CN102901968B - Parking space detection method and device - Google Patents
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Abstract
本发明提供一种停车空间侦测方法及其装置，其侦测方法是可先储存多笔车辆的移动距离、车辆与障碍物间的超声波回传距离等边界数据，再判断边界数据是否符合估测条件，如先侦测到一空间至障碍物的状态或是先侦测到障碍物至一空间的状态，其中的一状态符合时，即开始计算每一笔边界数据与此些边界数据总平均值间的一第一差值是否大于此些边界数据的一标准差；若是，则将对应的边界数据取出至少二数据点，第一数据点及第二数据点，以计算出差值后，作为第一数据点与第二数据点的权重值调配，即可获取准确度高的停车空间距离及其至少一实际边界位置。
The present invention provides a parking space detection method and device thereof. The detection method can first store a plurality of boundary data such as the moving distance of a vehicle, the ultrasonic return distance between the vehicle and an obstacle, and then determine whether the boundary data meets the estimation conditions, such as first detecting the state from a space to an obstacle or first detecting the state from an obstacle to a space. When one of the conditions meets the conditions, it starts to calculate whether a first difference between each boundary data and the total average value of these boundary data is greater than a standard deviation of these boundary data; if so, at least two data points, a first data point and a second data point, are taken out from the corresponding boundary data to calculate the difference, and the difference is used as the weight value of the first data point and the second data point to obtain a parking space distance with high accuracy and at least one actual boundary position thereof.
Description
Technical field
The present invention is relevant a kind of parking space method for detecting and device thereof, refer to especially a kind of ultrasonic detection parking space distance and at least one actual boundary position thereof of utilizing, to improve parking space method for detecting and the device thereof of the accuracy of the actual parking space of detecting.
Background technology
Along with science and technology and machinery are advanced by leaps and bounds, as automobile, as carrying and means of transport, allow human life quality significantly improve, and playing the part of already important and indispensable role.Yet, the narrow people in ground is thick in modern society, the size on parking stall is bigger conventionally than a car, therefore driver is when stopping, all rely on eyes and feel to judge that parking space is to allow storing cycle, but such judgment mode, tends to because docking process is just found parking space deficiency
And cannot park vehicle, and need again find next parking space, so not only to lose time, the moving-wire that blocks traffic most probably again, causes driver greatly to perplex; Or because driver's stopping technical is bad or lack experience, need to utilize all around repeatedly move mode complete the action of stopping, even can cause the side swipe of vehicle.For improving above-mentioned problem, parking aid in response to and give birth to, be mainly that auxiliary driver is when parallel parking, whether judgement is can parking space enough, with existing technology, is in vehicle body side by installation of sensors, to detect two space lengths between barrier, to judge parking space.Yet this detecting mode, in actual vehicle is advanced, when super clearing the jumps, because ultrasonic reflections ripple tool wide-angle, direction uncertainty, flight time postpone, there is any discrepancy can to cause detected data and true situation, and then causing the detecting distance error of parking space very large, the high precision that therefore how to improve detecting parking space is problem demanding prompt solution.
In view of this, the present invention for the disappearance of above-mentioned prior art, proposes a kind of parking space method for detecting and device thereof, effectively to overcome these above-mentioned problems then.
Summary of the invention
Fundamental purpose of the present invention is providing a kind of parking space method for detecting and device thereof, it utilizes ultrasonic detection mode to come the position in dyscalculia thing and space, and then obtain high accuracy parking space and actual boundary position thereof, to solve the problem of existing detecting real space large error that position is produced.
Another object of the present invention is providing a kind of parking space method for detecting and device thereof, can automatically start shutdown system by detecting after high-precision parking space, need not be by the loaded down with trivial details action of artificial selected parking spot.
In order to achieve the above object, the invention provides a kind of parking space method for detecting, comprise the following steps: a ultrasonic distance sensor to be located to the side of a vehicle, after starting parking space arrangement for detecting, can start to store many data boundaries of the ultrasound wave passback distance between displacement, vehicle and the barrier of many vehicles.Judge whether these a little data boundaries meet the first estimation condition, as first detected a space to the state of barrier, if not, very likely vehicle location is positioned on locus, therefore can judge again whether these a little data boundaries meet the second estimation condition, as first detected the state in barrier to space, if not, again store data boundary, until judgement meets first estimation conditioned disjunction the second estimation condition.When the arbitrary condition of first estimation conditioned disjunction the second estimation condition, set up, start to calculate a standard deviation of these a little data boundaries.Continue, sequentially judge each data boundary therewith one first difference between a little data boundary population means whether be greater than standard deviation, if not, recalculate the standard deviation of these a little data boundaries; If so, corresponding data boundary is taken out at least two data points, the first data point and the second data point are to calculate one second difference, and this second difference is the use of repaying as lateral error value complement.Finally, according to the second difference and Vehicle Speed, to carry out the weighted value of the first data point and the second data point, allocate, can obtain the high parking space of accuracy and at least one actual boundary position thereof.
The present invention separately provides a kind of parking space arrangement for detecting, is to be located on a vehicle, and parking space arrangement for detecting comprises a ultrasonic distance sensor, is located at the side of vehicle, in order to detect the ultrasound wave passback distance between many vehicles and a barrier; One displacement sensor is a displacement of many vehicles of detecting; And a storage element, be many data boundaries that store these a little ultrasound waves passback distances and these a little displacements; One processing unit, it connects ultrasonic distance sensor, displacement sensor and storage element, and processing unit is to return distance to calculate a parking space and at least one actual boundary position thereof according to this little displacement and this little ultrasound waves.
Under by specific embodiment, illustrate in detail, when the effect that is easier to understand object of the present invention, technology contents, feature and reaches.
Accompanying drawing explanation
Fig. 1 is Organization Chart of the present invention;
Fig. 2 is flow chart of steps of the present invention;
Fig. 3 is the flow chart of steps that the present invention estimates the data boundary from a parking space to barrier;
Fig. 4 is the flow chart of steps that the present invention estimates the data boundary from a barrier to parking space;
Fig. 5 is the schematic diagram that the present invention detects actual parking space position.
Description of reference numerals: 10-parking space arrangement for detecting; 12-ultrasonic distance sensor; 14-displacement sensor; 16-storage element; 18-processing unit.
Embodiment
The present invention proposes one can find parking space mechanism fast, accurately, as shown in Figure 1, is Organization Chart of the present invention.Parking space arrangement for detecting 10 is provided in a side of on a vehicle, when driver prepares the suitable parking spot of searching, can start parking space arrangement for detecting 10, the processing unit 18 that it comprises a ultrasonic distance sensor 12, a displacement sensor 14, a storage element 16 and connects said modules.
Wherein, ultrasonic distance sensor 12 is located at the side of vehicle, for further understanding parking space method for detecting of the present invention, sees also Fig. 1, Fig. 2, and Fig. 2 is flow chart of steps of the present invention.First, execution step S10, detect many data boundaries, wherein each data boundary comprises the ultrasound wave passback distance of utilizing between ultrasonic distance sensor 12 detecting vehicles and a barrier, and a displacement of utilizing displacement sensor 14 detecting vehicles, by the displacement of ultrasound wave passback distance and vehicle, can learn X-axis and the Y-axis coordinate position of present vehicle reality and estimate Obstacle Position.For another example step S12, stores many data boundaries constantly by storage element 16.Step S14 and for example, processing unit 18 judges whether these a little data boundaries meet one first estimation condition, and its data boundary for detecting is at present less than a default value, and upper this data boundary is greater than default value, and this default value is better is set as 200 centimeters.If while not meeting the first estimation condition, very likely driving vehicle position is just positioned at parking space position at present, therefore carry out next step S16, judge whether these a little data boundaries meet one second estimation condition, its data boundary at present detecting is greater than a default value, and it is better is set as 200 centimeters.If do not meet the second estimation condition, get back to step S10, this represents not have the parking space meeting, and needs to continue to store more data boundaries for carrying out follow-up determining step.If meet the second estimation condition, be set as first detecting the state of barrier to parking space, in other words, parking space is the anterior position that is positioned at barrier, this second estimation condition is Edge0 for the boundary position of wish estimation parking space.Please refer to Fig. 3, step S16 comprises the following steps: as step S162, from the data boundary detecting at present, in detail, judge meet Edge0 data boundary as the data boundary detecting at present, and starting to search these a little data boundaries (as historical data boundary) that stored backward, the ultrasound wave between the displacement that each data boundary comprises vehicle, vehicle and barrier returns distance.As step S164, whether these a little data boundaries of having stored of judgement are less than a default value, and it is better is set as 200 centimeters, if not, gets back to step S162; If so, perform step S166, store these a little data boundaries that are less than default value.Finally, then perform step S168, judgement has stored these a little data boundaries and whether has met a second boundary position estimation condition, and it is greater than 30 for the displacement of vehicle (d) is greater than 250 centimeters or these a little data boundaries.If not, get back to step S162, then these a little data boundaries that stored before backward searching more early; If so, carry out next step S18, enter the boundary position estimation of parking space.
In step S14, if processing unit 18 judges that these a little data boundaries are when meeting the first estimation condition, be set as first detecting a parking space to the state of barrier, in other words, parking space is the rear position that is positioned at barrier, and this first estimation condition is Edge1 for the boundary position of wish estimation parking space.Please refer to Fig. 4, step S14 comprises the following steps: as step S142, from the data boundary detecting at present, say in detail, judge the data boundary of the first estimation condition that meets Edge1 as the data boundary detecting at present, and start to store vehicle just advance forward in new many data boundaries (as following data boundary), ultrasound wave between displacement, vehicle and barrier that each new data boundary comprises vehicle passback distance.For another example step S144, judgement has stored many data boundaries and whether has met one first border position estimation condition, and it is greater than 30 or ultrasound wave passback apart from being greater than 200 centimeters for the displacement of vehicle (d) is greater than 250 centimeters, these a little data boundaries.As long as meet above-mentioned arbitrary the first border position estimation condition, perform step S18, the boundary position of estimation parking space; If not, get back to step S142, vehicle need continue to travel forward, stores more these new a little data boundaries simultaneously.
At this, it should be noted that, no matter processing unit 18 these a little boundary conditions of judgement are to meet first estimation conditioned disjunction the second estimation condition, the boundary position estimation mode of both parking spaces is all identical, when starting to carry out the boundary position estimation steps of parking space, as step S20, first calculate the mean value of these a little data boundaries, it is tried to achieve by following formula (1):
Wherein, m is data boundary mean value, and N, i are real number, and x is data boundary.Namely by these a little data boundaries, as X
1, X
2... ..X
nn data boundary be added after except in total stroke count, can obtain data boundary mean value.Calculate a standard deviation of these a little data boundaries, it is tried to achieve by following formula (2) again:
Wherein, the standard deviation that s is data boundary, m is data boundary mean value, and N, i are real number, and x is data boundary.For avoiding the translational speed impact of vehicle, cause every detected data boundary too to disperse, and then cause estimation error, therefore need utilize standard deviation to add up the dispersion degree of these a little data boundaries, then carry out follow-up error compensation step.As step S22, sequentially judge each data boundary therewith one first difference between a little data boundary population means whether be greater than standard deviation, in detail, each data boundary respectively therewith a little data boundary population means subtract each other to obtain the one the first differences, judge again whether the first difference is greater than standard deviation, if not, get back to step S20.
For further understanding at least one boundary position of energy actual computation parking space of the present invention, please coordinate Fig. 5 simultaneously, if the first difference of calculating is to be greater than standard deviation, perform step S24, corresponding data boundary is taken out at least two data points, the first data point and the second data point, in this embodiment, the first data point is to be denoted as A point, and the second data point is to be denoted as B point.Wherein, data point is a boundary position, its impose a condition be first find out the first stroke data boundary therewith the first difference between a little data boundary population means be greater than standard deviation and determine, still non-at this boundary position is actual boundary position, because do not carry out lateral error compensation; Therefore, need first find out the first stroke data boundary that the first difference is greater than standard deviation as the first data point, a data boundary is as the second data point thereafter, and this second data point is as error compensation value.Execution step S26, carrys out storage data point by storage element 16, and step S28, calculates one second difference between the first data point and the second data point for another example.Finally perform step S30, according to the second difference, to carry out the weighted value allotment of the first data point and the second data point, can obtain a parking space and at least one actual boundary position thereof.Wherein, the allotment of the weighted value of actual boundary position is through the equational coefficient of the resulting three-D of curve, three-D equation following (3):
Actual boundary position=K
1* B+K
2* A......... (3)
Wherein, K
1=α V
3+ β V
2+ γ V+ δ, V is the speed of a motor vehicle; K
2=(1-K
1), factor alpha, β, γ and δ are the parameters setting according to the speed of a motor vehicle, shown in following list lattice:
| The speed of a motor vehicle (kph) | Parameter (< 1) |
| 10 | 0.8 |
| 15 | 0.55 |
| 20 | 0.45 |
| 25 | 0.3 |
| 30 | 0.15 |
By above-mentioned, learn that the boundary position of initial estimation is Edge0 or Edge, can obtain actual boundary position by identical boundary position estimation mode, for instance, the present invention is in detecting one parking space process, if it is to meet the second estimation condition that processing unit 18 first judges these obtained a little boundary conditions, be and first detect barrier to the state of parking space, the actual boundary position that advanced row bound position is Edge0, and perform step S18～S30, obtain the first actual boundary position, in Fig. 5, be denoted as X point.When vehicle continues to travel forward, these obtained a little boundary conditions of processing unit 18 judgement are to meet the first estimation condition, be and first detect parking space to the state of barrier, the actual boundary position that advanced row bound position is Edge1, and perform step S18～S30, obtain the first actual boundary position, in Fig. 5, be denoted as X ' point.When sequentially calculate X point and X ' put and obtain an actual parking space position after, perform step again S32, judge whether actual parking space meets a Parking condition of existing vehicle, it need meet the required minimum value of existing vehicle parking for the width of parking space and the degree of depth, if not, get back to step S10, again detect next parking space.If so, perform step S34, start automatic parking system, vehicle can be parked to actual parking space accurately and quickly.Thus, the present invention's action of the existing automatic startup shutdown system of parking space arrangement for detecting 10 collocation can being stopped, need not, by artificially selecting the loaded down with trivial details action of parking spot, have convenience.
Owing to detecing in side parking space process, likely only detect X point, that is to say that parking space only has a side to have barrier, can be by storing after many data boundaries of certain limit, first calculate actual X point, according to displacement and the ultrasound wave of vehicle in a little data boundaries, return distance again, and then learn width and the whether enough storing cycles of the degree of depth of parking space; In like manner, only detect X ' point, can, by storing after many data boundaries of certain limit, first calculate actual X ' point, according to displacement and the ultrasound wave of vehicle in a little data boundaries, return distance again, and then learn width and the whether enough storing cycles of the degree of depth of parking space.Therefore, the present invention utilizes ultrasonic detection mode to come the position in dyscalculia thing and space, and then obtains high accuracy parking space and at least one actual boundary position thereof, to solve the problem of existing detecting real space large error that position is produced.
More than explanation is just illustrative for the purpose of the present invention, and nonrestrictive, those of ordinary skills understand; in the situation that do not depart from the spirit and scope that following claims limit, can make many modifications, change; or equivalence, but all will fall within the scope of protection of the present invention.
Claims (8)
1. a parking space method for detecting, is characterized in that, comprises the following steps:
A. store many data boundaries, the ultrasound wave passback distance between the displacement that each this data boundary comprises a vehicle, this vehicle and a barrier;
B. judge whether these many data boundaries meet one first estimation condition, this the first estimation condition is that this data boundary of detecting at present is less than a default value, and when upper this data boundary is greater than this default value, be set as first detecting a parking space to the state of this barrier, if not, carry out next step C, if so, carry out next step D;
C. judge whether these many data boundaries meet one second estimation condition, when this data boundary that this second estimation condition is detecting is at present greater than a default value, be set as first detecting the state of this barrier to one parking space, if not, get back to this steps A, if so, carry out next step D;
D. calculate a standard deviation of these many data boundaries;
E. sequentially judge whether one first difference between each this data boundary and this many data boundary population means is greater than this standard deviation, if, this data boundary of correspondence is taken out at least two data points, the first data point and the second data point, and carry out next step F, if not, get back to this step D;
F. calculate one second difference between this first data point and this second data point; And
G. according to this second difference, to carry out the weighted value of this first data point and this second data point, allocate, to obtain a parking space and at least one actual boundary position thereof.
2. parking space method for detecting according to claim 1, is characterized in that, more comprises a step H, judges whether this parking space meets a Parking condition of this vehicle, if so, starts automatic parking system, if not, gets back to this steps A.
3. parking space method for detecting according to claim 2, is characterized in that, width and the degree of depth that this Parking condition is this parking space need meet the required minimum value of this vehicle parking.
4. parking space method for detecting according to claim 1, is characterized in that, this step B comprises the following steps:
B1. from this data boundary detecting at present start to store the place ahead advance many new data boundaries, this ultrasound wave passback distance between this displacement that each this data boundary comprises this vehicle, this vehicle and this barrier; And
B2. judge whether these many data boundaries meet one first border position estimation condition, if not, get back to this step b1, if, carry out this step D, wherein, this first border position estimation condition is greater than 30 or this ultrasound wave passback distance and is greater than 200 centimeters for this displacement is greater than 250 centimeters, these many data boundaries.
5. parking space method for detecting according to claim 1, is characterized in that, this step C comprises the following steps:
C1. from this data boundary detecting at present, search those data boundaries that stored, this ultrasound wave passback distance between this displacement that each this data boundary comprises this vehicle, this vehicle and this barrier backward;
Whether these many data boundaries that c2. judgement has stored are less than a default value, if not, get back to this step c1, if so, carry out next step c3; And
C3. judge that whether these many data boundaries meet a second boundary position estimation condition, if not, get back to this step c1, if, carry out this step D, wherein, this second boundary position estimation condition is greater than 30 for this displacement is greater than 250 centimeters or these many data boundaries.
6. parking space method for detecting according to claim 1, it is characterized in that, this data point is a boundary position, and it imposes a condition is that this first difference of first finding out between this data boundary of the first stroke and this many data boundary population means is greater than this standard deviation and determines.
7. application rights requires a parking space arrangement for detecting for 1 parking space method for detecting, it is characterized in that, is to be located on a vehicle, and this parking space arrangement for detecting comprises:
One ultrasonic distance sensor, is located at the side of this vehicle, and this ultrasonic distance sensor is that many these vehicles of detecting return distance with the ultrasound wave between a barrier;
One displacement sensor is a displacement of many these vehicles of detecting;
One storage element is to store this many ultrasound wave passback distances and these many displacements; And
One processing unit, it connects this ultrasonic distance sensor, this displacement sensor and this storage element, and this processing unit is to return distance to calculate a parking space and at least one actual boundary position thereof according to these many displacements and this many ultrasound waves.
8. parking space arrangement for detecting according to claim 7, is characterized in that, these many ultrasound wave passback distances and these many displacements are data boundary.
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| KR101712399B1 (en) * | 2014-11-25 | 2017-03-06 | 현대모비스 주식회사 | Obstacle display method of vehicle |
| CN104821101A (en) * | 2015-04-29 | 2015-08-05 | 惠州华阳通用电子有限公司 | Method for detecting inclined-parking parking place and device thereof |
| CN109581391A (en) * | 2018-12-28 | 2019-04-05 | 广州小鹏汽车科技有限公司 | A kind of the determination method and parking stall position determining means of parking position |
| CN112389419B (en) * | 2019-08-12 | 2022-04-08 | 欧特明电子股份有限公司 | Method for identifying parking space and parking assistance system |
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| DE102007045562A1 (en) * | 2007-09-24 | 2009-04-02 | Robert Bosch Gmbh | Control device for a display device of a parking device and method for representation |
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| CN1647128A (en) * | 2002-12-11 | 2005-07-27 | 罗伯特-博希股份公司 | Parking assist apparatus |
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