WO2022073461A1 - 泊车过程展示方法、装置及车辆 - Google Patents

泊车过程展示方法、装置及车辆 Download PDF

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Publication number
WO2022073461A1
WO2022073461A1 PCT/CN2021/122272 CN2021122272W WO2022073461A1 WO 2022073461 A1 WO2022073461 A1 WO 2022073461A1 CN 2021122272 W CN2021122272 W CN 2021122272W WO 2022073461 A1 WO2022073461 A1 WO 2022073461A1
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WIPO (PCT)
Prior art keywords
display area
vehicle
center
image
origin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/CN2021/122272
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English (en)
French (fr)
Inventor
高通
武金科
曹艳娜
许东春
魏宏
王香香
郭炳全
袁立东
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Great Wall Motor Co Ltd filed Critical Great Wall Motor Co Ltd
Priority to EP21876979.2A priority Critical patent/EP4155155A4/en
Priority to US18/010,398 priority patent/US12344167B2/en
Publication of WO2022073461A1 publication Critical patent/WO2022073461A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means

Definitions

  • the present disclosure relates to the field of automobile technology, and in particular, to a parking process display method, device, and vehicle.
  • the existing automatic parking technology uses the automatic parking function of the vehicle to park the vehicle in/out of the parking space through the parking/parking instructions.
  • the display window with a fixed field of view displays the parking image captured by the on-board camera.
  • the present disclosure aims to provide a parking process display method, device and vehicle.
  • a method for displaying a parking process, applied to a vehicle-mounted terminal in a vehicle comprising:
  • the target parking space and/or at least part of the vehicle in all the parking spaces are outside the display area, adjust the center of the display area in the image and the preset coordinate system The relative position of the origin such that the entire area of the vehicle and the parking space is within the display area.
  • a parking process display device is applied to a vehicle-mounted terminal in a vehicle, and the device includes:
  • a building module for building an image of the scene where the vehicle is located, where the image is created based on a preset coordinate system
  • a determining module configured to determine a display area in the image, and display the display area, where the display area includes the vehicle;
  • an identification module for identifying the parking space in the image
  • An adjustment module configured to adjust the center of the display area in the image and the The relative position of the origin of the coordinate system is preset so that the entire area of the vehicle and the parking space is in the display area.
  • a vehicle the vehicle includes a vehicle-mounted terminal, and the vehicle further includes the parking process display device.
  • FIG. 1 is a flowchart of steps of a method for displaying a parking process according to an embodiment of the disclosure
  • FIG. 2 is a structural diagram of a vehicle according to an embodiment of the disclosure.
  • FIG. 3 is a structural block diagram of a vehicle-mounted terminal according to an embodiment of the present disclosure.
  • FIG. 4 is a schematic diagram of a two-dimensional scene image according to an embodiment of the disclosure.
  • FIG. 5 is a schematic diagram of another two-dimensional scene image according to an embodiment of the disclosure.
  • FIG. 6 is a schematic diagram of another two-dimensional scene image according to an embodiment of the disclosure.
  • FIG. 7 is a flowchart of steps of another parking process display method according to an embodiment of the present disclosure.
  • FIG. 8 is a schematic diagram of another two-dimensional scene image according to an embodiment of the disclosure.
  • FIG. 9 is a schematic diagram of another two-dimensional scene image according to an embodiment of the disclosure.
  • FIG. 10 is a structural block diagram of a parking process display device according to an embodiment of the disclosure.
  • Figure 11 schematically shows a block diagram of a computing processing device for performing methods according to the present disclosure.
  • Figure 12 schematically shows a storage unit for holding or carrying program code implementing the method according to the present disclosure.
  • FIG. 1 a flowchart of steps of a parking process presentation method according to an embodiment of the present disclosure is shown.
  • a method for displaying a parking process provided by an embodiment of the present disclosure is applied to a vehicle-mounted terminal in a vehicle.
  • Step 101 creating an image of the scene where the vehicle is located, where the image is created based on a preset coordinate system.
  • FIG. 2 a structural diagram of a vehicle according to an embodiment of the present disclosure is shown, including: a vehicle 10 , a wide-angle sensor 11 , and a vehicle-mounted terminal 12 , and the number of wide-angle sensors 11 may be multiple , a plurality of wide-angle sensors 11 are arranged on the outer surface of the vehicle 10 , and the data collected by the wide-angle sensors 11 can be sent to the vehicle terminal 12 .
  • four wide-angle sensors 11 may be provided, and the four wide-angle sensors 11 are respectively provided at four corner positions of the vehicle 10 .
  • the wide-angle sensor 11 is a sensor that collects image data. It has a wide shooting field of view and can collect images of the surrounding environment of the vehicle 10.
  • the multiple wide-angle sensors 11 arranged can provide the vehicle-mounted terminal 12 with a 360-degree real-time image around the vehicle, so as to provide The driver provides a wider field of vision and eliminates blind spots as much as possible.
  • the vehicle-mounted terminal includes: a three-dimensional scene establishment module, a two-dimensional scene conversion module, a viewing angle interception module, and a motion relationship controller module. , Image display module.
  • the 3D scene building module can build a 3D scene image of the scene where the vehicle is located based on the environmental information collected by the wide-angle sensor, and the 3D scene image can be displayed by the image display module to provide users with a perception of the 3D scene.
  • the 2D scene establishment module can map the 3D scene image to the plane 2D scene image under the overhead view angle based on the 3D scene image established by the 3D scene establishment module, and according to the overhead view angle set in the parking scene.
  • the motion relationship controller module can collect the moving parameters of the vehicle, such as speed, direction, trajectory and other information.
  • the viewing angle interception module can control the selection of this part of the area based on the movement parameters of the vehicle collected by the motion relationship controller module. , and as far as possible make the parking space and the vehicle to be parked in this partial area at the same time.
  • the image display module can display part of the area in the two-dimensional scene image selected by the viewing angle interception module, so as to provide the user with perception of the parking process.
  • the 2D scene establishment module of the vehicle terminal can map the 3D scene image to the plane 2D scene image under the top view angle according to the top view angle set in the parking scene, and the 2D scene image can be based on the pre-set view angle.
  • a coordinate system is established, such as a rectangular coordinate system.
  • FIG. 4 a schematic diagram of a two-dimensional scene image according to an embodiment of the present disclosure is shown.
  • the two-dimensional scene image 20 of 10 based on the XY rectangular coordinate system, can give a reference to the position of each object in the two-dimensional scene image 20 .
  • Step 102 Determine a display area in the image, and display the display area, where the display area includes the vehicle.
  • the image may be a two-dimensional scene image or a three-dimensional scene image, which is not limited in the embodiment of the present disclosure.
  • the two-dimensional scene image as an example, due to the limited field of view of the display of the vehicle terminal, only a part of the two-dimensional scene image may be displayed at one time.
  • the display area is displayed by the image display module of the vehicle terminal.
  • the size of the display area can be calculated from the size or resolution of the display of the in-vehicle terminal.
  • the selected display area 21 needs to include the vehicle 10 .
  • the center of the vehicle 10 in the initial state (ie, the state shown in FIG. 4 ), the center of the vehicle 10 can be aligned with the two-dimensional scene image.
  • the origin of the XY rectangular coordinate system of 20 coincides, and the center of the display area 21 can also coincide with the origin, so that the vehicle terminal can display a display area 21 centered on the vehicle 10 in the initial state, so that the user can understand the parking start the surrounding environment of the preceding vehicle.
  • the center of the display area, the origin of the coordinate system, and the center of the vehicle may not overlap, but maintain a predetermined relative positional relationship, which is not limited in this embodiment of the present disclosure.
  • Step 103 identifying the parking space in the image.
  • the in-vehicle terminal can identify all parking spaces in the image based on the image feature recognition technology.
  • the in-vehicle terminal can match the image features of the standard parking space with the image features of each area in the image, and determine the area in the image that matches the image characteristics of the standard parking space as the area where the parking space is located.
  • Step 104 in the case where the target parking space in all the parking spaces and/or at least a partial area of the vehicle is outside the display area, adjust the center of the display area in the image and the preset The relative position of the origin of the coordinate system, so that the entire area of the vehicle and the target parking space is in the display area.
  • the target parking space may be a parking space to be parked in/out of all parking spaces.
  • the target parking space may be selected by the user, or the in-vehicle terminal may be based on actual strategies. Select, for example, determine the parking space that is closest to the vehicle and that the orientation of the vehicle and the parking space meets the parking/parking conditions as the target parking space. For example, in FIG. 4 , the in-vehicle terminal recognizes that there are two parking spaces in the image 20: the parking space 22 and the parking space 23, then the parking space 23 can be used as the target parking space according to the user's selection operation, or the parking space 22 closest to the vehicle 10 can be automatically selected. as the target parking space.
  • FIG. 5 a schematic diagram of another two-dimensional scene image according to the embodiment of the present disclosure is shown, assuming a parking space 22 is the target parking space, and the vehicle 10 moves along the Y-axis direction. If the center O of the display area 21 remains coincident with the center of the vehicle 10 during the movement of the vehicle 10, the target parking space 22 may all ( 5) or partially out of the range of the display area 21, resulting in the loss of the image of the target parking space 22.
  • the vehicle 10 may be completely or partially Moving out of the display area 21 results in the loss of the image of the vehicle 10 .
  • the embodiment of the present disclosure can adjust the relative position of the center of the display area in the image and the origin of the coordinate system according to the orientation of the target parking space and the vehicle in the image, so that during the parking process, the entire area of the vehicle and the target parking space is displayed. area to reduce the problem of decreased parking experience caused by the loss of images of vehicles and target parking spaces.
  • the vehicle 10 moves along the Y-axis direction, in order to prevent the target parking space 22 from being moved out of the display area 21, referring to FIG.
  • the schematic diagram of the dimensional scene image the center O of the display area 21 can be moved in the direction away from the Y-axis direction, and the positional relationship between the center O of the display area 21 and the origin O' of the coordinate system can be changed, so that the vehicle 10 and the target parking space 22 is also in the display area 21 to ensure the integrity of the parking image during the parking session.
  • a method for displaying a parking process includes: creating an image of a scene where the vehicle is located, and the image is created based on a preset coordinate system; determining a display area in the image, and displaying the display area , the display area includes the vehicle; identify the parking space in the image; if the target parking space and/or at least part of the vehicle in all the parking spaces are outside the display area, adjust the center of the display area in the image and the preset coordinate system The relative position of the origin of , so that the entire area of the vehicle and the target parking space is in the display area.
  • the embodiment of the present disclosure since the display range of the display of the vehicle-mounted terminal is limited, in order to ensure the integrity of the parking image displayed in the display area during the parking process, the embodiment of the present disclosure may In the case of incomplete image, adjust the relative position of the center of the display area and the origin of the coordinate system of the image, so as to change the position of the display area relative to the image, so that the entire area of the vehicle and the target parking space is in the display area, thereby reducing parking Occurrence of the problem of loss of integrity of the parking image during the process.
  • FIG. 7 a flowchart of steps of another parking process presentation method according to an embodiment of the present disclosure is shown.
  • the parking process display method provided by the embodiment of the present disclosure is applied to an on-board terminal in a vehicle.
  • the embodiment of the present disclosure takes a two-dimensional scene image as an example to explain another method for displaying a parking process.
  • the vehicle 10 is equipped with at least one wide-angle sensor 11 .
  • Step 201 Obtain environmental information collected by the wide-angle sensor.
  • a wide-angle sensor is a sensor that collects image data. It has a wide field of view and can collect environmental information about the environment around the vehicle.
  • the environmental information can include point cloud data.
  • Point cloud data is the point on the surface of the object in the environment obtained by measuring instruments.
  • the data collection is used to construct a three-dimensional scene image.
  • the multiple wide-angle sensors arranged can provide the vehicle terminal with a 360-degree real-time image around the vehicle, thereby providing the driver with a wider field of vision and eliminating blind spots as much as possible.
  • Step 202 constructing a three-dimensional scene image for reflecting the scene where the vehicle is located according to the environmental information.
  • the 3D scene module of the vehicle terminal can use the point cloud data in the environment information to construct a 3D scene image reflecting the scene where the vehicle is located.
  • the fitting operation of cloud data is realized, and a deep learning model can be used as an auxiliary.
  • Step 203 Map the three-dimensional scene image to a two-dimensional scene image of a preset size to obtain a two-dimensional scene image for reflecting the scene where the vehicle is located.
  • the 2D scene establishment module may map the 3D scene image to the 3D scene image based on the 3D scene image established by the 3D scene establishment module and according to the top view angle set in the parking scene A flat 2D scene image.
  • the parking scene can be displayed in the top view by default.
  • Step 204 Determine the size of the display area according to the size of the display screen of the vehicle-mounted terminal.
  • the size of the display area can be calculated from the size or resolution of the display of the vehicle-mounted terminal.
  • Step 205 Determine the display area in the two-dimensional scene image according to the size of the display area, and display the display area.
  • the viewing angle interception module determines the size of the display area
  • the specific position of the display area in the two-dimensional scene image can be selected.
  • the parking space and the vehicle are in the display area at the same time.
  • the display area can also be in a default fixed position in the two-dimensional scene image according to actual needs.
  • Step 206 in the two-dimensional scene image, set the center of the display area, the center of the vehicle, and the origin to coincide.
  • the center of the display area and the center of the vehicle are kept coincident, or the center of the display area is kept coincident with the origin.
  • the center of the vehicle 10 in the initial state (ie, the state shown in FIG. 4 ), can be set to coincide with the origin O′ of the XY rectangular coordinate system of the two-dimensional scene image 20 , and the center of the display area 21 can be set O coincides with the origin O', so that the in-vehicle terminal can display a display area 21 centered on the vehicle 10 in an initial state, so that the user can understand the surrounding environment of the vehicle before parking starts.
  • the center of the display area and the center of the vehicle can be kept coincident during the movement of the vehicle, so as to keep the vehicle
  • the effect of being in the center of the display area is convenient to obtain the widest possible range of perception of the surrounding environment of the vehicle. For example, during the movement of the vehicle, keeping the center of the display area coincident with the center of the vehicle can facilitate the surrounding of the vehicle. Find a suitable parking space in the environment.
  • the center of the display area can be kept coincident with the origin during the movement of the vehicle, so that the display area can be located in the center area of the 2D scene image, so that the movement trajectory of the vehicle during the movement can be It is clearly displayed in the display area, which is convenient for intuitive display of the vehicle's running, reversing and other operations.
  • Step 207 identifying a parking space in the two-dimensional scene image.
  • Step 208 In the case where the target parking space in all the parking spaces and/or at least a part of the vehicle is outside the display area, adjust the center of the display area in the two-dimensional scene image and the display area. The relative position of the origin of the preset coordinate system, so that the entire area of the vehicle and the target parking space is in the display area.
  • step 208 may include:
  • Sub-step 2081 when at least part of the target parking space is outside the display area, identify the moving direction of the vehicle in the two-dimensional scene image
  • Sub-step S1 Adjust the relative position of the center of the display area and the origin according to the moving direction of the vehicle.
  • the vehicle-mounted terminal can identify all the parking spaces in the two-dimensional scene image based on the image feature recognition technology, and the target parking space can be the parking space to be parked in/out of all the parking spaces.
  • the target parking space can be selected by the user, or the vehicle terminal can select it according to the actual strategy. Determined as the target parking space.
  • the motion relationship controller module of the vehicle terminal can collect the movement parameters of the vehicle, such as information such as speed, direction, trajectory, etc., and use the movement parameters to identify two when at least part of the target parking space is outside the display area.
  • the moving direction of the vehicle in the 3D scene image includes sub-step 2082 and/or sub-step 2083:
  • Sub-step 2082 If the target parking space is on the side pointed by the moving direction of the vehicle, move the center of the display area along the moving direction to change the center of the display area and the origin relative position.
  • FIG. 8 a schematic diagram of another two-dimensional scene image according to an embodiment of the present disclosure is shown.
  • the parking space 24 is the target parking space
  • the vehicle 10 moves in the positive direction of the Y axis
  • the target parking space 24 is on the side pointed by the moving direction of the vehicle 10
  • the target parking space 24 is all moved out of the range of the display area 21, resulting in the target parking space 24 image is lost.
  • the embodiment of the present disclosure can adjust the relative position of the center of the display area and the origin of the coordinate system in the two-dimensional scene image according to the target parking space, the orientation of the vehicle, and the moving direction of the vehicle in the two-dimensional scene image.
  • the center O of the area 21 moves along the moving direction, and the relative position of the center O of the display area 21 and the origin O' is changed to obtain a new relative position of the center O of the display area 21 and the origin O' in FIG.
  • the entire area of the vehicle 10 and the target parking space 24 is placed in the display area (as shown in FIG. 9 ) to reduce the problem of reduced parking experience caused by the loss of images of the vehicle and the target parking space.
  • Sub-step 2083 In the case that the target parking space is on the side pointed away from the moving direction of the vehicle, move the center of the display area in a direction away from the moving direction, so as to change the direction of the display area. The relative position of the center to the origin.
  • the parking space 22 is the target parking space
  • the vehicle 10 moves along the Y-axis direction
  • the target parking space 22 is on the side away from the moving direction of the vehicle 10 , and all the target parking spaces 22 are moved out of the display area 21 range, resulting in the loss of the image of the target parking space 22.
  • the embodiment of the present disclosure can adjust the relative position of the center of the display area and the origin of the coordinate system in the two-dimensional scene image according to the target parking space, the orientation of the vehicle, and the moving direction of the vehicle in the two-dimensional scene image.
  • the center O of the area 21 moves in the direction away from the moving direction, and the relative position of the center O of the display area 21 and the origin O' is changed to obtain a new relationship between the center O of the display area 21 and the origin O' in FIG. 6 .
  • the relative position so that during the parking process, the entire area of the vehicle 10 and the target parking space 22 is in the display area (as shown in FIG. 6 ), so as to reduce the problem of decreased parking experience caused by the loss of images of the vehicle and the target parking space .
  • the operation of adjusting the relative position between the center of the display area and the origin of the coordinate system in the two-dimensional scene image can be specifically implemented by the viewing angle interception module of the vehicle-mounted terminal in FIG. 2 .
  • step 208 may include:
  • Sub-step 2084 Determine an adjustment speed for moving the center of the display area according to the moving speed of the vehicle.
  • Sub-step 2085 Move the center of the display area according to the adjustment speed, so as to adjust the relative position of the center of the display area and the origin.
  • the motion relationship controller module of the vehicle-mounted terminal may also collect the moving speed of the vehicle, and in the process of adjusting the relative position between the center of the display area and the origin of the coordinate system in the two-dimensional scene image , the adjustment speed of the center of the mobile display area can be calculated according to the moving speed of the vehicle, so that the dynamic effect of the picture in the display area is more in line with the actual operation of the vehicle, and the display effect of the parking image is improved.
  • the method may further include:
  • Step 209 In the display area, under the condition that the center of the display area and the origin are kept coincident, and the distance between the vehicle and the edge of the display area is within a preset distance The center of the display area is kept coincident with the origin, and the current relative position of the center of the display area and the center of the vehicle is kept fixed.
  • the display area under the condition that the center of the display area is set to be coincident with the origin, the display area can be located in the center area of the two-dimensional scene image, so that the movement trajectory of the vehicle during the movement process can be clearly seen
  • the display is displayed in the display area, which is convenient for intuitive display of the vehicle's running, reversing and other operations.
  • the center of the display area remains coincident with the origin, if the movement trajectory of the vehicle is recognized so that the distance between the vehicle and the edge of the display area is within a preset distance range (such as 1m to 1.5m), Then it can be considered that the current vehicle is about to move out of the range of the display area.
  • a preset distance range such as 1m to 1.5m
  • the relative position between the center of the current display area and the vehicle may be fixed, and the mode in which the center of the display area and the origin are kept coincident is adjusted to the current display area.
  • the relative position of the center of the display area and the center of the vehicle is kept in a fixed mode.
  • the driving action of the vehicle in the display area is stopped, and the vehicle is in a fixed position in the display area.
  • This design is because the vehicle is moved forward.
  • the surround view function may be affected, and the user cannot confirm whether there are obstacles in the moving direction of the vehicle in the image.
  • the relative position of the center of the vehicle is kept in a fixed mode.
  • the relative position between the center of the current display area and the center of the vehicle is that the center of the display area is behind the center of the vehicle and is separated from the center of the vehicle by 10 meters.
  • the relative position between the center of the display area and the center of the vehicle is maintained, so that at least part of the environmental information around the vehicle is not lost, so as to achieve the purpose of identifying obstacles in the moving direction of the vehicle.
  • a method for displaying a parking process includes: creating an image of a scene where the vehicle is located, and the image is created based on a preset coordinate system; determining a display area in the image, and displaying the display area , the display area includes the vehicle; identify the parking space in the image; if the target parking space and/or at least part of the vehicle in all the parking spaces are outside the display area, adjust the center of the display area in the image and the preset coordinate system The relative position of the origin of , so that the entire area of the vehicle and the target parking space is within the display area.
  • the embodiment of the present disclosure since the display range of the display of the vehicle-mounted terminal is limited, in order to ensure the integrity of the parking image displayed in the display area during the parking process, the embodiment of the present disclosure may In the case of incomplete images, adjust the relative position of the center of the display area and the origin of the coordinate system of the two-dimensional scene image, thereby changing the position of the display area relative to the two-dimensional scene image, so that the entire area of the vehicle and the target parking space is displayed. area, thereby reducing the probability of the problem of missing the integrity of the parking image during the parking process.
  • the embodiments of the present disclosure further provide a parking process display device.
  • FIG. 10 shows a structural block diagram of a parking process display device applied to a mobile terminal according to an embodiment of the present disclosure, which may specifically include the following modules:
  • the establishment module 301 is configured to establish an image of the scene where the vehicle is located, and the image is established based on a preset coordinate system;
  • the vehicle is installed with at least one wide-angle sensor, and the establishment module 301 may include:
  • an acquisition submodule for acquiring the environmental information collected by the wide-angle sensor
  • a construction submodule for constructing, according to the environmental information, a three-dimensional scene image for reflecting the scene where the vehicle is located;
  • the mapping sub-module is configured to map the three-dimensional scene image to a two-dimensional scene image of a preset size to obtain a two-dimensional scene image that reflects the scene where the vehicle is located.
  • a determining module 302 configured to determine a display area in the image, and display the display area, where the display area includes the vehicle;
  • the determining module 302 includes:
  • a size determination submodule for determining the size of the display area according to the size of the display screen of the vehicle terminal
  • an area determination submodule configured to determine the display area in the image according to the size of the display area.
  • an identification module 303 configured to identify the parking space in the image
  • the adjustment module 304 is configured to adjust the center of the display area in the image and all the target parking spaces and/or at least a partial area of the vehicle in all the parking spaces outside the display area. The relative position of the origin of the preset coordinate system, so that the entire area of the vehicle and the target parking space is in the display area.
  • the adjustment module 304 includes:
  • an identification submodule configured to identify the moving direction of the vehicle in the image when at least part of the target parking space is outside the display area
  • the moving sub-module is configured to move the center of the display area according to the moving direction of the vehicle, so as to adjust the relative position of the center of the display area and the origin.
  • the adjustment module 304 includes:
  • a speed identification sub-module for determining an adjustment speed for moving the center of the display area according to the moving speed of the vehicle
  • An adjustment sub-module configured to move the center of the display area according to the adjustment speed, so as to adjust the relative position of the center of the display area and the origin.
  • the device further includes:
  • a fixing module for keeping the center of the display area coincident with the origin in the display area, and recognizing that the distance between the vehicle and the edge of the display area is within a preset distance range Next, keep the center of the display area coincident with the origin, and adjust to keep the current relative position of the center of the display area and the center of the vehicle fixed.
  • the device further includes:
  • a default setting module configured to set the center of the display area, the center of the vehicle, and the origin to coincide in the two-dimensional scene image
  • the center of the display area and the center of the vehicle are kept coincident, or the center of the display area is kept coincident with the origin.
  • a parking process display device includes: creating an image for reflecting the scene where the vehicle is located, and the image is created based on a preset coordinate system; determining a display area in the image, and performing Display, the display area includes the vehicle; identify the parking space in the image; if the target parking space and/or at least part of the vehicle in all parking spaces are outside the display area, adjust the center and preset coordinates of the display area in the image The relative position of the origin of the system, so that the entire area of the vehicle and the target parking space is in the display area.
  • the embodiment of the present disclosure since the display range of the display of the vehicle-mounted terminal is limited, in order to ensure the integrity of the parking image displayed in the display area during the parking process, the embodiment of the present disclosure may In the case of incomplete image, adjust the relative position of the center of the display area and the origin of the coordinate system of the image, so as to change the position of the display area relative to the image, so that the entire area of the vehicle and the target parking space is in the display area, thereby reducing parking Occurrence of the problem of loss of integrity of the parking image during the process.
  • an embodiment of the present disclosure further provides a vehicle 10 .
  • the vehicle 10 includes a vehicle-mounted terminal 12 , and the vehicle further includes a parking process display device.
  • Embodiments of the present disclosure also provide a computing processing device, comprising a memory in which computer-readable codes are stored; and one or more processors, when the computer-readable codes are executed by the one or more processors,
  • the computing processing device executes the above-mentioned parking process presentation method.
  • the computing processing device may be a vehicle terminal device.
  • Embodiments of the present disclosure further provide a computer-readable storage medium, in which a computer program is stored, and when the instructions in the storage medium are executed by a processor of a computing and processing device, the computing and processing device can perform the above-mentioned parking Process presentation method.
  • the device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.
  • Various component embodiments of the present disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in a computing processing device according to embodiments of the present disclosure.
  • DSP digital signal processor
  • the present disclosure can also be implemented as apparatus or apparatus programs (eg, computer programs and computer program products) for performing some or all of the methods described herein.
  • Such a program implementing the present disclosure may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.
  • Figure 11 illustrates a computing processing device that can implement methods in accordance with the present disclosure.
  • the computing processing device traditionally includes a processor 1010 and a computer program product or computer readable medium in the form of a memory 1020 .
  • the memory 1020 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • the memory 1020 has storage space 1030 for program code 1031 for performing any of the method steps in the above-described methods.
  • the storage space 1030 for program codes may include various program codes 1031 for implementing various steps in the above methods, respectively. These program codes can be read from or written to one or more computer program products.
  • Computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such a computer program product is generally as described with reference to FIG. 12 .
  • program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks.
  • Such a computer program product is generally as described with reference to FIG. 12 .
  • the above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

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Abstract

本公开提供了一种泊车过程展示方法、装置及车辆，包括：建立用于反映车辆所处场景的影像；确定影像中的展示区域，并对展示区域进行展示；识别处于影像中的车位；在所有车位中的目标车位和/或车辆的至少部分区域，处于展示区域之外的情况下，调整影像中展示区域的中心与预设坐标系的原点的相对位置，使得车辆和目标车位的全部区域处于展示区域。

Description

泊车过程展示方法、装置及车辆
相关申请的交叉引用
本公开要求在2020年10月09日提交中国专利局、申请号为202011075349.3、名称为“一种泊车过程展示方法、装置及车辆”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及汽车技术领域，特别涉及一种泊车过程展示方法、装置及车辆。
背景技术
随着私有汽车的大力普及，自动泊车技术的发展为用户停车难的问题提供了解决之道。
现有的自动泊车技术，是利用车辆的自动泊车功能，通过泊入/泊出指令，将车辆泊入/泊出至车位中，泊车过程中，车辆的车载终端会的显示屏以固定视野范围的展示窗口展示车载摄像头拍摄的泊车画面。
概述
有鉴于此，本公开旨在提出一种泊车过程展示方法、装置及车辆。
本公开的技术方案是这样实现的：
一种泊车过程展示方法，应用于车辆中的车载终端，所述方法包括：
建立所述车辆所处场景的影像，所述影像基于预设坐标系建立；
确定所述影像中的展示区域，并对所述展示区域进行展示，所述展示区域包括所述车辆；
识别处于所述影像中的车位；
在所有所述车位中的目标车位和/或所述车辆的至少部分区域，处于所述展示区域之外的情况下，调整所述影像中所述展示区域的中心与所述预设坐标系的原点的相对位置，使得所述车辆和所述车位的全部区域处于所述展示区域内。
一种泊车过程展示装置，应用于车辆中的车载终端，所述装置包括：
建立模块，用于建立所述车辆所处场景的影像，所述影像基于预设坐标系建立；
确定模块，用于确定所述影像中的展示区域，并对所述展示区域进行展示，所述展示区域包括所述车辆；
识别模块，用于识别处于所述影像中的车位；
调整模块，用于在所有所述车位中的目标车位和/或所述车辆的至少部分区域，处于所述展示区域之外的情况下，调整所述影像中所述展示区域的中心与所述预设坐标系的原点的相对位置，使得所述车辆和所述车位的全部区域处于所述展示区域。
一种车辆，所述车辆包括车载终端，所述车辆还包括所述的泊车过程展示装置。
上述说明仅是本公开技术方案的概述，为了能够更清楚了解本公开的技术手段，而可依照说明书的内容予以实施，并且为了让本公开的上述和其它目的、特征和优点能够更明显易懂，以下特举本公开的具体实施方式。
附图简述
构成本公开的一部分的附图用来提供对本公开的进一步理解，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开实施例所述的一种泊车过程展示方法的步骤流程图；
图2为本公开实施例所述的一种车辆的结构图；
图3为本公开实施例所述的一种车载终端的结构框图；
图4为本公开实施例所述的一种二维场景影像的示意图；
图5为本公开实施例所述的另一种二维场景影像的示意图；
图6为本公开实施例所述的另一种二维场景影像的示意图；
图7为本公开实施例所述的另一种泊车过程展示方法的步骤流程图；
图8为本公开实施例所述的另一种二维场景影像的示意图；
图9为本公开实施例所述的另一种二维场景影像的示意图；
图10为本公开实施例所述的一种泊车过程展示装置的结构框图；
图11示意性地示出了用于执行根据本公开的方法的计算处理设备的框图；并且
图12示意性地示出了用于保持或者携带实现根据本公开的方法的程序代码的存储单元。
详细描述
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
需要说明的是，在不冲突的情况下，本公开中的实施例及实施例中的特征可以相互组合。
下面将参考附图并结合实施例来详细说明本公开。
参照图1，示出了本公开实施例所述的一种泊车过程展示方法的步骤流程图。
本公开实施例提供的一种泊车过程展示方法，应用于车辆中的车载终端。
步骤101，建立所述车辆所处场景的影像，所述影像基于预设坐标系建立。
在本公开实施例中，参照图2，示出了本公开实施例所述的一种车辆的结构图，包括：车辆10、广角传感器11和车载终端12，广角传感器11的数量可以为多个，多个广角传感器11设置在车辆10的外表面，广角传感器11采集的数据可以发送至车载终端12。可选地，可以设置四个广角传感器11，四个广角传感器11分别设置在车辆10的四个边角位置处。
广角传感器11是一种采集影像数据的传感器，其拍摄视野较广，可以采集车辆10周围环境的影像，布置的多个广角传感器11可以给车载终端12提供车辆周围360度的实时影像，从而为驾驶员提供更广的视野范围，尽可能的消除视野盲区。
可选地，参照图3，示出了本公开实施例所述的一种车载终端的架构框图，车载终端包括：三维场景建立模块、二维场景转换模块、视角截取模块、运动关系控制器模块、影像显示模块。
其中，三维场景建立模块可以基于广角传感器采集的环境信息，建立车辆所处场景的三维场景影像，三维场景影像可以被影像显示模块进行显示，以提供给用户三维场景的感知。
二维场景建立模块可以基于三维场景建立模块建立的三维场景影像，并根据泊车场景下设定的俯视视角，将三维场景影像映射至俯视视角下的平面的二维场景影像。
运动关系控制器模块则可以对车辆的移动参数，如速度、方向、轨迹等信息进行采集。
由于车载终端的显示器的视野范围有限，一次可能仅能展示二维场景影像中的部分区域，则视角截取模块则可以基于运动关系控制器模块采集的车辆的移动参数，以控制该部分区域的选取，并尽可能使得待泊入的车位和车辆同时处于该部分区域中。
影像显示模块则可以对视角截取模块选取的二维场景影像中的部分区域进行展示，以提供给用户对泊车过程的感知。
在该步骤中，车载终端的二维场景建立模块可以根据泊车场景下设定的俯视视角，将三维场景影像映射至俯视视角下的平面的二维场景影像，且二维场景影像可以基于预设坐标系建立，如直角坐标系，参照图4，示出了本公开实施例所述的一种二维场景影像的示意图，在三维场景影像的基础上，构建得到了俯视视角下的包括车辆10的二维场景影像20，基于XY直角坐标系，可以为二维场景影像20中各个物体的位置赋予参照。
步骤102，确定所述影像中的展示区域，并对所述展示区域进行展示，所述展示区域包括所述车辆。
在本公开实施例中，影像可以为二维场景影像或三维场景影像，本公开实施例对此不做限定。以二维场景影像为例，由于车载终端的显示器的视野范围有限，一次可能仅能展示二维场景影像中的部分区域，则可以通过车载终端的视角截取模块选取二维场景影像中预定尺寸的展示区域，并由车载终端的影像显示模块对展示区域进行展示。展示区域的尺寸可以由车载终端的显示器的尺寸或分辨率计算得到。
具体地，参照图4，由于是泊车场景，则选取的展示区域21中需包括车辆10，另外，在初始状态下(即图4所示状态)，车辆10的中心可以与二维 场景影像20的XY直角坐标系的原点重合，且展示区域21的中心也可以与该原点重合，这样车载终端可以在初始状态下，展示一个以车辆10为中心的展示区域21，以便用户了解泊车开始前车辆周边的环境情况。当然，根据实际需求，初始状态下，展示区域的中心、坐标系的原点、车辆的中心也可以不重合，而保持预定的相对位置关系，本公开实施例对此不作限定。
步骤103，识别处于所述影像中的车位。
在该步骤中，车载终端可以基于图像特征识别技术，识别出处于影像中的所有车位。
具体地，车载终端可以将标准车位的图像特征，与影像中各个区域的图像特征进行匹配，将影像中与标准车位的图像特征匹配的区域，确定为车位所处区域。
步骤104，在所有所述车位中的目标车位和/或所述车辆的至少部分区域，处于所述展示区域之外的情况下，调整所述影像中所述展示区域的中心与所述预设坐标系的原点的相对位置，使得所述车辆和所述目标车位的全部区域处于所述展示区域。
在本公开实施例中，目标车位可以为所有车位中待泊入/泊出的车位，当影像中存在多个车位的情况下，目标车位可以由用户自行选取，也可以由车载终端根据实际策略进行选取，如将与车辆距离最近，且车辆和车位的方位符合泊入/泊出条件的车位，确定为目标车位。例如，图4中，车载终端识别到影像20中有两个车位：车位22和车位23，则可以根据用户的选取操作，将车位23作为目标车位，也可以自动将与车辆10最近的车位22作为目标车位。
由于车载终端的显示器的显示视野范围固定，且泊车过程中车辆是处于移动状态的，则参照图5，示出了本公开实施例所述的另一种二维场景影像的示意图，假设车位22为目标车位，车辆10沿Y轴方向移动，若车辆10移动过程中，展示区域21的中心O保持与车辆10的中心重合，则在车辆10移动的过程中，目标车位22可能会全部(图5所示)或部分移出展示区域21的范围，导致目标车位22的影像丢失。同理，若车辆10移动过程中，展示区域的中心O不与车辆10的中心重合，而保持与坐标系的原点O’重合，则在车辆10移动的过程中，车辆10可能会全部或部分移出展示区域21的范围， 导致车辆10的影像丢失。
因此，本公开实施例可以根据影像中目标车位和车辆的方位，调整影像中展示区域的中心与坐标系的原点的相对位置，从而在泊车过程中，使得车辆和目标车位的全部区域处于展示区域，以降低车辆、目标车位的影像丢失带来的泊车体验度下降的问题。
例如，在图5所示情况的基础上，车辆10沿Y轴方向移动，则为了防止目标车位22被移出展示区域21，参照图6，示出了本公开实施例所述的另一种二维场景影像的示意图，可以将展示区域21的中心O沿背离于Y轴方向的方向移动，改变展示区域21的中心O与坐标系原点O’之间的位置关系，从而使得车辆10和目标车位22同时处于展示区域21中，以保证泊车环节中，泊车影像的完整性。
综上所述，本公开实施例提供的一种泊车过程展示方法，包括：建立车辆所处场景的影像，影像基于预设坐标系建立；确定影像中的展示区域，并对展示区域进行展示，展示区域包括车辆；识别处于影像中的车位；在所有车位中的目标车位和/或车辆的至少部分区域，处于展示区域之外的情况下，调整影像中展示区域的中心与预设坐标系的原点的相对位置，使得车辆和目标车位的全部区域处于展示区域。本公开实施例中，由于车载终端的显示器的显示范围有限，为了保证泊车过程中展示区域展示的泊车影像的完整性，本公开实施例可以通过在展示区域中的目标车位和/或车辆的影像不完整的情况下，调整展示区域的中心与影像的坐标系原点的相对位置，从而改变展示区域相对于影像的位置，以使得车辆和目标车位的全部区域处于展示区域，从而降低泊车过程中泊车影像的完整性缺失的问题所发生的几率。
参照图7，示出了本公开实施例所述的另一种泊车过程展示方法的步骤流程图。本公开实施例提供的泊车过程展示方法，应用于车辆中的车载终端。示例地，本公开实施例以二维场景影像为例，对另一种泊车过程展示方法进行解释说明。其中，参照图2，车辆10安装有至少一个广角传感器11。
步骤201，获取所述广角传感器采集的环境信息。
广角传感器是一种采集影像数据的传感器，其拍摄视野较广，可以采集车辆周围环境的环境信息，环境信息可以包括点云数据，点云数据是通过测量仪器得到的环境中物体外观表面的点数据集合，用于构建三维场景影像， 布置的多个广角传感器可以给车载终端提供车辆周围360度的实时影像，从而为驾驶员提供更广的视野范围，尽可能的消除视野盲区。
步骤202，根据所述环境信息，构建用于反映所述车辆所处场景的三维场景影像。
在本公开实施例中，参照图2，车载终端的三维场景模块可以利用环境信息中的点云数据，构建反映车辆所处场景的三维场景影像，具体地，三维场景影像的构建过程可以利用点云数据的拟合操作实现，并可以采用深度学习模型作为辅助。
步骤203，将所述三维场景影像映射至预设尺寸的二维场景影像中，得到用于反映所述车辆所处场景的二维场景影像。
在本公开实施例中，参照图2，二维场景建立模块可以基于三维场景建立模块建立的三维场景影像，并根据泊车场景下设定的俯视视角，将三维场景影像映射至俯视视角下的平面的二维场景影像。
具体地，由于在俯视视角下，对于车辆的移动轨迹和车辆、车位的轮廓具有较清楚的展示效果，则泊车场景可以默认以俯视视角作为展示视角。
步骤204，根据所述车载终端的显示屏的尺寸，确定所述展示区域的尺寸。
在本公开实施例中，参照图2，由于车载终端的显示器的视野范围有限，一次可能仅能将二维场景影像中的部分区域作为展示区域进行展示，则视角截取模块则可以首先根据车载终端的显示屏的尺寸，确定展示区域的尺寸，使得展示区域的尺寸至少不超出车载终端的显示器的视野范围的限制，如，展示区域的尺寸可以由车载终端的显示器的尺寸或分辨率计算得到。
步骤205，根据所述展示区域的尺寸，在所述二维场景影像中确定所述展示区域，并对所述展示区域进行展示。
在本公开实施例中，参照图2，在视角截取模块确定了展示区域的尺寸之后，可以对展示区域在二维场景影像中的具体位置进行选取，一般情况下，尽可能使得待泊入的车位和车辆同时处于该展示区域中，在其他情况下，根据实际需求，展示区域也可以处于二维场景影像中的默认固定位置。
步骤206，在所述二维场景影像中，设置所述展示区域的中心、所述车辆的中心、所述原点重合。
其中，在所述车辆移动的过程中，所述展示区域的中心与所述车辆的中 心保持重合，或所述展示区域的中心与所述原点保持重合。
在本公开实施例中，在初始状态下(即图4所示状态)，可以设置车辆10的中心与二维场景影像20的XY直角坐标系的原点O’重合，且设置展示区域21的中心O与该原点O’重合，这样车载终端可以在初始状态下，展示一个以车辆10为中心的展示区域21，以便用户了解泊车开始前车辆周边的环境情况。
可选地，由于二维场景影像可以根据实时的环境信息进行更新，则在一种实现情况下，可以在车辆移动的过程中，将展示区域的中心与车辆的中心保持重合，以达到保持车辆处于展示区域的中心的效果，方便于对车辆周边的环境情况得到尽可能广的范围的感知，例如，车辆移动的过程中，将展示区域的中心与车辆的中心保持重合，可以便于在车辆周围的环境中寻找合适的车位。在另一种实现情况下，可以在车辆移动的过程中，将展示区域的中心与原点保持重合，这样展示区域可以处于二维场景影像的中心区域，使得车辆在移动的过程中的移动轨迹可以清楚的展现在展示区域中，便于对车辆的行进、倒车等操作进行直观的展现。
步骤207，识别处于所述二维场景影像中的车位。
该步骤具体可以参照上述步骤103，此处不再赘述。
步骤208，在所有所述车位中的目标车位和/或所述车辆的至少部分区域，处于所述展示区域之外的情况下，调整所述二维场景影像中所述展示区域的中心与所述预设坐标系的原点的相对位置，使得所述车辆和所述目标车位的全部区域处于所述展示区域。
该步骤具体可以参照上述步骤104，此处不再赘述。
可选地，步骤208可以包括：
子步骤2081、在所述目标车位的至少部分区域处于所述展示区域之外的情况下，识别所述二维场景影像中所述车辆的移动方向；以及
子步骤S1：根据所述车辆的移动方向，调整所述展示区域的中心与所述原点的相对位置。
在本公开实施例中，车载终端可以基于图像特征识别技术，识别出处于二维场景影像中的所有车位，目标车位可以为所有车位中待泊入/泊出的车位，当二维场景影像中存在多个车位的情况下，目标车位可以由用户自行选取， 也可以由车载终端根据实际策略进行选取，如将与车辆距离最近，且车辆和车位的方位符合泊入/泊出条件的车位，确定为目标车位。
参照图2，车载终端的运动关系控制器模块可以采集车辆的移动参数，如速度、方向、轨迹等信息，并在目标车位的至少部分区域处于展示区域之外的情况下，利用移动参数识别二维场景影像中车辆的移动方向。其中，上述子步骤S1包括子步骤2082和/或子步骤2083：
子步骤2082、在所述目标车位处于所述车辆移动方向所指向的一侧的情况下，将所述展示区域的中心沿所述移动方向移动，以改变所述展示区域的中心与所述原点的相对位置。
在该步骤中，参照图8，示出了本公开实施例所述的另一种二维场景影像的示意图。例如，假设车位24为目标车位，车辆10沿Y轴的正方向移动，且目标车位24处于车辆10移动方向所指向的一侧，且目标车位24全部移出展示区域21的范围，导致目标车位24的影像丢失。
因此，本公开实施例可以根据二维场景影像中目标车位、车辆的方位和车辆的移动方向，调整二维场景影像中展示区域的中心与坐标系的原点的相对位置，具体将图8中展示区域21的中心O沿移动方向移动，改变展示区域21的中心O与所述原点O’的相对位置，得到图9中展示区域21的中心O与所述原点O’的新的相对位置，从而在泊车过程中，使得车辆10和目标车位24的全部区域处于展示区域(如图9所示)，以降低车辆、目标车位的影像丢失带来的泊车体验度下降的问题。
子步骤2083、在所述目标车位处于背离所述车辆移动方向所指向的一侧的情况下，将所述展示区域的中心沿背离于所述移动方向的方向移动，以改变所述展示区域的中心与所述原点的相对位置。
在该步骤中，参照图5，假设车位22为目标车位，车辆10沿Y轴方向移动，且目标车位22处于背离于车辆10移动方向所指向的一侧，且目标车位22全部移出展示区域21的范围，导致目标车位22的影像丢失。
因此，本公开实施例可以根据二维场景影像中目标车位、车辆的方位和车辆的移动方向，调整二维场景影像中展示区域的中心与坐标系的原点的相对位置，具体将图5中展示区域21的中心O沿背离于移动方向的方向移动，改变展示区域21的中心O与所述原点O’的相对位置，得到图6中展示区域 21的中心O与所述原点O’的新的相对位置，从而在泊车过程中，使得车辆10和目标车位22的全部区域处于展示区域(如图6所示)，以降低车辆、目标车位的影像丢失带来的泊车体验度下降的问题。
需要说明的是，调整二维场景影像中展示区域的中心与坐标系的原点的相对位置的操作可以具体由图2中车载终端的视角截取模块实现。
可选地，步骤208可以包括：
子步骤2084、根据所述车辆的移动速度，确定用于移动所述展示区域的中心的调整速度。
子步骤2085、根据所述调整速度移动所述展示区域的中心，从而调整所述展示区域的中心与所述原点的相对位置。
在本公开实施例中，参照图2，车载终端的运动关系控制器模块还可以采集车辆的移动速度，且在调整二维场景影像中展示区域的中心与坐标系的原点的相对位置的过程中，移动展示区域的中心的调整速度可以根据车辆的移动速度计算得出，从而使得展示区域的画面动态效果更符合车辆实际运行情况，提高了泊车影像的展示效果。
可选地，在步骤205之后，所述方法还可以包括：
步骤209、在所述展示区域中，在所述展示区域的中心与所述原点保持重合，且所述车辆与所述展示区域的边缘之间的距离处于预设距离范围的情况下，将所述展示区域的中心与所述原点保持重合，调整为将当前的所述展示区域的中心与所述车辆的中心的相对位置保持固定。
在本公开实施例中，在设定了展示区域的中心与所述原点保持重合的情况下，这样展示区域可以处于二维场景影像的中心区域，使得车辆在移动的过程中的移动轨迹可以清楚的展现在展示区域中，便于对车辆的行进、倒车等操作进行直观的展现。
则在展示区域的中心与所述原点保持重合的情况下，若识别到车辆的移动轨迹以使得车辆与展示区域的边缘之间的距离处于预设距离范围(如1m至1.5m)之间，则可以认为当前车辆即将移出展示区域的范围。
为了保证展示区域中车辆的影像不丢失，本公开实施例可以将当前展示区域的中心与车辆之间的相对位置进行固定，并将展示区域的中心与所述原点保持重合的模式调整为将当前的所述展示区域的中心与所述车辆的中心的 相对位置保持固定的模式，此时展示区域中车辆行驶动作停止，车辆处于展示区域中的固定位置，这样设计是因为再向前移动车辆的环视功能可能会受到影响，用户无法再影像中确认到车辆移动方向是否有障碍物，将展示区域的中心与所述原点保持重合的模式调整为将当前的所述展示区域的中心与所述车辆的中心的相对位置保持固定的模式，如当前的展示区域的中心与车辆的中心的相对位置为展示区域的中心处于车辆的中心的后方，且与车辆的中心间隔10米，则可以在后续车辆移动的过程中，保持展示区域的中心与车辆的中心的这种相对位置，这样可以使得车辆周围的至少部分环境信息不丢失，从而达到识别车辆移动方向上的障碍物的目的。
综上所述，本公开实施例提供的一种泊车过程展示方法，包括：建立车辆所处场景的影像，影像基于预设坐标系建立；确定影像中的展示区域，并对展示区域进行展示，展示区域包括车辆；识别处于影像中的车位；在所有车位中的目标车位和/或车辆的至少部分区域，处于展示区域之外的情况下，调整影像中展示区域的中心与预设坐标系的原点的相对位置，使得车辆和目标车位的全部区域处于展示区域内。本公开实施例中，由于车载终端的显示器的显示范围有限，为了保证泊车过程中展示区域展示的泊车影像的完整性，本公开实施例可以通过在展示区域中的目标车位和/或车辆的影像不完整的情况下，调整展示区域的中心与二维场景影像的坐标系原点的相对位置，从而改变展示区域相对于二维场景影像的位置，以使得车辆和目标车位的全部区域处于展示区域，从而降低泊车过程中泊车影像的完整性缺失的问题所发生的几率。
在上述实施例的基础上，本公开实施例还提供了一种泊车过程展示装置。
参照图10，示出了本公开实施例所述的应用于移动终端的一种泊车过程展示装置的结构框图，具体可以包括如下模块：
建立模块301，用于建立所述车辆所处场景的影像，所述影像基于预设坐标系建立；
可选地，所述车辆安装有至少一个广角传感器，所述建立模块301，可以包括：
获取子模块，用于获取所述广角传感器采集的环境信息；
构建子模块，用于根据所述环境信息，构建用于反映所述车辆所处场景 的三维场景影像；
映射子模块，用于将所述三维场景影像映射至预设尺寸的二维场景影像中，得到用于反映所述车辆所处场景的二维场景影像。
确定模块302，用于确定所述影像中的展示区域，并对所述展示区域进行展示，所述展示区域包括所述车辆；
可选地，所述确定模块302包括：
尺寸确定子模块，用于根据所述车载终端的显示屏的尺寸，确定所述展示区域的尺寸；
区域确定子模块，用于根据所述展示区域的尺寸，在所述影像中确定所述展示区域。
识别模块303，用于识别处于所述影像中的车位；
调整模块304，用于在所有所述车位中的目标车位和/或所述车辆的至少部分区域，处于所述展示区域之外的情况下，调整所述影像中所述展示区域的中心与所述预设坐标系的原点的相对位置，使得所述车辆和所述目标车位的全部区域处于所述展示区域。
可选地，所述调整模块304包括：
识别子模块，用于在所述目标车位的至少部分区域处于所述展示区域之外的情况下，识别所述影像中所述车辆的移动方向；
移动子模块，用于根据所述车辆的移动方向，移动所述展示区域的中心，以调整所述展示区域的中心与所述原点的相对位置。
可选地，所述调整模块304包括：
速度识别子模块，用于根据所述车辆的移动速度，确定用于移动所述展示区域的中心的调整速度；
调整子模块，用于根据所述调整速度移动所述展示区域的中心，从而调整所述展示区域的中心与所述原点的相对位置。
可选地，所述装置还包括：
固定模块，用于在所述展示区域中，在所述展示区域的中心与所述原点保持重合，且识别到所述车辆与所述展示区域的边缘之间的距离处于预设距离范围的情况下，将所述展示区域的中心与所述原点保持重合，调整为将当前的所述展示区域的中心与所述车辆的中心的相对位置保持固定。
可选地，所述装置还包括：
默认设定模块，用于在所述二维场景影像中，设置所述展示区域的中心、所述车辆的中心、所述原点重合；
其中，在所述车辆移动的过程中，所述展示区域的中心与所述车辆的中心保持重合，或所述展示区域的中心与所述原点保持重合。
综上所述，本申请提供的一种泊车过程展示装置，包括：建立用于反映车辆所处场景的影像，影像基于预设坐标系建立；确定影像中的展示区域，并对展示区域进行展示，展示区域包括车辆；识别处于影像中的车位；在所有车位中的目标车位和/或车辆的至少部分区域，处于展示区域之外的情况下，调整影像中展示区域的中心与预设坐标系的原点的相对位置，使得车辆和目标车位的全部区域处于展示区域。本公开实施例中，由于车载终端的显示器的显示范围有限，为了保证泊车过程中展示区域展示的泊车影像的完整性，本公开实施例可以通过在展示区域中的目标车位和/或车辆的影像不完整的情况下，调整展示区域的中心与影像的坐标系原点的相对位置，从而改变展示区域相对于影像的位置，以使得车辆和目标车位的全部区域处于展示区域，从而降低泊车过程中泊车影像的完整性缺失的问题所发生的几率。
参照图2，本公开实施例还提供一种车辆10，所述车辆10包括车载终端12，车辆还包括泊车过程展示装置。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
本公开实施例还提供一种计算处理设备，包括存储器，其中存储有计算机可读代码；以及一个或多个处理器，当所述计算机可读代码被所述一个或多个处理器执行时，所述计算处理设备执行上述的泊车过程展示方法。具体地，所述计算处理设备可以是车载终端设备。
本公开实施例还提供一种计算机可读存储介质，其中存储了计算机程序，当所述存储介质中的指令由计算处理设备的处理器执行时，使得所述计算处理设备能够执行上述的泊车过程展示方法。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或 者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
本公开的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本公开实施例的计算处理设备中的一些或者全部部件的一些或者全部功能。本公开还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本公开的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
例如，图11示出了可以实现根据本公开的方法的计算处理设备。该计算处理设备传统上包括处理器1010和以存储器1020形式的计算机程序产品或者计算机可读介质。存储器1020可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器1020具有用于执行上述方法中的任何方法步骤的程序代码1031的存储空间1030。例如，用于程序代码的存储空间1030可以包括分别用于实现上面的方法中的各种步骤的各个程序代码1031。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘，紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为如参考图12。以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。

Claims (18)

  1. 一种泊车过程展示方法，应用于车辆中的车载终端，其特征在于，所述方法包括：
    建立所述车辆所处场景的影像，所述影像基于预设坐标系建立；
    确定所述影像中的展示区域，并对所述展示区域进行展示，所述展示区域包括所述车辆；
    识别处于所述影像中的车位；
    在所有所述车位中的目标车位和/或所述车辆的至少部分区域，处于所述展示区域之外的情况下，调整所述影像中所述展示区域的中心与所述预设坐标系的原点的相对位置，使得所述车辆和所述目标车位的全部区域处于所述展示区域内。
  2. 根据权利要求1所述的方法，其特征在于，在所有所述车位中的目标车位的至少部分区域处于所述展示区域之外的情况下，调整所述影像中所述展示区域的中心与所述预设坐标系的原点的相对位置，包括：
    在所述目标车位的至少部分区域处于所述展示区域之外的情况下，识别所述影像中所述车辆的移动方向；
    根据所述车辆的移动方向，移动所述展示区域的中心，以调整所述展示区域的中心与所述原点的相对位置。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述车辆的移动方向，移动所述展示区域的中心，以调整所述展示区域的中心与所述原点的相对位置的步骤，包括：
    在所述目标车位处于所述车辆移动方向所指向的一侧的情况下，将所述展示区域的中心沿所述移动方向移动，以改变所述展示区域的中心与所述原点的相对位置。
  4. 根据权利要求2所述的方法，其特征在于，所述根据所述车辆的移动方向，移动所述展示区域的中心，以调整所述展示区域的中心与所述原点的相对位置的步骤，包括：
    在所述目标车位处于背离所述车辆移动方向所指向的一侧的情况下，将所述展示区域的中心沿背离于所述移动方向的方向移动，以改变所述展示区域的中心与所述原点的相对位置。
  5. 根据权利要求1所述的方法，其特征在于，在所述确定所述影像中的展示区域，并对所述展示区域进行展示之后，所述方法还包括：
    在所述展示区域中，在所述展示区域的中心与所述原点保持重合，且所述车辆与所述展示区域的边缘之间的距离处于预设距离范围内的情况下，将所述展示区域的中心与所述原点保持重合，调整为将当前的所述展示区域的中心与所述车辆的中心的相对位置保持固定。
  6. 根据权利要求1所述的方法，其特征在于，所述调整所述影像中所述展示区域的中心与所述预设坐标系的原点的相对位置，包括：
    根据所述车辆的移动速度，确定移动所述展示区域的中心的调整速度；
    根据所述调整速度移动所述展示区域的中心，以调整所述展示区域的中心与所述原点的相对位置。
  7. 根据权利要求1至6任一项所述的方法，其特征在于，在所述确定所述影像中的展示区域后，所述方法还包括：
    在所述影像中，设置所述展示区域的中心、所述车辆的中心、所述原点重合；
    其中，在所述车辆移动的过程中，所述展示区域的中心与所述车辆的中心保持重合，或所述展示区域的中心与所述原点保持重合。
  8. 根据权利要求1所述的方法，其特征在于，所述影像为二维场景影像。
  9. 根据权利要求8所述的方法，其特征在于，所述车辆安装有至少一个广角传感器，所述建立所述车辆所处场景的影像，包括：
    获取所述广角传感器采集的环境信息；
    根据所述环境信息，构建所述车辆所处场景的三维场景影像；
    将所述三维场景影像映射至预设尺寸的二维场景影像中，得到所述车辆所处场景的二维场景影像。
  10. 根据权利要求1所述的方法，其特征在于，所述确定所述影像中的展示区域，包括：
    根据所述车载终端的显示屏的尺寸，确定所述展示区域的尺寸；
    根据所述展示区域的尺寸，在所述影像中确定所述展示区域。
  11. 一种泊车过程展示装置，应用于车辆中的车载终端，其特征在于，所述装置包括：
    建立模块，用于建立所述车辆所处场景的影像，所述影像基于预设坐标系建立；
    确定模块，用于确定所述影像中的展示区域，并对所述展示区域进行展示，所述展示区域包括所述车辆；
    识别模块，用于识别处于所述影像中的车位；
    调整模块，用于在所有所述车位中的目标车位和/或所述车辆的至少部分区域，处于所述展示区域之外的情况下，调整所述影像中所述展示区域的中心与所述预设坐标系的原点的相对位置，使得所述车辆和所述目标车位的全部区域处于所述展示区域内。
  12. 根据权利要求11所述的装置，其特征在于，所述调整模块包括：
    识别子模块，用于在所述目标车位的至少部分区域处于所述展示区域之外的情况下，识别所述影像中所述车辆的移动方向；
    移动子模块，用于根据所述车辆的移动方向，移动所述展示区域的中心，以调整所述展示区域的中心与所述原点的相对位置。
  13. 根据权利要求11所述的装置，其特征在于，所述调整模块包括：
    速度识别子模块，用于根据所述车辆的移动速度，确定用于移动所述展示区域的中心的调整速度；
    调整子模块，用于根据所述调整速度移动所述展示区域的中心，从而调整所述展示区域的中心与所述原点的相对位置。
  14. 根据权利要求11所述的装置，其特征在于，所述装置还包括：
    固定模块，用于在所述展示区域中，在所述展示区域的中心与所述原点保持重合，且识别到所述车辆与所述展示区域的边缘之间的距离处于预设距离范围的情况下，将所述展示区域的中心与所述原点保持重合，调整为将当前的所述展示区域的中心与所述车辆的中心的相对位置保持固定。
  15. 根据权利要求11所述的装置，其特征在于，所述装置还包括：
    默认设定模块，用于在所述二维场景影像中，设置所述展示区域的中心、所述车辆的中心、所述原点重合；
    其中，在所述车辆移动的过程中，所述展示区域的中心与所述车辆的中心保持重合，或所述展示区域的中心与所述原点保持重合。
  16. 一种车辆，所述车辆包括车载终端，其特征在于，所述车辆还包括 如权利要求11至15任一所述的泊车过程展示装置。
  17. 一种计算处理设备，其特征在于，包括：
    存储器，其中存储有计算机可读代码；以及
    一个或多个处理器，当所述计算机可读代码被所述一个或多个处理器执行时，所述计算处理设备执行如权利要求1-10中任一项所述的泊车过程展示方法。
  18. 一种计算机可读存储介质，其中存储了计算机程序，当所述存储介质中的指令由计算处理设备的处理器执行时，使得所述计算处理设备能够执行权利要求1-10中任一项所述的泊车过程展示方法。
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