CN101727754A - Parking guiding system and guiding method thereof - Google Patents
Parking guiding system and guiding method thereof Download PDFInfo
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- CN101727754A CN101727754A CN200810172052A CN200810172052A CN101727754A CN 101727754 A CN101727754 A CN 101727754A CN 200810172052 A CN200810172052 A CN 200810172052A CN 200810172052 A CN200810172052 A CN 200810172052A CN 101727754 A CN101727754 A CN 101727754A
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Abstract
The invention discloses a parking guiding system and a guiding method thereof, wherein the guiding method comprises the following steps of: sending an image picked by an image sensor to an electronic controlling device by utilizing the combination of a display screen, the image sensor, a vehicle speed sensor and the electronic controlling device to judge a preset parking position, then obtaining the relative coordinates of a current position and the preset parking position through the picked image and a vehicle speed, estimating a parking starting position, and describing a concrete forward guide track from the vehicle current position to the preset parking position by passing through the parking starting position or the forward guide track from the current position to the parking starting position on the display screen according to a parking mode, so that a driver can refer to the display screen to easily, effectively and rapidly park the vehicle, and the occurrence of scraping and collision situations can also be effectively avoided.
Description
Technical field
The present invention relates to a kind of parking guiding system, particularly about a kind of can according to around situation judge in detail, the driver is provided parking guiding system and the guidance method thereof of lead track to the precalculated position that move ahead.
Background technology
How busy at car, the area that the people crowds more, commonly pace up and down for a long time in areal in order to seek the parking stall to the driver, wherein, it is that hardship is looked for beyond the no parking stall that the overwhelming majority is arranged, it may be to have missed the parking stall that part is also arranged, can't turn one's head again and must look for new parking space more again, or, the driver has sought the parking stall, but may can't judge whether parking space is enough because of lacking experience, can only rely on and move car back and forth to confirm whether can stop smoothly, if still can't stop into parking space, then except losing time, still can only abandon described parking space and look for again.Suchlike situation, constantly show every day in streets and lanes, except that time and effort consuming, if carry out curb parking on road side bustling with vehicles, hinders the moving-wire of back car unavoidably, causes traffic to hinder, and what is more, traffic accident takes place.In addition, if driving itself stop lack experience or stopping technical bad, also be easy to remove the own personal property of infringement in moving other vehicles of side swipe or article in the middle of the car process, cause loss on disagreement and others' property with other party unavoidably.Therefore, how planning a method of guiding parking fast, is the problem of research worth thinking deeply about.
Now the stop mode of guiding, the most basic is to cooperate with the distance sensing device to go up the sound caution system, in reversing, allow the driver grasp with the length of serge sound and barrier between general distance.Better, the combination of matching camera and display screens more further provides simultaneously the reversing picture to driver's reference in reversing.Yet, above-mentioned reversing guide mode, if the driver lacks experience, can't judge whether parking space is enough, or the driving technology is not good, add under the limited situation of distance sensing device sensing range and angle that the driver still can't be correctly and smoothly vehicle stopped on the predetermined parking spot, also can't get rid of and to take place with the situation of one side barrier side swipe.
So, at present existing manufacturer proposes the auxiliary solution of stopping to this, as TaiWan, China patent publication No. " 200706418 ", the Taiwan patent No. " I265882 ", " I230128 ", " I229645 ", " parking aid " of " 533154 " and " 518292 " all adopts the image of rear-view camera with acquisition rear view of vehicle parking area, enter the method for parking space to assist the car owner to move backward, though right said method can be assisted and be moveed backward, but, prepares when moveing backward by vehicle if arriving parking space the place ahead, the described parking spot deficiency of Fang Faxian is so that vehicle backing when entering parking space, above-mentioned existing mode must be moved forward and backward vehicle can meet the setting of parking assistance system until described parking spot till voluntarily by the car owner, it is auxiliary to move backward, but if this then loses the auxiliary original idea of stopping, so be necessary to propose a kind of parking initial position and system that guides and method of being predetermined at above-mentioned shortcoming.
In view of this, the present invention be propose a kind of can be more accurate with vehicle parking guiding system in order fast, so shorten down time, and owing to can judge the tram of the size that is fit to stop automatically, the driver need not to rely on thumb rule, can avoid the spent time of misjudgment.
Summary of the invention
Because above-mentioned technical matters, the objective of the invention is is providing a kind of parking guiding system and guidance method thereof, provides the clear and definite lead track that moves ahead for driver's warehouse-in that can directly stop, perhaps with the best car backing position of vehicle guidance to.
A time purpose of the present invention provides a kind of parking guiding system and guidance method thereof, and it provides omnidistance guiding parking mechanism, makes the driver can vehicle in order more quickly and accurately, effectively shortens driver's down time.
A further object of the present invention provides a kind of parking guiding system and guidance method thereof, and it can rely on preceding image sensor chosen in advance predetermined parking space to be put, and puts the parking reference position that decision is parallel to road approximately according to described predetermined parking space, and guides.
Another purpose of the present invention provides a kind of parking guiding system and guidance method thereof, its guiding of can stopping by means of the minimum carriage return radius of vehicle.
Another purpose of the present invention provides a kind of parking guiding system and guidance method thereof, and multiple car-parking model is provided, and can put and provide preferable car-parking model to select for the user according to predetermined parking space.
Another purpose of the present invention provides a kind of parking guiding system and guidance method thereof, it can provide a parking spot choice box to select a predetermined parking space to put for the user, and continue to keep the described parking spot choice box of demonstration, there is not the situation of clearly cooking up parking spot frame line on the road to be applicable to.
Another purpose of the present invention provides a kind of parking guiding system and guidance method thereof, and it has the indication of multiple car-parking model and wheelpath, can cooperate various different parking environment, indication drive advance or move backward after directly enter default parking spot.
For achieving the above object, the technical solution used in the present invention comprises:
A kind of parking guiding system is located on the vehicle, it is characterized in that: described parking guiding system comprises:
One display screen is located in the described vehicle and watches for the driver;
At least one image sensor is located at described vehicle front, to capture described vehicle front area image;
At least one speed of a motor vehicle perceptron is to capture a road speed of described vehicle; And
One electronic-controlled installation (ECU), link described display screen, described image sensor and described speed of a motor vehicle perceptron, described electronic-controlled installation is by picture that described image sensor captures, indicating a predetermined parking space on described display screen puts, and cooperate described image sensor institute's pick-up image and described speed of a motor vehicle road speed that perceptron captures, obtain the relative coordinate that a present position and described predetermined parking space are put, estimate a parking reference position again, and directly stop with the guiding driver indicating the lead track that moves ahead of described present position to described parking reference position and described predetermined parking space between putting on the described display screen, perhaps described present position to the lead track that moves ahead of described parking reference position so that the driver to be provided the best section start of moveing backward.
For achieving the above object, the technical solution used in the present invention also comprises:
A kind of parking guidance method to guide a vehicle parking, is characterized in that, comprises the following steps:
(A) road speed of described vehicle front area image of acquisition and described vehicle;
(B) after described image of judgement and the described road speed, on a display screen, indicate a predetermined parking space and put; And
(C) obtain the relative coordinate that a present position and described predetermined parking space are put, estimate a parking reference position simultaneously, and directly stop with the guiding driver indicating the lead track that moves ahead of described present position to described parking reference position and described predetermined parking space between putting on the described display screen, perhaps described present position to the lead track that moves ahead of described parking reference position so that the best reversing of driver section start to be provided.
Compared with prior art, the beneficial effect that the present invention has is: thus, clearly indicate the driver path of can stopping,, and drive and be subject to no longer that driving technology is bad, the parking stall is narrow and small or barrier is arranged and worry about and fear with fast and effectively that vehicle is in order.
Description of drawings
Fig. 1 is the framework calcspar of parking guiding system of the present invention;
Fig. 2 is the display screen and the front and back image sensor installation position synoptic diagram of parking guiding system of the present invention;
Fig. 3 is the stop process flow diagram of guide mode of the present invention;
Fig. 4 puts a wherein guided mode synoptic diagram for parking guiding system of the present invention enters predetermined parking space with headstock;
Fig. 5 a is guided in the situation of display screen, the setting that the expression predetermined parking space is put for Fig. 4 stops;
Fig. 5 b is guided in the situation of display screen for Fig. 4 stops, the path indication of expression lead track;
Fig. 6 puts another guided mode synoptic diagram for parking guiding system of the present invention enters predetermined parking space with headstock;
Fig. 7 is the synoptic diagram that Fig. 6 asks for rotary path;
Fig. 8 a is that Fig. 6 stops and is guided in the situation of display screen, the setting that the expression predetermined parking space is put;
Fig. 8 b is that Fig. 6 stops and is guided in the situation of display screen, and the expression present position is to the lead track path indication of the reference position of stopping;
Fig. 8 c is that Fig. 6 stops and is guided in the situation of display screen, expression reversing picture and lead track demonstration;
Fig. 8 d is that Fig. 6 stops and is guided in the situation of display screen, and the expression vehicle is put the demonstration that generally is parallel with predetermined parking space;
Fig. 9 enters the guided mode synoptic diagram that predetermined parking space is put for parking guiding system of the present invention in the reversing mode;
The vehicle movement model synoptic diagram that Figure 10 sets up when moveing backward for parking guiding system of the present invention is to calculate the reversing lead track;
Figure 11 a is that Fig. 9 stops and is guided in the situation of display screen, and the expression predetermined parking space is put and the setting of the reference position of stopping;
Figure 11 b is that Fig. 9 stops and is guided in the situation of display screen, expression reversing picture and lead track demonstration;
Figure 12 is the guided mode synoptic diagram of the parallel parking in parking guiding system of the present invention roadside;
Figure 13 a is that Figure 12 stops and is guided in the situation of display screen, the setting that the expression predetermined parking space is put;
Figure 13 b is that Figure 12 stops and is guided in the situation of display screen, and the expression present position is to the lead track path indication of the reference position of stopping;
Figure 13 c is that Figure 12 stops and is guided in the situation of display screen, expression reversing picture and lead track demonstration.
Description of reference numerals: 10 display screens; 11 parking spot choice boxs; 12 predetermined parking space are put; 13 present positions; 14,14 ' parking reference position; 15 move ahead or move backward lead track; 16 Vehicular turn tracks; 20 image sensor; 30 turn to perceptron; 40 speed of a motor vehicle perceptrons; 50 loudspeakers; 60 electronic-controlled installations.
Embodiment
The present invention is a kind of parking guiding system and guidance method thereof, it is to provide one quick, the accurate guiding mechanism of stopping, can be to put by the suitably big or small predetermined parking space of the automatic judgement one of a parking spot choice box by electronic-controlled installation (ECU), perhaps by the driver manually by the touch-control screen be about to earlier the parking spot choice box move to one suitably the predetermined parking space of size put, thereafter, system puts according to predetermined parking space and estimates a parking reference position by the vehicle minimum turning radius, and planning shows by the present position of the vehicle lead track that moves ahead to the reference position of stopping, and after arriving at described parking reference position, then continuous planning shows the reversing lead track of putting from described parking reference position to described predetermined parking space, under the guiding of the system that STOP HERE, can lighter vehicle in order smoothly; And selected predetermined parking space postpone, this parking spot choice box are to continue to show up to vehicle to stop only being changed to into predetermined parking space.
The basic framework of parking guiding system of the present invention as shown in Figure 1, it comprises: a display screen 10, two image sensor 20, turn to perceptron 30, a speed of a motor vehicle perceptron 40, a loudspeaker 50 and an electronic-controlled installation 60 (ECU).Cooperate shown in Figure 2ly, in the middle of present embodiment, this display screen 10 is touch control type LCD display screens, and it is arranged in the vehicle near the driver's seat position, provides the driver to watch the information of driving; And these two image sensor 20 can for charge coupled cell (CCD) or complementary metal oxide semiconductor (CMOS) one of them, be separately positioned on outside near-car head of car body and nearly tailstock position, so obtain the area image of this vehicle front or side the place ahead and rear or proceeds posterolateral; Utilize speed of a motor vehicle perceptron 40 further to obtain vehicle driving speed again, described speed of a motor vehicle perceptron can be wheel speed perceptron or acceleration perceptron ... etc.Secondly, native system cooperates steering structures such as turning to perceptron 30 link direction dishes, obtains vehicle car body deviation angle in the middle of advancing; Loudspeaker 50 is then as sounding caution driving situation; Certainly display screen 10, image sensor 20, turn to perceptron 30, speed of a motor vehicle perceptron 40 and loudspeaker 50 all with electronic-controlled installation 60 electrically connects, after utilizing whole above-mentioned each information of electronic-controlled installation 60 remittances, analyze calculation and derive, give driver's vehicle driving states via display screen 10 and loudspeaker 50 repayment again.
For further understanding this parking guiding system function mode, cooperate and consult the stop process block diagram of guidance method of Fig. 3, explain the operating mode of parking guiding system earlier at this.When the driver prepares the suitable parking spot of searching, the picture that electronic-controlled installation 60 can be captured image sensor 20 is via coordinate conversion and perspective projection algorithm, watch for the driver video imaging is projected on the display screen 10, at the same time, electronic-controlled installation 60 shows a parking spot choice box 11 according to the car body magnitude estimation, and by around the further judgement of image identification whether the open space that is large enough to hold this parking spot choice box 11 being arranged, if have, but then demarcate this parking space is that a predetermined parking space puts 12, certainly, also consider the variation of parking condition, therefore, the mode that also provides manual selection predetermined parking space to put, the driver can the switched system pattern, and then moving this parking spot choice box 11 by display screen 10, but to finish the position of parking space selected, and for fear of this insufficient space to hold the car body size, this moment, electronic-controlled installation 60 meetings be carried out the locus detecting according to parking spot choice box 11 positions by image, if but this parking space is more than or equal to this parking spot choice box 11, soon it is set at predetermined parking space and puts 12, thus, can more perfect adaptation more plant different parking conditions and road situations; Continue, finish predetermined parking space put 12 demarcate after, by electronic-controlled installation 60 parking spot choice box 11 being maintained predetermined parking space puts on 12 and continues to be indicated in the display screen 10, still can provide the driver parking target position significantly at no obvious parking lattice place, access path Planning Model subsequently, otherwise,, but then point out the user to seek new parking space separately if apodia is holding the space of this parking spot choice box 11; But and finish predetermined parking space put 12 selected and affirmation parking spaces be greater than/equal parking spot choice box 11 after, electronic-controlled installation 60 puts 12 and estimate a parking reference position 14 according to present position 13 and predetermined parking space, and the move ahead lead track 15 of present position 13 to described parking reference position 14 is provided simultaneously; In addition, enter predetermined parking space 12 the mode of putting according to vehicle and can roughly be divided into two kinds of parallel parking and parking warehouse-in patterns, the warehouse-in pattern of wherein stopping can be introduced into parking spot and be further divided into headstock to go into earlier with the tailstock to go into two kinds of patterns earlier again according to the headstock or the tailstock; Before the still non-selected car-parking model of user, described electronic control system 60 is the parking reference positions 14 that estimate each car-parking model in advance, and put width and Automatic sieve is selected to meet and stopped putting 12 car-parking model into described predetermined parking space and select for the user according to lane width, predetermined parking space, and one of therein the place ahead or rear are for reference with literal or symbology system best suggestion pattern.In addition, in the middle of the built-in setting of system, electronic-controlled installation 60 is that the place ahead or 20 picked image of front side image sensor are carried out inputing to display screen 10 after coordinate conversion and the perspective projection, and obtain the relative coordinate (x7 of present position 13 simultaneously, y7) (x6, y6) and predetermined parking space put 12 relative coordinate (x1, y1) (x8, y8) (x9, y9) (x10, y10), bring mathematical formulae again into, further derive the coordinate position (x4 of a best parking reference position 14, y4) (x5, y5), simultaneously, with present position 13 (x7, y7) (x6 is y6) to reference position 14 (x4, the y4) (x5 of stopping, y5) between, and the parking reference position (x4, y4) (x5 y5) puts 12 (x1 to predetermined parking space, y1) (x8, y8) connect to the concrete lead track 15 that moves ahead or move backward with line segment between and be illustrated in the display screen 10, and show a Vehicular turn track 16 in display screen 10 according to turning to perceptron 30 resulting vehicle shift angle estimations simultaneously, allow the driver can control bearing circle and make described Vehicular turn track 16 follow this lead track 15 to advance and stop, if traffic route and lead track 15 be deviation to some extent, also can revise.For allowing the people be more readily understood, below the employed mathematical expression of various car-parking models is described further.At this each parametric representation meaning is described earlier, wherein, R
InRepresent the interior wheel of the minimum carriage return radius of described vehicle, R
OutRepresent minimum carriage return foreign steamer radius, L represents vehicle body long, and W represents vehicle body wide, and b1 represents parking spot nargin, and φ represents bearing circle rotation angle, N
sRepresent the ratio of bearing circle rotation angle and wheel steering angle, on behalf of a virtual vehicle parking trailing wheel and predetermined parking space when parking reference position 14, n put the value of longitudinal pitch-b1 of 12, and on behalf of parking reference position 14 and predetermined parking space, m put 12 horizontal spacing.The proposition explanation is especially, when b1=0, promptly represents minimum parking space, and for exempting from driver's side swipe surrounding vehicles, suggestion slows down road speed, travels immediately following lead track 15; In addition because parking condition inequality, so, cooperate the conversion of gear, image sensor 20 also can be followed image switching, also, cooperates the difference of move ahead track or backing track, conversion with reference to the driving picture to driver's reference; Moreover, can not there be barrier to occur on the lead track 15, so, can utilize modes such as image processing or ultrasonic perceptron to cooperate loudspeaker 50 to do the repayment of barrier detection; Wherein above-mentioned parking reference position 14 is to put 12 minimum carriage return radius with predetermined parking space to estimate and get, and its parking reference position 14 is roughly parallel with road.
When below separately explaining predetermined parking space and putting 12 vertical vehicle travel paths (parking warehouse-in pattern), and predetermined parking space parking guide mode of (parallel car-parking model) when putting 12 parallel vehicle travel paths.With reference to figure 4 expressions, when predetermined parking space is put 12 approximate vertical at the vehicle travel path, if electronic-controlled installation 60 sails headstock into predetermined parking space and puts 12 and classify the Recommended option as, and the driver is when also selecting described car-parking model, the parking reference position to ask for mathematical expression promptly as follows:
n＝R
in-b1
Cooperate shown in Fig. 5 a and Fig. 5 b, thus, follow the best parking reference position 14 of being tried to achieve, and cooperate the path of lead track 15 to indicate, after the driver can be forwarded to parking reference position 14, the back carriage return that directly bearing circle fought to the finish enters predetermined parking space and puts in 12, and then finishes the action of stopping by once.Again with reference to figure 6 and Fig. 7, if run under the rotary space condition of limited, electronic-controlled installation 60 still is to judge that sailing predetermined parking space into headstock puts 12 when the easiest, and the moving-wire of advancing of vehicle can develop into and must advance to a parking reference position 14 earlier, follows least radius of gyration R again
InReversing is to putting 12 another parking reference positions 14 ' that generally are a straight line with predetermined parking space, the reference position of just stopping the thus at last 14 ' warehouse-in that stops; And two parking reference positions 14,14 ' and least radius of gyration R
InAsk for the following expression of formula:
n＝R
in-b1
m≥m
min＝R
out-R
in-W
Real in Fig. 8 a, Fig. 8 b, Fig. 8 c and Fig. 8 d, be display screen 10 picture displayed situations when this driving pattern, wherein, Fig. 8 a is system vehicle positioning stop precalculated position 12, and continues the picture of sign parking spot choice box 11 on display screen 10; Fig. 8 b is that electronic-controlled installation 60 indicates the move ahead lead track 15 of present position (not shown) to the reference position 14 of stopping at display screen 10, the driver can cooperate the path indication of the lead track 15 that moves ahead, vehicle is driven on the parking reference position 14 by present position, again with reference to figure 8c, in the time of reversing, electronic-controlled installation 60 is according to least radius of gyration R
InNumerical value indicate the reversing lead track 15 of vehicle and present Vehicular turn track 16 at display screen 10, controlling bearing circle in order to the driver aims at reversing lead track 15 with Vehicular turn track 16 and advances, and vehicle and predetermined parking space put 12 generally be parallel in, indicate referential another parking reference position 14 ', just Fig. 8 d schemes shown situation at display screen 10, represent vehicle body and predetermined parking space to put 12 and be located along the same line, the driver can directly drive predetermined parking space into and put 12 at this moment.In addition,, just represent that also can adopt reversing warehouse-in mode directly to sail predetermined parking space into and put among 12, its parking reference position 14 is deduced mathematical expression just as following as Fig. 9 if reversing is turned round apart from enough:
n＝R
in-b1
Moreover, please cooperate with reference to Figure 10, the vehicle movement model when cooperating following formula to set up reversing according to the distance in parking precalculated position 12 and orientation so, indicates the lead track 15 of moveing backward in display screen 10; Wherein use symbol, the v representative reversing speed of a motor vehicle, l represents the axletree wheelbase, and φ represents front axle center point steering angle, (x
f, y
f) represent the front axle center point coordinate, and (x
r, y
r) represent rear shaft center's point coordinate:
Being calculated as follows of the travel track of the left back end of vehicle:
Being calculated as follows of the travel track of vehicle right rear end:
Again, reversing warehouse-in enters predetermined parking space and puts 12 planning such as Figure 11 a and b and be illustrated in the display screen 10.In addition, if predetermined parking space is put when being parallel to the vehicle travel path, also be that vehicle will carry out the parallel parking in roadside, just show as Figure 12, be to utilize following mathematics calculation formula:
Cooperate with reference to figure 13a, Figure 13 b and Figure 13 c, in that here we list the space width D that the space length of parking spot nargin b1, parking is considered as H and parking in consideration in the lump, after making that the driver can be parked in parking reference position 14, can move backward and directly return predetermined parking space and put 12, also be a time saving and energy saving mode, especially by street bustling with vehicles, fast car stopped putting 12 into predetermined parking space, can avoid counteracting rear wagon flow moving-wire, reduction accident generation situation.
Therefore, utilize parking guiding system proposed by the invention and guidance method thereof, not only can be quick, efficient vehicle in order, and can adapt to multiple parking environment, driving does not need to move for a long time vehicle and seeks the angle of stopping, so, effectively save and expend time in, simultaneously because can guide predetermined parking space to put, drive the problem that need behind the fear missing parking stall, can't heavily not come, in addition, the simple and clear Yi Liao of guide mode of the present invention, the judgement that the driver relies on screen and sound is the possibility of reduction and Ta Che or article side swipe effectively, and then relies on technology improvement of the present invention to be present in described disappearance in the background technology.
More than explanation is just illustrative for the purpose of the present invention; and nonrestrictive, those of ordinary skills understand, under the situation of the spirit and scope that do not break away from claim and limited; can make many modifications, variation or equivalence, but all will fall within protection scope of the present invention.
Claims (24)
1. a parking guiding system is located on the vehicle, it is characterized in that: described parking guiding system comprises:
One display screen is located in the described vehicle and watches for the driver;
At least one image sensor is located at described vehicle front, to capture described vehicle front area image;
At least one speed of a motor vehicle perceptron is to capture a road speed of described vehicle; And
One electronic-controlled installation (ECU), link described display screen, described image sensor and described speed of a motor vehicle perceptron, described electronic-controlled installation is by picture that described image sensor captures, indicating a predetermined parking space on described display screen puts, and cooperate described image sensor institute's pick-up image and described speed of a motor vehicle road speed that perceptron captures, obtain the relative coordinate that a present position and described predetermined parking space are put, estimate a parking reference position again, and directly stop with the guiding driver indicating the lead track that moves ahead of described present position to described parking reference position and described predetermined parking space between putting on the described display screen, perhaps described present position to the lead track that moves ahead of described parking reference position so that the driver to be provided the best section start of moveing backward.
2. parking guiding system according to claim 1, it is characterized in that: more be provided with a described image sensor at described rear view of vehicle, with acquisition rear view of vehicle area image, when described vehicle marches to the preparation of described parking reference position when stopping in the reversing mode, described electronic-controlled installation is estimated the reversing lead track that described parking reference position to described predetermined parking space is put and is presented at described display screen.
3. parking guiding system according to claim 1, it is characterized in that: it is to select by means of a parking spot choice box to demarcate that described predetermined parking space is put, and after finishing demarcation, described parking spot choice box can be put in the described predetermined parking space of described display screen and continue to show.
4. parking guiding system according to claim 3, it is characterized in that: carrying out the selection timing signal that described predetermined parking space is put, described electronic-controlled installation carries out the locus detecting to selected described parking spot choice box position by image,, be about to it and be set at described predetermined parking space and put if but described stand space is more than or equal to described parking spot choice box.
5. parking guiding system according to claim 4 is characterized in that: described parking spot choice box is open space to be carried out setting up on their own behind the position detecting by image by described electronic-controlled installation.
6. parking guiding system according to claim 1, it is characterized in that: described electronic-controlled installation provides parallel parking and two kinds of patterns of reversing warehouse-in, and reversing warehouse-in pattern can be gone into earlier or the tailstock is gone into earlier and provide two kinds of car-parking models selective again according to headstock again.
7. parking guiding system according to claim 6, it is characterized in that: described electronic-controlled installation is the described parking reference position that estimates each car-parking model in advance, and puts width and Automatic sieve is selected to meet and stopped the car-parking model put into described predetermined parking space and select for the user according to lane width, described predetermined parking space.
8. parking guiding system according to claim 6 is characterized in that: when selected parking warehouse-in pattern of going into earlier with headstock was stopped, described electronic-controlled installation was any one via following formula, sets described parking reference position;
Condition one:
N=R
In-b1; And
And condition two:
N=R
In-b1; And
m≥m
min＝R
out-R
in-W
Wherein, R
InRepresent the minimum carriage return radius of described vehicle, R
OutRepresent maximum carriage return radius, L represents vehicle body long, and W represents vehicle body wide, and b0, b1 represent parking spot nargin, and φ represents bearing circle rotation angle, N
sThe ratio of bearing circle rotation angle and wheel steering angle, n represent a virtual vehicle parking when the parking reference position, the value of longitudinal pitch-b1 that trailing wheel and predetermined parking space are put, the horizontal spacing that on behalf of parking reference position and predetermined parking space, m put.
9. parking guiding system according to claim 1, it is characterized in that: more include one and turn to perceptron, to provide described vehicle shift angle to described electronic-controlled installation, described electronic-controlled installation is so estimated demonstration one Vehicular turn track, makes described Vehicular turn track follow described lead track to advance to provide the driver to control bearing circle.
10. parking guiding system according to claim 1 is characterized in that: comprise that more at least one ultrasonic perceptron links described electronic-controlled installation, is used for carrying out the barrier detection of described vehicle-surroundings.
11. parking guiding system according to claim 1 is characterized in that: described electronic-controlled installation is to estimate described parking reference position according to the minimum carriage return radius of vehicle.
12. parking guiding system according to claim 1 is characterized in that: described parking reference position is to be roughly parallel to road.
13. a parking guidance method to guide a vehicle parking, is characterized in that, comprises the following steps:
(A) road speed of described vehicle front area image of acquisition and described vehicle;
(B) after described image of judgement and the described road speed, on a display screen, indicate a predetermined parking space and put; And
(C) obtain the relative coordinate that a present position and described predetermined parking space are put, estimate a parking reference position simultaneously, and directly stop with the guiding driver indicating the lead track that moves ahead of described present position to described parking reference position and described predetermined parking space between putting on the described display screen, perhaps described present position to the lead track that moves ahead of described parking reference position so that the best reversing of driver section start to be provided.
14. parking guidance method according to claim 13, it is characterized in that: in step (C) during when the driver arrives described parking reference position, capture described rear view of vehicle area image, and show that described parking reference position to the reversing lead track between described parking precalculated position supplies driver's reference.
15. parking guidance method according to claim 13, it is characterized in that: among step (B), it is to select by means of a parking spot choice box to demarcate that described predetermined parking space is put, and after finishing demarcation, described parking spot choice box can be put in the described predetermined parking space of described display screen and continue to show.
16. parking guidance method according to claim 15, it is characterized in that: after carrying out selection that described predetermined parking space puts and demarcating, carry out the space by image and detect described parking spot choice box position,, promptly be set at described predetermined parking space and put if but described stand space is selected more than or equal to described parking spot.
17. parking guidance method according to claim 16, it is characterized in that: step (B) is by image open space to be carried out the position Auto-Sensing, puts as described predetermined parking space but calibrate more than or equal to the parking space of described parking spot choice box.
18. parking guidance method according to claim 13 is characterized in that: step (C) provides parallel parking and two kinds of model selections of reversing warehouse-in, and reversing warehouse-in pattern can be gone into earlier or the tailstock is gone into earlier and provide two kinds of car-parking models to select again according to headstock again.
19. parking guidance method according to claim 18, it is characterized in that: be the described parking reference position that estimates each car-parking model earlier, and put width and Automatic sieve is selected to meet and stopped the car-parking model put into described predetermined parking space and select for the user according to lane width, described predetermined parking space.
20. parking guidance method according to claim 18 is characterized in that: when selected parking warehouse-in pattern of going into earlier with headstock was stopped, described electronic-controlled installation was any one via following formula, sets described parking reference position;
Condition one:
N=R
In-b1; And
And condition two:
N=R
In-b1; And
m≥m
min＝R
out-R
in-W
Wherein, R
InRepresent the minimum carriage return radius of described vehicle, R
OutRepresent maximum carriage return radius, L represents vehicle body long, and W represents vehicle body wide, and b1 represents parking spot nargin, and φ represents bearing circle rotation angle, N
sThe ratio of bearing circle rotation angle and wheel steering angle, n represent a virtual vehicle parking when the parking reference position, the value of longitudinal pitch-b1 that trailing wheel and predetermined parking space are put, the horizontal spacing that on behalf of parking reference position and predetermined parking space, m put.
21. parking guidance method according to claim 13, it is characterized in that: in the step (C), more capture described vehicle shift angle to demonstrate a Vehicular turn track, control wheel steering, make described Vehicular turn track follow described lead track to advance so that the driver to be provided.
22. parking guidance method according to claim 13 is characterized in that: in the step (C), and do barrier detection by at least one ultrasonic perceptron.
23. parking guidance method according to claim 13 is characterized in that: step (C) is to estimate described parking reference position according to the minimum carriage return radius of vehicle.
24. parking guidance method according to claim 13 is characterized in that: the described parking reference position of step (C) is to be roughly parallel to road.
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