CN-116977977-B - Library position detection method, library position detection device, electronic equipment, vehicle and medium

CN116977977BCN 116977977 BCN116977977 BCN 116977977BCN-116977977-B

Abstract

The present disclosure relates to a library level detection method, a library level detection device, an electronic apparatus, a vehicle, and a medium. The method comprises the steps of obtaining a target image, detecting the target image to obtain a library position detection result, wherein the library position detection result comprises two entrance angular points and two side angles, the side angles represent the corresponding angles formed by the side edges of the library position and the connecting lines of the two entrance angular points, and determining the position of the library position according to the library position detection result. Therefore, the entrance angular point and the side angle are predicted in the detection of the library position, so that the side detection effect is improved under the condition that the side of the library position is shielded by the wall body, the upright post, the vehicle and other objects, and the accuracy and the stability of the detection of the library position are ensured.

Inventors

HUANG SHIYAO
WAN SHAOHUA
ZHANG BO

Assignees

小米汽车科技有限公司

Dates

Publication Date: 20260508
Application Date: 20230721

Claims (9)

1. A method for detecting a bin, comprising: Acquiring a target image; Detecting the target image to obtain a library position detection result, wherein the library position detection result comprises two entrance angular points and two side angles, and the side angles represent the sizes of angles formed by the corresponding side edges of the library position and the connecting lines of the two entrance angular points; determining the position of the library bit according to the library bit detection result; The detecting the target image to obtain a library position detection result includes: And detecting the target image by using a library position detection model, wherein the library position detection model is obtained by training according to a sample image and labeling information of the sample image in advance, the labeling information is used for representing positions of two entrance angular points of the library position in the sample image, and is used for representing side angle corresponding to two side edges of the library position or positions of the two side edges in the sample image, and the angular points of the rear end of the library position in the sample image are invisible.
2. The method according to claim 1, wherein the library position detection result further comprises a library direction; The determining the position of the library bit according to the library bit detection result comprises the following steps: determining whether to adjust the two side angles; Adjusting the two side angles according to the warehouse-in direction in response to determining to adjust the two side angles; And determining the position of the library position according to the two entrance angular points and the two adjusted side angles.
3. The method of claim 2, wherein determining whether to adjust the two side angles comprises: calculating a target angle corresponding to a first included angle between straight lines where the side edges corresponding to the side edge angles are located; And determining to adjust the two side angles in response to the target angle being greater than or equal to a preset angle threshold.
4. The method of claim 2, wherein said adjusting the two side angles according to the warehouse-in direction comprises: respectively calculating the second included angle formed by the side edge corresponding to each side edge angle and the warehouse-in direction; and adjusting one of the two side angles, which corresponds to the larger second included angle, according to the warehousing direction.
5. The method of claim 4, wherein said adjusting the corresponding one of the two side angles with the larger second included angle according to the warehouse-in direction comprises: and adjusting one of the two side angles, corresponding to the larger second included angle, so that the side corresponding to the side angle is close to the warehouse-in direction.
6. A library level detection device, comprising: An acquisition module configured to acquire a target image; The detection module is configured to detect the target image to obtain a library position detection result, wherein the library position detection result comprises two entrance angular points and two side angles, and the side angles represent the sizes of angles formed by the corresponding side edges of the library position and the connecting lines of the two entrance angular points; a determining module configured to determine a location of the library bits according to the library bit detection result; The detection module is configured to detect a target image by using a library position detection model, wherein the library position detection model is obtained by training according to a sample image and labeling information in advance, the labeling information is used for representing positions of two entrance angular points of a library position in the sample image, and is used for representing side angle corresponding to two sides of the library position or positions of the two sides in the sample image, and the angular points of the rear end of the library position in the sample image are invisible.
7. An electronic device, comprising: A first processor; A first memory for storing first processor-executable instructions; Wherein the first processor is configured to execute the executable instructions to implement the steps of the library level detection method of any one of claims 1-5.
8. A vehicle, characterized by comprising: a second processor; a second memory for storing second processor-executable instructions; wherein the second processor is configured to execute the executable instructions to implement the steps of the library level detection method of any one of claims 1-5.
9. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the library bit detection method of any one of claims 1-5.

Description

Library position detection method, library position detection device, electronic equipment, vehicle and medium Technical Field The disclosure relates to the technical field of automatic driving, in particular to a garage position detection method, a garage position detection device, electronic equipment, a vehicle and a medium. Background At present, the intelligent degree of the vehicle is higher and higher, automatic parking becomes the standard function of most intelligent electric vehicles, the requirement of users on automatic parking can be met, and a driver is not required to manually control the parking process, wherein the detection of a garage position is an important component part of the function. Disclosure of Invention To overcome the problems in the related art, the present disclosure provides a library level detection method, a library level detection device, an electronic apparatus, a vehicle, and a medium. According to a first aspect of an embodiment of the present disclosure, there is provided a method for detecting a library bit, including: Acquiring a target image; Detecting the target image to obtain a library position detection result, wherein the library position detection result comprises two entrance angular points and two side angles, and the side angles represent the sizes of angles formed by the corresponding side edges of the library position and the connecting lines of the two entrance angular points; and determining the position of the library bit according to the library bit detection result. In some embodiments, the detecting the target image to obtain a bin detection result includes: And detecting the target image by using a library position detection model, wherein the library position detection model is obtained by training in advance according to the sample image and the labeling information of the sample image. In some embodiments, the bin detection result further comprises a bin direction; The determining the position of the library bit according to the library bit detection result comprises the following steps: determining whether to adjust the two side angles; Adjusting the two side angles according to the warehouse-in direction in response to determining to adjust the two side angles; And determining the position of the library position according to the two entrance angular points and the two adjusted side angles. In some embodiments, the determining whether to adjust the two side angles includes: calculating a target angle corresponding to a first included angle between straight lines where the side edges corresponding to the side edge angles are located; And determining to adjust the two side angles in response to the target angle being greater than or equal to a preset angle threshold. In some embodiments, the adjusting the two side angles according to the warehouse-in direction includes: respectively calculating the second included angle formed by the side edge corresponding to each side edge angle and the warehouse-in direction; and adjusting one of the two side angles, which corresponds to the larger second included angle, according to the warehousing direction. In some embodiments, the adjusting, according to the warehouse-in direction, the corresponding one of the two side angles with the larger second included angle includes: and adjusting one of the two side angles, corresponding to the larger second included angle, so that the side corresponding to the side angle is close to the warehouse-in direction. According to a second aspect of the embodiments of the present disclosure, there is provided a library bit detection device, including: An acquisition module configured to acquire a target image; The detection module is configured to detect the target image to obtain a library position detection result, wherein the library position detection result comprises two entrance angular points and two side angles, and the side angles represent the first included angle formed by the straight line of the side of the library position corresponding to the side angle and the straight line of the connecting line of the two entrance angular points; and the determining module is configured to determine the position of the library bit according to the library bit detection result. According to a third aspect of embodiments of the present disclosure, there is provided an electronic device, comprising: A first processor; A first memory for storing first processor-executable instructions; wherein the first processor is configured to execute the executable instructions to implement the steps of the method for detecting a bank bit provided by any embodiment of the first aspect of the present disclosure. According to a fourth aspect of embodiments of the present disclosure, there is provided a vehicle comprising: a second processor; a second memory for storing second processor-executable instructions; Wherein the second processor is configured to execute the executable instructi