CN110406472A - Parking assistance system and parking assistance method - Google Patents
Parking assistance system and parking assistance method Download PDFInfo
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- CN110406472A CN110406472A CN201810392836.9A CN201810392836A CN110406472A CN 110406472 A CN110406472 A CN 110406472A CN 201810392836 A CN201810392836 A CN 201810392836A CN 110406472 A CN110406472 A CN 110406472A
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- 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
-
- 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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
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- 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
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
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- 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
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- 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
- B60R2300/8093—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 obstacle warning
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A kind of parking assistance system, for being set to a motor vehicles, parking assistance system includes an augmented reality module, a car-mounted computer device and an automatic stopping module.For augmented reality module for capturing multiple images arround motor vehicles, synthesizing multiple images is to get a bird's eye view image, in the icon for getting a bird's eye view the current location of overlapping expression motor vehicles in image.Car-mounted computer device has a touch-display unit, and car-mounted computer device gets a bird's eye view image and icon to drive touch-display unit to show；Touch-display unit is to receive towing input, to pull parking instruction frame in getting a bird's eye view image to parking position.Automatic stopping module calculates the motion track by current location to parking position, and generate parking step combination according to motion track and exported to receive current location and parking position.
Description
Technical field
The present invention is assisted about the parking of automobile, especially with regard to a kind of parking assistance system and parking assistance method.
Background technique
Existing commercially available automobile, parking assistance system are increasingly becoming the active safety for assisting driver to stop and are equipped with.
The setting of parking assistance system at present, need to be by driver first by by car steering to parking grid, and between automobile and parking grid
There need to be certain relative position.By taking curb parking as an example, automobile must be moved to parallel with parking grid and advanced by driver
After parking grid certain distance, parking assistance system can start；At this point, parking assistance system enables shadow image identification parking grid
Graticule, calculate the angle that the due backing distance of vehicle and steering wheel need to turn to, be automatically brought into operation vehicle or suggestion is provided
It voluntarily drives for driver.But in the case where being short of graticule, such parking assistance system just can not be operated.
Another parking assistance system system can be used for being short of the curb parking of graticule, in particular for already existing front and back
Parking space between two vehicles carries out parking auxiliary.Such parking mode system with ranging warning radar carry out parking space scan with
Detection of obstacles parsing, finds suitable parking stall.However, since ranging warns radar and can not provide the precision ranging of short distance
Data, therefore, this shutdown system and can not one-time-reach-place, and need to constantly move back and forth vehicle could complete to stop.If preceding
Barrier afterwards is not car, but other volumes or the relatively small object of height, and ranging warns radar to be even more can not be accurate
Detect barrier in ground.
Aforementioned two kinds of parking assisting modes are all still dependent on driver and automobile are moved to by scheduled parking space, and
Specific relative positional relationship is generated, parking assisting function could be started, is still short of its convenience using upper.
Summary of the invention
In view of the above problems, the present invention proposes a kind of parking assistance system and parking assistance method, be can provide it is more straight
The mode of operation of the mode of operation of feel, active selection parking position keeps parking assistance method more convenient, especially suitable for all
Meeting area's parking space is narrow or lacks parking grid environment.
The present invention proposes a kind of parking assistance system, and for being set to a motor vehicles, parking assistance system includes an expansion
Increase real border module, a car-mounted computer device and an automatic stopping module.
Augmented reality module is set to motor vehicles, for capturing multiple images arround motor vehicles, synthesizes multiple shadows
As getting a bird's eye view image for one, in the icon for getting a bird's eye view a current location of overlapping expression motor vehicles in image.Car-mounted computer dress
Setting has a touch-display unit, and car-mounted computer device gets a bird's eye view image and icon to receive, and drives touch-display unit
Image and icon are got a bird's eye view in display；Touch-display unit is to receive towing input, the transmission towing input of car-mounted computer device
To augmented reality module, to pull a parking instruction frame a to parking position in getting a bird's eye view image.Automatic stopping module is to connect
Current location and parking position are received, calculates the motion track by current location to parking position, and generate according to motion track
One parking step combination is exported.
The present invention separately proposes a kind of parking assistance method, and it is mobile to provide one for the current location according to a motor vehicles
Track and a parking step combination, parking assistance method includes: capturing multiple images arround motor vehicles, and synthesizes multiple shadows
As getting a bird's eye view image for one；In the icon for getting a bird's eye view the current location of overlapping expression motor vehicles in image；Display get a bird's eye view image and
Icon, and a towing input is received, to pull parking instruction frame in getting a bird's eye view image to a parking position；And it calculates by current
One motion track of position to parking position, and generate a parking step combination according to motion track and exported.
Getting a bird's eye view image system can allow driver clearly to identify situation arround vehicle.The present invention allow driver can directly in
It gets a bird's eye view and determines parking position in image, and input can be pulled by touch control manner with active selection parking position, so that selection
The mode of operation of parking position more intuition and convenience.Meanwhile the present invention mentions simultaneously other than providing the motion track suggested
For parking step combination, in addition to driver can be allowed to become apparent from due operating steps, it can more be supplied directly to automated driving system
With reference to, and the operation for allowing automated driving system to stop is more efficiently, and is not limited to the environment of parking, and be applicable to all
Meeting area's parking space is narrow or lacks the parking environment of parking grid.
Detailed description of the invention
Fig. 1 is the functional block diagram of parking assistance system in first embodiment of the invention.
Fig. 2 is the functional block diagram of members in first embodiment of the invention.
Fig. 3 is in first embodiment of the invention, in getting a bird's eye view towing figure object delineation in image.
Fig. 4 is to complete to pull the schematic diagram inputted in image in getting a bird's eye view in first embodiment of the invention.
Fig. 5 and Fig. 6 is the flow chart of parking assistance method in first embodiment of the invention.
Fig. 7 is to detect the schematic diagram of barrier in first embodiment of the invention.
Fig. 8 is to receive the detailed flowchart of towing input in first embodiment of the invention.
Fig. 9 is the functional block diagram of parking assistance system in second embodiment of the invention.
Figure 10 is that icon is pulled in image to the schematic diagram for scheming money in getting a bird's eye view in first embodiment of the invention.
Wherein appended drawing reference are as follows:
102 trigger button, 110 augmented reality module
112 image acquisition unit, 114 Image compounding unit
116 image processing module, 120 car-mounted computer device
122 touch-display unit, 130 automatic stopping module
140 figures provide 150 locating module of reception interface
200 automated driving system, 210 turning control cell
220 file position control unit, 230 E-Gas
ESC electronic stabilizing control system ECM engine control module
TCM Transmission Control Module M gets a bird's eye view image
V icon V ' stop sign
T motion track R parking instruction frame
B barrier C parking grid graticule
102~Step of Step, 210 step
Specific embodiment
Refering to Figure 1, being a kind of revealed parking assistance system of first embodiment of the invention, for being set to one
Motor vehicles (Automobile Vehicle), motor vehicles above-mentioned are including but not limited to engine power automobile, oil electricity mixing
Automobile or electric car.
As shown in Figure 1, parking assistance system include an augmented reality module 110 (Augmented Reality Module,
AR Module), a car-mounted computer device 120 and an automatic stopping module 130.
As shown in Figure 1, Figure 2 and Figure 3, augmented reality module 110 is set to motor vehicles, and augmented reality module 110 includes
Multiple image acquisition units 112 and an Image compounding unit 114.Multiple image acquisition units 112 are for capturing towards different directions
Capture multiple images arround motor vehicles.Image compounding unit 114 synthesizes multiple images in real time and gets a bird's eye view image M for one, and
In the icon V for getting a bird's eye view a current location of overlapping expression motor vehicles in image M.Augmented reality module 110 is simultaneously in getting a bird's eye view
A reference frame is set in image M, so that calculation icon V is in getting a bird's eye view the motor vehicles coordinate in image M to indicate current
Position.
As shown in Figure 1, Figure 2 and Figure 3, car-mounted computer device 120 has a touch-display unit 122.Car-mounted computer
Device 120 is electrically connected at augmented reality module 110, gets a bird's eye view image M and icon V to receive, and drive touch-display unit 122
Image M and icon V is got a bird's eye view in display.
As shown in Figures 2 and 3, aforementioned touch-display unit 122 is to receive to drive finger or stylus touch-control to stopping
Vehicle indicates the towing of frame R, generates and receives a towing input.When receiving towing input, stop caused by augmented reality module 110
Vehicle instruction frame R can first frame select and marks icon V, and with the display parking of touch-display unit 122 indicate frame R in getting a bird's eye view in image M,
To allow driver to confirm, towing input is carrying out.It is real that the meeting real-time transmission towing of car-mounted computer device 120 is input to amplification
Border module 110, to pull parking instruction frame R in getting a bird's eye view image M to a parking position.Towing input above-mentioned is in addition to including line
Property movable parking instruction frame R except, also (utilize the technological means identification rotation such as multi-point touch comprising rotary parking instruction frame R
Direction and angle), therefore, driver can also further refer to other than it can specify the place of the motor vehicles parking
Determine steering direction when motor vehicles parking；For example, driver can pass through rotary parking when parking position is a parking grid
It indicates frame R, allows parking instruction frame R to be entirely located in parking grid, and determine the steering direction of motor vehicles outwardly or inwardly.
Shown in as shown in Figure 2, Figure 3 and Figure 4, automatic stopping module 130 is connected to augmented reality module 110, current to receive
Position and parking position calculate the motion track T by current location to parking position, and generate one according to motion track T and stop
Vehicle step group is merged into capable output.
Parking step combination above-mentioned, can be message output, and make driver motor-driven according to parking step combination operation
Vehicle.Meanwhile in output parking step combination, augmented reality module 110, car-mounted computer device 120 and automatic stopping
The still continued operation of module 130, and the change according to the current location of motor vehicles in real time, update motion track T and parking
Step combination.Driver can also get a bird's eye view image M by the viewing of touch-display unit 122 in real time, and understand the shifting of motor vehicles
Dynamic state and arround environment.
As shown in Figure 1, Figure 2 and shown in Fig. 5, when driver's driving maneuver vehicle reaches the place that can stop, such as parking lot,
The section of curb parking or terrace parking, a trigger button 102 of driver's pressable parking assistance system, to issue a triggering
Signal is to start automatic stopping module 130, as shown in step Step 102.At this point, carried-on-vehicle computer system must first judge vehicle
Multidate information, to decide whether to execute parking assistance method.When vehicle multidate information meets Parking condition, just start to execute
The follow-up process of parking assistance method.In preferable embodiment, Parking condition is vehicle stationary state, that is, speed is zero
When (stationary vehicle), braking action and engine speed are dropped under idling or specific rotation speeds, carried-on-vehicle computer system just provides behaviour
Make interface and receive input selection to maintain traffic safety, and can be in the operation for the execution parking trajectory that parameter constant moves.Separately
Outside, the present invention more starts automatic stopping module 130 as trigger signal source in combination with voice control or gesture control；That is, it touches
It signals to be also possible to an audio controls or a gesture other than being the button trigger signal of the sending of trigger button 102
Signal is controlled, is issued after receiving phonetic order or gesture input device reception gesture input by a receiving unit.
Therefore, automatic stopping module 130 after receiving trigger signal, believe by the vehicle dynamic that can start to receive motor vehicles
Breath, as shown in step Step 112.Then, automatic stopping module 130 compares vehicle multidate information and a Parking condition, works as vehicle
When multidate information meets Parking condition, start the follow-up process for executing parking assistance method, just to start augmented reality module
110, which start generation, gets a bird's eye view image M and is sent to car-mounted computer device 120, as shown in step Step 114.Parking item above-mentioned
Part can be vehicle stationary state judgement, status information include speed be zero, engine speed does not accelerate and reaches idle
Speed has switched to that lowest gear, brake has been started up or gear switch lower than specific rotation speeds (driver does not step on the gas), gear
To neutral gear etc., related data can come from electronic stabilizing control system ESC (Electronic.Stability Control), draw
Hold up control module ECM (Engine Control Module) and Transmission Control Module TCM (Transmission Control
Module) etc..But the follow-up process of parking assistance method is executed in the case where being not precluded within low speed driving.
After Parking condition is satisfied, augmented reality module 110, car-mounted computer device 120 and automatic stopping module 130
It will start operation, to execute parking assistance method, use and provide motion track T and parking according to the current location of motor vehicles
Step combination.
Then, augmented reality module 110 drives multiple image acquisition units 112 to capture arround motor vehicles towards different directions
Multiple images, and synthesize multiple images be get a bird's eye view image M, as shown in step Step 120.Then, augmented reality module 110
In the icon V got a bird's eye view in image M overlapping and indicate a current location of motor vehicles, and calculation icon V is in getting a bird's eye view in image M
Motor vehicles coordinate (i.e. the coordinate of current location), as shown in step Step 130.
For touch-display unit 122 when receiving towing input, augmented reality module 110 generates a parking instruction frame R with frame
Icon V is selected and marked, and parking instruction frame R is shown in getting a bird's eye view in image M, to allow driver to confirm with touch-display unit 122
During towing input is carrying out.Touch-display unit 122, which receives, inputs the towing of parking instruction frame R, in getting a bird's eye view image M
Frame R is to a parking position for towing parking instruction, as shown in step Step 140 and step Step 150.
At this point, driver is to carry out parking instruction to image M operation is got a bird's eye view with touch control manner in touch-display unit 122
Frame R towing, including mobile and rotary parking indicate frame R, and the parking instruction frame R that will represent motor vehicles is moved to desired stop
Truck position, then release (stopping touch-control) parking indicates frame R.
After parking instruction frame R is moved to parking position, in addition augmented reality module 110 can generate one in getting a bird's eye view image M
Stop sign V ' is (such as with the motor vehicles after the parking of dotted line icon representation, or using the icon of another different colours as stopping
Logo note), to indicate the motor vehicles after stopping.
Then, automatic stopping module 130 calculates the motion track T by current location to parking position, and according to movement
Track T generates a parking step combination and is exported, as shown in step Step 160.
Parking step combination is delivered to car-mounted computer device 120, to drive the display movement of touch-display unit 122
Track T and parking step combination, provide message and refer to driver；Parking step combination is also possible to output to automatic Pilot system
System 200, driving automated driving system 200 drive motor vehicles to carry out automatic stopping.No matter being to provide message to refer to driver
Or automatic stopping, automatic stopping module 130 all continue in actuation.
Step of stopping combination includes at least one of advance instruction step, reversing instruction step and steering operation step
Or any combination sequentially operates driving maneuver vehicle, to complete to stop so that driver is according to each step content.
As shown in Figures 1 and 2 using automated driving system 200, automated driving system 200 can include or connect
Turning control cell 210 (usually electric steering wheel auxiliary system), file position control unit 220 are connected to (before at least can be switched
Into shelves and retreat file) and E-Gas 230.And step combination of stopping includes file bit manipulation step, throttle operation step
And at least one or any combination of steering operation step, so that automatic stopping module 130 controls course changing control list one by one
Member 210, file position control unit 220 and E-Gas 230.
It please refers to shown in Fig. 5, after output parking step combination, automatic stopping module 130 persistently receives parking step group
One closed executes state, as shown in step Step 160.The execution state is according to automotive power (engine and speed change
Case), the information of braking system and electric steering wheel auxiliary system (EPS, electric power steering) feedback, knot
The current location of vehicle and the relative position of motion track T are closed, analyzes in the parking step combination, has executed to which
Step.
When using automated driving system 200, automatic stopping module 130 further judges to execute whether step has arrived
Up to a steering operation step, a gear position operation step and a throttle operation step.It is arrived in the execution state of parking step combination
When up to steering operation step, steering operation step is issued to turning control cell 210；It is arrived in the execution state of parking step combination
When up to file bit manipulation step, gear position operation step is issued to file position control unit 220；In the execution shape of parking step combination
When state reaches throttle operation step, throttle operation step is issued to an E-Gas 230.
As shown in figure 5, automatic stopping module 130 according further to get a bird's eye view image M compare the current locations of motor vehicles with
Motion track T then returns back to step Step 160 after the distance that motion track T is deviateed in current location is more than a distance threshold
To update motion track T and parking step combination, as shown in step Step 180.Step Step 170 and step Step 180 is main
If persistently monitoring the moving state of motor vehicles, and motion track T and parking step combination are persistently corrected, it is motor-driven to ensure
Vehicle can be parked certainly to chosen parking position.
As shown in Figures 5 and 6, one or more rangings warning radar can be all arranged in general vehicle, to monitor in motor vehicles
Arround specified orientation in, if having a barriers B such as fixture or motive objects, and generate detection of obstacles warning；Or expand
Increase real border module 110 and further include an image processing module 116, whether got a bird's eye view in image M for identification has barrier B to appear in shifting
On dynamic rail mark T, to generate detection of obstacles warning.Therefore, the execution shape of parking step combination is received in automatic stopping module 130
When state, it can also wait and whether receive detection of obstacles warning, as shown in step Step 190.
Shown in Fig. 5 and Fig. 6, automatic stopping module 130 interrupts parking step combination after receiving detection of obstacles warning
It executes, as shown in step Step 200.Detection of obstacles warning can also be received by car-mounted computer device 120 simultaneously, with driving
Touch-display unit 122 shows detection of obstacles warning, and shows the possible direction of barrier B, or label barrier B
In getting a bird's eye view the position in image M.The execution for interrupting parking step combination is mainly off display parking step combination, to avoid
Driver continues according to parking step combination move vehicle；Or interrupt instruction is issued, automated driving system 200 is interrupted to vehicle
Control.
Then, parking assistance system can be according to the barrier B of detection of obstacles warning, disturbance in judgement object B and motor vehicles
Relative positional relationship, and update motion track T and parking step combination with avoidant disorder object B and export again, such as step Step
Shown in 210.
It please refers to shown in Fig. 7 and Fig. 8, after step Step 140 receives towing input, further includes the following steps.Amplification is real
Border module 110 analyzes the space with obstacle and not got a bird's eye view in image M comprising one or more barriers B with image processing module 116
Free space comprising multiple barrier B, and be marked on and get a bird's eye view in image M, as shown in step Step 142.This analysis mode can
It is barrier B the Object identifying for being not belonging to ground after first identifying ground and parking grid graticule C.In terrace or generally
Do not have the open ground of parking grid lines, only if it were not for barrier B or is not belonging to the part of road and can be marked as freedom
Space.
Instruction can be pulled in getting a bird's eye view image M in terrace or the general open ground for not having parking grid lines, driver
Meaning parking, it is only necessary to avoidant disorder object B.Therefore, image processing module 116 judges whether be overlapped after parking instruction frame R is towed
In space with obstacle, as shown in step Step 144.When at least part of parking instruction frame R is overlapped in space with obstacle, representative is driven
It sails the selected parking position of people and is not suitable for parking, then cancel towing input, and driver's weight is prompted with touch-display unit 122
Towing input newly is carried out, as shown in step Step146, then re-execute the steps Step 140.If when parking instruction frame R is complete
In free space, then towing input is completed, parking instruction frame R is moved to parking position, such as step Step 150.Augmented reality
In addition module 110 can generate a stop sign V ' in getting a bird's eye view image M, to indicate the motor vehicles after parking.It is dragged above-mentioned
It drags in input process, if not yet completing towing input in parking instruction frame R is towed, and at least office for the instruction frame R that stops
When portion is overlapped in space with obstacle, the change parking instruction of image processing module 116 frame R at least local color, to prompt driver
It can not be used as parking position at this, and towing parking instruction frame R should be continued to free space.And it is subsequent in generation motion track T
And when parking step combination, parking assistance system can also make motion track T avoidant disorder space.
Referring again to shown in Fig. 8, in a parking lot, not free space can stop, but must really will be motor-driven
Vehicle parking is in parking grid graticule C.Therefore, while receiving towing input, also simultaneously by driver's setting or by image
The judgement of processing module 116 need to carry out towing instruction to parking grid and stop.Therefore, image processing module 116 judges free space
A parking grid graticule C position, judge parking instruction frame R it is towed after whether be entirely located in parking grid graticule C, such as
Shown in step Step 147.Since parking grid graticule C system above-mentioned is located at free space, just represents and do not have composition obstacle thereon
Object B other park in motor vehicles.If having other motor vehicles in parking grid graticule C, which can be identified
The range in parking grid graticule C is considered as space with obstacle for barrier B.
If the parking instruction frame R after towed is not at parking grid graticule C or part is overlapped in parking grid graticule C
When, also that is, not being entirely located in parking grid graticule C after parking instruction frame R is towed, then cancels towing input, cancel towing
Input is that image processing module 116 replys parking instruction frame R to towed preceding current location, to prompt driver's parking mode
Mistake should reselect, as shown in step Step 146.
Certainly, it is locally overlapped in parking grid graticule C in parking instruction frame R, it can also be to the position and angle of parking instruction frame R
The automatic corrigendum of degree makes parking instruction frame R be corrected as being entirely located in parking grid graticule C.
In towing input process above-mentioned, if during parking instruction frame R is towed and parking instruction frame R is locally overlapped in and stops
When vehicle case marker line C, the change parking instruction of image processing module 116 frame R at least local color, to prompt driver to be currently set
Parking position and direction should be adjusted.
It is a kind of parking assistance system disclosed by second embodiment of the invention refering to shown in Fig. 9 and Figure 10.This parking
Auxiliary system further includes figure money reception interface 140 and a locating module 150.Second embodiment system carries out for first embodiment
Amendment, so that parking position can extend to the part got a bird's eye view other than image M.
Figure money reception interface 140 is provided to receive the figure in an at least parking lot.Figure money reception interface 140 can read dress for one
It sets, receives the figure money in the parking lot stored by a removable storage device (Portable disk, CD) in local side；Or figure money receives boundary
Face 140 can be a vehicle netbios interface, be connected to the figure money that long-range server receives parking lot.Figure money includes parking lot
At least a barrier B and at least a parking grid.
Locating module 150 is generated in step Step 120 and is got a bird's eye view for providing a current location information of motor vehicles
While image M, automatic stopping module 130 receives current location information, judges whether current location information meets parking lot
Internal or parking lot a entrance.
As shown in FIG. 9 and 10, current location information meet parking lot inside or parking lot entrance when, automatic stopping
Module 130 is triggered car-mounted computer device 120 and is shown that getting a bird's eye view image M is overlapped in figure money with touch-display unit 122, so that parking
Instruction frame R can be towed at least parking grid got a bird's eye view except image M.At this point, getting a bird's eye view image M in touch-display unit 122
In will temporarily be reduced, allow 122 display figure of touch-display unit provide part, and allow get a bird's eye view image M be overlapped in it is corresponding
On position.
When parking instruction frame R is towed to an at least parking grid, automatic stopping module 130 extends motion track T to bird
At least parking grid except image M of looking down from a height simultaneously avoids an at least barrier B.
Getting a bird's eye view image M system can allow driver clearly to identify situation arround vehicle.The present invention makes driver direct
Parking position is determined in image M in getting a bird's eye view, and input can be pulled by touch control manner to select parking position, so that selection parking
The mode of operation of position more intuition and convenience.Meanwhile the present invention except provide suggest motion track T in addition to, while provide stop
The combination of vehicle step can more be supplied directly to the ginseng of automated driving system 200 in addition to driver can be allowed to become apparent from due operating steps
It examines, and the operation for allowing automated driving system to stop is more efficiently, and not limit standard parking grid lines, but for various
Parking environment.
Claims (16)
1. a kind of parking assistance system, for being set to a motor vehicles, which is characterized in that the parking assistance system includes:
One augmented reality module, is set to the motor vehicles, and for capturing multiple images arround the motor vehicles, it is more to synthesize this
A image gets a bird's eye view image for one, gets a bird's eye view the icon that overlapping in image indicates a current location of the motor vehicles in this；
One car-mounted computer device has a touch-display unit；The car-mounted computer device to receive this get a bird's eye view image and
The icon, and the touch-display unit is driven to show that this gets a bird's eye view image and the icon；The touch-display unit is dragged to receive
Input is draged, which transmits the towing and be input to the augmented reality module, to get a bird's eye view and pull one in image at this
Parking indicates frame to a parking position；And
One automatic stopping module is calculated to receive the current location and the parking position by the current location to the parking stall
The motion track set, and generate a parking step combination according to the motion track and exported.
2. parking assistance system as described in claim 1, which is characterized in that after exporting parking step combination, this is automatic
Parking module receives an execution state of parking step combination, and gets a bird's eye view image according to this and compare the one current of the motor vehicles
Position and the motion track, update the moving rail after the distance that the motion track is deviateed in the current location is more than a distance threshold
Mark and parking step combination.
3. parking assistance system as described in claim 1, which is characterized in that after exporting parking step combination, this is automatic
Parking module receives an execution state of parking step combination, and parking step is interrupted after receiving detection of obstacles warning
Suddenly the execution combined, and the barrier according to detection of obstacles warning update the motion track and parking step combination
To avoid the barrier.
4. parking assistance system as described in claim 1, which is characterized in that the augmented reality module further includes an image procossing
Module, for analyze this get a bird's eye view in image comprising one or more barriers a space with obstacle and not comprising multiple barriers from
By space, and it is marked on this and gets a bird's eye view in image；And the image processing module judges whether be overlapped after parking instruction frame is towed
Cancel towing input in the space with obstacle, and when at least part of parking instruction frame is overlapped in the space with obstacle.
5. parking assistance system as described in claim 1, which is characterized in that the image processing module judges the free space
One parking grid graticule, and judge whether be entirely located in the parking grid graticule after parking instruction frame is towed, refer in the parking
Show and cancels the towing input when frame is not entirely located in the parking grid graticule.
6. parking assistance system as described in claim 1, which is characterized in that the parking automatic module is in receiving a trigger signal
Afterwards, a vehicle multidate information of the motor vehicles is received, to trigger the vehicle when vehicle multidate information meets a Parking condition
Computer installation is carried, starting to generate this to start the augmented reality module gets a bird's eye view image and be sent to the car-mounted computer device.
7. parking assistance system as claimed in claim 6, which is characterized in that the trigger signal is a button trigger signal, one
Audio controls or a gesture control signal.
8. parking assistance system described in claim 1 further includes figure money reception interface and a locating module；Figure money receives
Interface is provided to receive the figure in an at least parking lot, a figure at least barrier of the money comprising the parking lot and at least one parking
Lattice, and the locating module is for providing a current location information of the motor vehicles；When the automatic stopping module, the judgement is deserved
Prelocalization information meet the parking lot inside or the parking lot an entrance when, it is aobvious with touch-control to trigger the car-mounted computer device
Show unit show this get a bird's eye view image overlap in the figure provide, with pull the motor vehicles the parking indicate frame to this get a bird's eye view image it
Outside, which extends motion track T and gets a bird's eye view at least parking grid except image to this, and avoids this at least
One barrier.
9. a kind of parking assistance method provides a motion track and a parking step for the current location according to a motor vehicles
Rapid combination, which includes:
Multiple images arround the motor vehicles are captured, and synthesizes multiple image and gets a bird's eye view image for one；
The icon that overlapping in image indicates the current location of the motor vehicles is got a bird's eye view in this；
It shows that this gets a bird's eye view image and the icon, and receives a towing input, to get a bird's eye view one parking instruction frame of towing in image at this
To a parking position；And
The motion track by the current location to the parking position is calculated, and generates a parking step group according to the motion track
Conjunction is exported.
10. parking assistance method as claimed in claim 9, which is characterized in that after exporting parking step combination, further include
Receive an execution state of parking step combination, and according to this get a bird's eye view image compare a current location of the motor vehicles with should
Motion track updates the motion track after the distance that the motion track is deviateed in the current location is more than a distance threshold and this stops
The combination of vehicle step.
11. parking assistance method as claimed in claim 9, which is characterized in that after exporting parking step combination, further include
An execution state of parking step combination is received, and interrupts parking step combination after receiving detection of obstacles warning
It executes, and the barrier according to detection of obstacles warning, updates the motion track and parking step combination to avoid this
Barrier.
12. parking assistance method as claimed in claim 9, it is characterised in that after receiving towing input, further include:
It analyzes this and gets a bird's eye view the space with obstacle in image comprising one or more barriers and the freely sky not comprising multiple barriers
Between, and be marked on this and get a bird's eye view in image；
Judge whether be overlapped in the space with obstacle after parking instruction frame is towed；And
Cancel towing input when at least part of parking instruction frame is overlapped in the space with obstacle.
13. parking assistance method as claimed in claim 9, it is characterised in that after receiving towing input, further include:
Judge a parking grid graticule of the free space；
Judge whether be entirely located in the parking grid graticule after parking instruction frame is towed；And
Cancel the towing input when parking instruction frame is not entirely located in the parking grid graticule.
14. parking assistance method as claimed in claim 9, it is characterised in that further include:
After receiving a trigger signal, start the vehicle multidate information for receiving the motor vehicles；
Compare the vehicle multidate information and a Parking condition；And
When the vehicle multidate information meets the Parking condition, starts to generate this and get a bird's eye view image.
15. parking assistance method as claimed in claim 14, which is characterized in that the trigger signal be a button trigger signal,
One audio controls or a gesture control signal.
16. parking assistance method as claimed in claim 9, it is characterised in that further include:
The figure money in an at least parking lot is received, figure money includes an at least barrier and an at least parking grid in the parking lot；
Receive a current location information, judge the current location information whether meet the parking lot inside or the parking lot one
Entrance；
Whether meet the inside in the parking lot or the entrance in the parking lot when the current location information, shows that this gets a bird's eye view image weight
It is laminated on figure money, so that parking instruction frame can be towed to this and get a bird's eye view at least parking grid except image；And
When parking instruction frame is towed to an at least parking grid, and extends the motion track and get a bird's eye view except image to this
An at least parking grid simultaneously avoids an at least barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810392836.9A CN110406472A (en) | 2018-04-27 | 2018-04-27 | Parking assistance system and parking assistance method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810392836.9A CN110406472A (en) | 2018-04-27 | 2018-04-27 | Parking assistance system and parking assistance method |
Publications (1)
| Publication Number | Publication Date |
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| CN110406472A true CN110406472A (en) | 2019-11-05 |
Family
ID=68346707
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810392836.9A Pending CN110406472A (en) | 2018-04-27 | 2018-04-27 | Parking assistance system and parking assistance method |
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| CN103796879A (en) * | 2011-08-12 | 2014-05-14 | 丰田自动车株式会社 | Parking assistance device |
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| US7161616B1 (en) * | 1999-04-16 | 2007-01-09 | Matsushita Electric Industrial Co., Ltd. | Image processing device and monitoring system |
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| CN101635839A (en) * | 2008-07-25 | 2010-01-27 | 日产自动车株式会社 | Parking assistance apparatus and parking assistance method |
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Application publication date: 20191105 |