CN110871792A - Automatic parking control system and method - Google Patents
Automatic parking control system and method Download PDFInfo
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- CN110871792A CN110871792A CN201911328694.0A CN201911328694A CN110871792A CN 110871792 A CN110871792 A CN 110871792A CN 201911328694 A CN201911328694 A CN 201911328694A CN 110871792 A CN110871792 A CN 110871792A
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- automatic parking
- voice
- control
- parking
- controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
Abstract
The invention discloses an automatic parking control system and a method, wherein the system comprises an automatic parking controller, a parking space detection and data acquisition module and an execution mechanism, wherein the automatic parking controller carries out path planning according to received data acquired by the parking space detection and data acquisition module and controls the execution mechanism to park according to a planned path; the system further comprises a voice interaction system, wherein the voice interaction system is connected with the automatic parking controller and is used for sending the collected and recognized voice control instruction into the automatic parking controller, and the automatic parking controller immediately executes the voice control instruction after receiving the voice control instruction in the parking process. By adding the voice interaction system, the automatic parking system can control the automatic parking to stop in time when an automatic parking fault occurs, so that accidents caused by automatic parking during wrong automatic parking planning of the fault are prevented; the stop of the automatic parking by voice control or the route of the automatic parking by voice control can be realized, thereby improving the operability.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to an automatic parking control system and method.
Background
With the development of intelligent driving technology, the automatic parking system brings good news to users, but the current parking system still has many problems, which are closely related to the safety and success rate of parking. The automatic parking system mainly comprises three parts, namely parking space detection, path planning and path tracking, wherein the parking space detection is mainly based on a scheme of fusion of ultrasonic waves and a camera, the image information of the camera is rich, but the camera is not sensitive enough to distance information, so that the distance detection information mainly comes from the ultrasonic waves, but the ultrasonic waves have certain blind areas due to the fact that the precision of the ultrasonic waves cannot be too high due to the physical characteristics of sound wave distance measurement of the ultrasonic waves. Therefore, a certain deviation also exists when the controller carries out path planning based on ultrasonic waves and image information, and the real-time degree of updating the parking path is not enough, so that the problems of rubbing risk and failure in the execution of the parking path planning are caused in the parking process, the potential safety hazard of a driver is caused, and the driving experience is influenced. The existing automatic parking technology is not perfect, when a system fault occurs in the automatic parking process, an algorithm strategy is wrong or a sensor fault occurs, the automatic parking path planning strategy is wrong, or half of parking is performed, the system fault is automatically exited, the driver experience is influenced, and potential safety hazards of the driver are possibly caused.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic parking control system and method, which are used for increasing a voice interaction function in automatic driving so as to improve the driving experience.
In order to achieve the purpose, the invention adopts the technical scheme that: an automatic parking control system comprises an automatic parking controller, a parking space detection and data acquisition module and an execution mechanism, wherein the automatic parking controller carries out path planning according to received data acquired by the parking space detection and data acquisition module and controls the execution mechanism to park according to a planned path; the system further comprises a voice interaction system, wherein the voice interaction system is connected with the automatic parking controller and is used for sending the collected and recognized voice control instruction into the automatic parking controller, and the automatic parking controller immediately executes the voice control instruction after receiving the voice control instruction in the parking process.
The priority of the voice control instruction is greater than the path planning instruction of the automatic parking controller.
The voice interaction system comprises a voice recognition module and a voice control module, wherein the voice recognition module is used for collecting voice signals and recognizing corresponding voice instructions and sending the voice instructions to the control module, and the output end of the control module is connected with the automatic parking controller and used for sending the voice instructions to the automatic parking controller, and the automatic parking controller drives the execution mechanism to work according to the voice instructions.
The voice interaction system further comprises an image display module, wherein the image display module is connected with the control module and used for displaying the image information of the automatic parking environment and the parking planning route.
The voice interaction system is realized by adopting a vehicle-mounted entertainment information terminal.
The control system further comprises a voice control switch, and the voice control switch is connected with the control module and used for starting the voice interaction system.
The actuator includes a powertrain system and a chassis system of the vehicle.
The parking space detection and data acquisition module comprises an ultrasonic radar and a wide-angle camera.
A control method of an automatic parking control system, comprising:
when a driver starts the voice interaction system through the voice control switch, the control instruction of the voice interaction system is collected in real time, and when the voice control instruction is detected, the automatic parking controller stops operating the automatic parking system to plan a path and executes the voice control instruction.
The voice control instruction comprises a voice stop instruction and/or a voice path planning instruction sent by the driver when the automatic parking is abnormal.
By adding the voice interaction system, the automatic parking system can control the automatic parking to stop in time when an automatic parking fault occurs, so that accidents caused by automatic parking during wrong automatic parking planning of the fault are prevented; the parking control method and the parking control system can realize voice control of stopping of automatic parking or voice control of the path of the automatic parking, so that operability is improved, timely intervention can be realized when a driver thinks that parking is risky, and risks in the parking process are avoided.
Drawings
The contents of the expressions in the various figures of the present specification and the labels in the figures are briefly described as follows:
fig. 1 is a schematic structural diagram of an automatic parking control system of the present invention.
Detailed Description
The following description of preferred embodiments of the invention will be made in further detail with reference to the accompanying drawings.
The invention provides a man-machine voice interaction scheme in a parking process, wherein when a path is planned in an automatic path in a wrong way, or a driver considers the path to be non-optimal, or an obstacle which is not detected by a vehicle exists in the path, the driver sends a voice command, and the parking path planning or the automatic parking function is executed or stopped through a controller and an actuator according to the voice command of the driver, so that faults such as collision and the like are avoided. The method is mainly characterized in that a redundancy control mode is added on the basis of an automatic parking system, a voice control system is combined into the automatic parking system, and when a driver manually perceives possible faults and collision risks, the automatic parking can be stopped in time in a voice intervention mode or the parking path can be adjusted according to voice instructions.
As shown in fig. 1, an automatic parking control system includes an automatic parking controller, a parking space detection and data acquisition module, and an execution mechanism, wherein the automatic parking controller performs path planning according to received data acquired by the parking space detection and data acquisition module and controls the execution mechanism to park according to a planned path; the control system further comprises a voice interaction system, the voice interaction system is connected with the automatic parking controller and used for sending the collected and recognized voice control instruction into the automatic parking controller, and the automatic parking controller executes the voice control instruction immediately after receiving the voice control instruction in the parking process.
The voice interaction system comprises a voice recognition module and a voice control module, and the voice control switch is connected with the control module and used for starting the voice interaction system. The voice recognition module is used for collecting voice signals, recognizing corresponding voice instructions and sending the voice instructions to the control module, and the output end of the control module is connected with the automatic parking controller and used for sending the voice instructions to the automatic parking controller, and the automatic parking controller drives the execution mechanism to work according to the voice instructions. The voice interaction system further comprises an image display module, wherein the image display module is connected with the control module and used for displaying the image information of the automatic parking environment and the parking planning route. The voice interaction system is realized by adopting a vehicle-mounted entertainment information terminal.
The control method for automatic parking according to the present application includes: when a driver starts the voice interaction system through the voice control switch, the priority of the voice control instruction is higher than that of the automatic parking planning path operated by the automatic parking system, the control instruction of the voice interaction system is collected in real time, and when the voice control instruction is detected, the automatic parking controller stops operating the automatic parking system to plan the path and executes the voice control instruction. The voice command can be a stopping voice command given after a driver considers that collision and scratch risks possibly exist according to own experience, and at the moment, when similar voice commands such as 'parking' and the like are collected, the automatic parking function of the system stops parking, so that the scratch risks possibly existing in automatic parking are avoided; or according to the experience of the driver, the driver sends a voice command to stop automatic parking and can modify the existing automatic parking path in a voice mode so that the automatic parking controller can park according to the modified path, and the voice control command can display the modified path on a vehicle-mounted display screen of the whole vehicle in real time when modifying the parking path, so that the driver can conveniently view and adjust the voice in real time.
When the automatic parking path planning executes the fault (the system fault or the subjective judgment of the driver that the fault exists and the collision and rubbing risk exists), the driving experience of the driver is utilized to correct the path planned by the controller through the voice, the safe completion of parking is ensured, and the potential safety hazard of the driver is reduced. Fig. 1 is a schematic diagram of a redundancy scheme of automatic parking path planning. The automatic parking system consists of an automatic parking controller, 12 ultrasonic radars and 4 wide-angle cameras and is responsible for parking space search, path planning and automatic parking control. The vehicle-mounted information entertainment terminal consists of a voice recognition module, a control module and an image display module, and the execution mechanism is mainly a power system and a chassis system of the vehicle and completes parking actions according to instruction signals sent by the automatic parking controller.
The system is formed by a sensor comprising 12 ultrasonic radars, 4 high-definition wide-angle cameras, an automatic parking controller, an execution mechanism (ESC and TCU), a vehicle-mounted information entertainment terminal and a system switch, wherein the vehicle-mounted information entertainment terminal comprises a voice recognition module, a control module and an image display module, and the image display module is prior to an original video interface. When an error occurs in the execution process of the automatic parking path, a driver triggers the voice switch to send out a voice command according to own driving experience, the vehicle-mounted terminal control module identifies a voice control signal and transmits the voice control signal to the automatic parking controller, the automatic parking controller sends the command to the execution mechanism and carries out parking according to the voice command of the driver, and the image display module displays the automatic parking environment and the parking planning path in real time.
The redundancy scheme for planning the automatic parking path comprises the following specific implementation steps:
1. when the automatic parking system performs the path planning and the execution is wrong, a driver starts a voice control button;
2. a driver sends a voice instruction to plan a path;
3. the voice path planning instruction of the driver is displayed on the image display module; the image display module is higher than the interface of the original video, and the automatic parking controller sends a parking instruction to the executing mechanism for parking;
4. and monitoring the parking environment by the driver through the display interactive system, and carrying out voice instruction to avoid collision in real time if undetected obstacles or collision risks exist in the parking path. The driver optimizes the path through the environment on the display interactive system and sends the optimized path voice to the vehicle-mounted entertainment information terminal, the vehicle-mounted entertainment information terminal control module sends the voice instruction to the parking controller, and the controller sends a command to the executing mechanism to park.
The main advantages of the invention are as follows: 1. the path optimization is carried out by using the driving experience of the driver, so that the parking risk is reduced, and the parking success rate is improved; 2. and the real-time requirement of the parking process is met.
It is clear that the specific implementation of the invention is not restricted to the above-described embodiments, but that various insubstantial modifications of the inventive process concept and technical solutions are within the scope of protection of the invention.
Claims (10)
1. An automatic parking control system comprises an automatic parking controller, a parking space detection and data acquisition module and an execution mechanism, wherein the automatic parking controller carries out path planning according to received data acquired by the parking space detection and data acquisition module and controls the execution mechanism to park according to a planned path; the method is characterized in that: the system further comprises a voice interaction system, wherein the voice interaction system is connected with the automatic parking controller and is used for sending the collected and recognized voice control instruction into the automatic parking controller, and the automatic parking controller immediately executes the voice control instruction after receiving the voice control instruction in the parking process.
2. An automatic parking control system as defined in claim 1, wherein: the priority of the voice control instruction is greater than the path planning instruction of the automatic parking controller.
3. An automatic parking control system according to claim 1, characterized in that: the voice interaction system comprises a voice recognition module and a voice control module, wherein the voice recognition module is used for collecting voice signals and recognizing corresponding voice instructions and sending the voice instructions to the control module, and the output end of the control module is connected with the automatic parking controller and used for sending the voice instructions to the automatic parking controller, and the automatic parking controller drives the execution mechanism to work according to the voice instructions.
4. An automatic parking control system according to claim 3, characterized in that: the voice interaction system further comprises an image display module, wherein the image display module is connected with the control module and used for displaying the image information of the automatic parking environment and the parking planning route.
5. An automatic parking control system according to claim 3 or 4, characterized in that: the voice interaction system is realized by adopting a vehicle-mounted entertainment information terminal.
6. An automatic parking control system according to claim 3 or 4, characterized in that: the control system further comprises a voice control switch, and the voice control switch is connected with the control module and used for starting the voice interaction system.
7. An automatic parking control system according to any one of claims 1 to 6, characterized in that: the actuator includes a powertrain system and a chassis system of the vehicle.
8. An automatic parking control system according to any one of claims 1 to 6, characterized in that: the parking space detection and data acquisition module comprises an ultrasonic radar and a wide-angle camera.
9. A control method of an automatic parking control system according to any one of claims 1 to 8, characterized in that: the method comprises the following steps:
when a driver starts the voice interaction system through the voice control switch, the control instruction of the voice interaction system is collected in real time, and when the voice control instruction is detected, the automatic parking controller stops operating the automatic parking system to plan a path and executes the voice control instruction.
10. The control method of an automatic parking control system according to claim 9, characterized in that: the voice control instruction comprises a voice stop instruction and/or a voice path planning instruction sent by the driver when the automatic parking is abnormal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911328694.0A CN110871792A (en) | 2019-12-20 | 2019-12-20 | Automatic parking control system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911328694.0A CN110871792A (en) | 2019-12-20 | 2019-12-20 | Automatic parking control system and method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112158192A (en) * | 2020-06-24 | 2021-01-01 | 上汽通用五菱汽车股份有限公司 | Parking control method and parking control system |
| CN114013431A (en) * | 2022-01-06 | 2022-02-08 | 宁波均联智行科技股份有限公司 | Automatic parking control method and system based on user intention |
| CN114882885A (en) * | 2022-07-11 | 2022-08-09 | 广州小鹏汽车科技有限公司 | Voice interaction method, server, vehicle and storage medium |
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| KR20150006270A (en) * | 2013-07-08 | 2015-01-16 | 체이시로보틱스(주) | Apparatus for automatically parking vehicle |
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| CN114882885A (en) * | 2022-07-11 | 2022-08-09 | 广州小鹏汽车科技有限公司 | Voice interaction method, server, vehicle and storage medium |
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Application publication date: 20200310 |