bit detection result;
the data calculation module is used for calculating the attribute data of the library position according to the first library position detection result;
the attribute data comprises library position length, library position width, coordinate values of a library position central point in a vehicle body coordinate system, coordinate values of four library position vertexes in the vehicle body coordinate system and a library position data source type.
11. An electronic device, comprising: a memory and a processor;
wherein the memory is used for storing programs;
the processor is configured to invoke a program, wherein the program is configured to:
acquiring a first library position detection result of the ultrasonic library position detection device and a second library position detection result of the around-view library position detection device;
determining a final bin position detection result based on the first bin position detection result and the second bin position detection result, wherein the determining comprises: when the content of the first reservoir position detection result is empty and the content of the second reservoir position detection result is not empty, receiving a first percentage and a first expandable area sent by an ultrasonic reservoir position detection device; the first percentage is the percentage of free areas in the bin detected in the second bin detection result to the whole bin; the first expandable area is a right idle area of the library location; and when the first percentage is larger than a first preset value, taking the area corresponding to the sum of the library position and the first expandable area as the final library position detection result.
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