CN101727754B - Parking guiding system and guiding method thereof - Google Patents

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

Parking guiding system and guidance method thereof

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 precalculated position that move ahead.

Background technology

How busy at car, the area that how crowded the people is, commonly to the driver, in order to seek parking stall, in areal, hover when many, wherein, it is that hardship is looked for without beyond parking stall that the overwhelming majority is arranged, it may be to have missed parking stall that part is also arranged, can't turn one's head again and must again look for again new parking space, or, the driver has sought parking stall, but may can't judge that because lacking experience whether parking space is enough, can only rely on and move back and forth car and can stop smoothly being confirmed whether, if still can't stop into parking space, except losing time, still can only abandon described parking space and again look for.Suchlike situation, constantly show every day in streets and lanes, except time and effort consuming, if carry out curb parking on road side bustling with vehicles, hinders unavoidably the moving-wire of back car, causes traffic to hinder, and what is more, traffic accident occurs.In addition, if driving itself stop lack experience or stopping technical bad, also be easy to, in moving other vehicles of side swipe or article in the middle of the car process, except the own personal property of infringement, unavoidably with other party, cause the loss on disagreement and others' property.Therefore, how planning a method that guiding is stopped fast, is the problem of research worth thinking deeply about.

Now the stop mode of guiding, the most basic is to coordinate upper sound caution system with the distance sensing device, in reversing, with the length of serge sound, allow the driver grasp and barrier between general distance.Better, the combination of matching camera and display screens again, further provide the reversing picture to driver's reference simultaneously in reversing.Yet, above-mentioned reversing guide mode, if the driver lacks experience, can't judge that 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, the driver still can't be correctly and smoothly vehicle is stopped on predetermined parking spot, also can't get rid of and may occur with the situation of one side barrier side swipe.

Therefore, at present existing manufacturer proposes to this auxiliary solution of stopping, 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 so said method can be assisted and be moveed backward, if prepare while being moveed backward but vehicle arrives parking space the place ahead, the described parking spot deficiency of Fang Faxian is so that vehicle backing while entering parking space, above-mentioned existing mode must move forward and backward vehicle until described parking spot can meet the setting of parking assistance system voluntarily by the car owner, can move backward auxiliary, if but this loses the auxiliary original idea of being stopped, therefore be necessary to propose a kind of parking initial position the system of being guided and method of predetermining for above-mentioned shortcoming.

In view of this, the present invention be propose a kind of can be more accurately by vehicle parking guiding system in order fast, so shorten down time, and owing to being applicable to the big or small tram of stopping by automatic decision, the driver, without relying 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, or by the best car backing position of vehicle guidance to.

Of the present invention time a purpose is to provide a kind of parking guiding system and guidance method thereof, and it provides omnidistance guiding parking mechanism, makes driver's vehicle in order more quickly and accurately, effectively shortens driver's down time.

A further object of the present invention is to provide a kind of parking guiding system and guidance method thereof, and it can rely on front image sensor chosen in advance predetermined parking space to be put, and puts according to described predetermined parking space the parking reference position that decision approximately is parallel to road, and is guided.

Another purpose of the present invention is to provide 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 is to provide a kind of parking guiding system and guidance method thereof, and multiple car-parking model is provided, and can put and provide better car-parking model to select for the user according to predetermined parking space.

Another purpose of the present invention is to provide 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 maintain the described parking spot choice box of demonstration, to be applicable on road without clearly cooking up the situation of parking spot frame line.

Another purpose of the present invention is to provide a kind of parking guiding system and guidance method thereof, and it has the indication of multiple car-parking model and wheelpath, can coordinate various different parking environments, 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, be located on a vehicle, it is characterized in that: described parking guiding system comprises:

One display screen, be located in described vehicle and watch for the driver;

At least one image sensor, be located at described vehicle front, to capture described vehicle front area image;

At least one speed of a motor vehicle perceptron, 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 coordinate 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 again a parking reference position, and indicate the move ahead lead track of described present position to described parking reference position and described predetermined parking space between putting to guide the driver directly to stop on 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.

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) capture the road speed of described vehicle front area image and described vehicle;

(B), after judging described image and described road speed, indicate a predetermined parking space and put on a display screen; And

(C) obtain the relative coordinate that a present position and described predetermined parking space are put, estimate a parking reference position simultaneously, and indicate the move ahead lead track of described present position to described parking reference position and described predetermined parking space between putting directly stop with the guiding driver on described display screen, or 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, with fast and effectively that vehicle is in order, and drive and no longer be limited to that driving technology is bad, parking stall is narrow and small or barrier is arranged and worry about and fear.

The accompanying drawing explanation

The framework calcspar that Fig. 1 is parking guiding system of the present invention;

The display screen that Fig. 2 is parking guiding system of the present invention and front and back image sensor installation position schematic diagram;

Fig. 3 is the stop process flow diagram of guide mode of the present invention;

Fig. 4 is that parking guiding system of the present invention enters predetermined parking space with headstock and puts a wherein guided mode schematic diagram;

Fig. 5 a is that Fig. 4 stops and is guided in the situation of display screen, means the setting that predetermined parking space is put;

Fig. 5 b is that Fig. 4 stops and is guided in the situation of display screen, means the path indication of lead track;

Fig. 6 is that parking guiding system of the present invention enters predetermined parking space with headstock and puts another guided mode schematic diagram;

Fig. 7 is the schematic 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, means the setting that predetermined parking space is put;

Fig. 8 b is that Fig. 6 stops and is guided in the situation of display screen, means the lead track path indication of present position to the reference position of stopping;

Fig. 8 c is that Fig. 6 stops and is guided in the situation of display screen, means reversing picture and lead track demonstration;

Fig. 8 d is that Fig. 6 stops and is guided in the situation of display screen, means that vehicle puts with predetermined parking space the demonstration that generally is parallel;

Fig. 9 is that parking guiding system of the present invention enters in the reversing mode guided mode schematic diagram that predetermined parking space is put;

The vehicle movement model schematic diagram that Figure 10 sets up while being parking guiding system reversing of the present invention, to calculate the reversing lead track;

Figure 11 a is that Fig. 9 stops and is guided in the situation of display screen, means that 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, means reversing picture and lead track demonstration;

The guided mode schematic diagram that Figure 12 is 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, means the setting that predetermined parking space is put;

Figure 13 b is that Figure 12 stops and is guided in the situation of display screen, means the lead track path indication of present position to the reference position of stopping;

Figure 13 c is that Figure 12 stops and is guided in the situation of display screen, means 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 steering sensing devices; 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, accurate parking Guidance-Mechanism, can be to be put by the predetermined parking space of the automatic judgement one suitable size of a parking spot choice box by electronic-controlled installation (ECU), perhaps by the driver manually by the touch-control screen first be about to the parking spot choice box move to one suitably the predetermined parking space of size put, thereafter, system is put according to predetermined parking space and is estimated a parking reference position by the vehicle minimum turning radius, and planning shows the lead track that moves ahead to the reference position of stopping by the present position of vehicle, and after arriving at described parking reference position, 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 be more easily vehicle in order smoothly, and selected predetermined parking space postpone, this parking spot choice box is to continue to show until vehicle stops only being set to into predetermined parking space.

As shown in Figure 1, it comprises the basic framework of parking guiding system of the present invention: a display screen 10, two image sensor 20, a steering sensing device 30, a speed of a motor vehicle perceptron 40, a loudspeaker 50 and electronic-controlled installations 60 (ECU).Coordinate shown in Fig. 2, in the middle of the present embodiment, this display screen 10 is touch control type LCD display screens, and it is arranged on close driver's seat position in vehicle, 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 the 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; Recycling speed of a motor vehicle perceptron 40 is further obtained vehicle driving speed, and described speed of a motor vehicle perceptron can be wheel speed perceptron or acceleration perceptron ... etc.Secondly, native system coordinates the steering structures such as steering sensing device 30 link direction dishes, obtains vehicle car body deviation angle in the middle of advancing; Loudspeaker 50 is as sounding warning driving situation; Certainly display screen 10, image sensor 20, steering sensing device 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 remittance, analyze calculation and derive, then return to driver's vehicle driving states via display screen 10 and loudspeaker 50.

For further understanding this parking guiding system function mode, coordinate and to consult the stop process block diagram of guidance method of Fig. 3, first explain the operating mode of parking guiding system at this.When the driver prepares the suitable parking spot of searching, the picture that electronic-controlled installation 60 can capture image sensor 20 is via coordinate conversion and perspective projection algorithm, video imaging is projected on display screen 10, for the driver, watch, at the same time, electronic-controlled installation 60 shows a parking spot choice box 11 according to the car body magnitude estimation, and further around judgement, whether the open space that is large enough to hold this parking spot choice box 11 is arranged by image identification, if have, but demarcate this parking space, be 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 complete the position of parking space selected, and for fear of this insufficient space to hold the car body size, now electronic-controlled installation 60 can carry out the locus detecting by image according to parking spot choice box 11 positions, if but this parking space is more than or equal to this parking spot choice box 11, soon it is set as predetermined parking space and puts 12, thus, can more perfect adaptation more plant different parking conditions and road situations, continue, after completing predetermined parking space and putting 12 demarcation, by electronic-controlled installation 60, parking spot choice box 11 being maintained to predetermined parking space puts on 12 and continues to be indicated in display screen 10, without obvious parking lattice place, still can provide significantly the driver parking target position, access path Planning Model subsequently, otherwise, if apodia to hold the space of this parking spot choice box 11, but point out the user to find separately new parking space, and after completing predetermined parking space but to put 12 selected and confirmation parking spaces be to be greater than/to equal parking spot choice box 11, 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 first to enter and first enter two kinds of patterns with the tailstock according to headstock or the tailstock again, before the user not yet selects car-parking model, described electronic control system 60 is the parking reference positions 14 that estimate in advance each car-parking model, 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 for reference with word or symbology system best suggestion pattern.In addition, in system in the middle of built-in setting, electronic-controlled installation 60 is that the image that the place ahead or front side image sensor 20 are captured carries out inputing to display screen 10 after coordinate conversion and 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 again mathematical formulae into, further derive the coordinate position (x4 of a best parking reference position 14, y4) (x5, y5), simultaneously, by present position 13 (x7, y7) (x6, y6) to the reference position 14 (x4 that stop, y4) (x5, y5) between, and parking reference position (x4, y4) (x5, y5) put 12 (x1 to predetermined parking space, y1) (x8, y8) connecting to the concrete lead track 15 that moves ahead or move backward with line segment between is illustrated in display screen 10, and show that according to the resulting vehicle shift angle estimation of steering sensing device 30 a Vehicular turn track 16 is in display screen 10 simultaneously, allowing the driver can control bearing circle makes described Vehicular turn track 16 follow this lead track 15 to advance and stopped, if traffic route and lead track 15 be deviation to some extent, also can be revised.For allowing the people be easier to understand, below mathematical expression that various car-parking models are used be described further.At this, each Parametric Representation meaning first is described, 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 that vehicle body is long, and W represents that vehicle body is 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, n represents that a virtual storing cycle trailing wheel and predetermined parking space when parking reference position 14 put the value of longitudinal pitch-b1 of 12, and m represents that parking reference position 14 and predetermined parking space put 12 horizontal spacing.The special proposition illustrates, when b1=0, represents minimum parking space, and for exempting from driver's side swipe surrounding vehicles, suggestion slows down road speed, immediately following lead track 15, travels; In addition, not identical due to parking condition, therefore, coordinate the conversion of gear, image sensor 20 also can be followed image switching, also, coordinates the difference of move ahead track or backing track, conversion with reference to the driving picture to driver's reference; Moreover, on lead track 15, can not there is barrier to occur, therefore, can utilize the modes such as image processing or ultrasonic perceptron to coordinate loudspeaker 50 to do the return of barrier detection; Wherein above-mentioned parking reference position 14 is to put 12 minimum carriage return radius with predetermined parking space estimated and obtain, and its parking reference position 14 is roughly parallel with road.

When below separately explaining predetermined parking space and putting 12 vertical vehicle travel path (parking warehouse-in pattern), and predetermined parking space parking guide mode of (parallel car-parking model) while putting 12 parallel vehicle travel path.With reference to figure 4, mean, when predetermined parking space is put 12 substantially vertical during 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 while also selecting described car-parking model, the parking reference position to ask for mathematical expression as follows:

$R_{\mathrm{in}}=L\×\cot \left(\frac{{\mathrm{\φ}}_{\max }}{N_s}\right)-\frac{W}{2}$

$R_{\mathrm{out}}=\sqrt{{(R_{\mathrm{in}}+W)}^2+L^2}$

n＝R _in-b1

$m\≥m_{\min }=R_{\mathrm{in}}-\sqrt{{R_{\mathrm{in}}}^2-n^2}$

Coordinate shown in Fig. 5 a and Fig. 5 b, thus, follow tried to achieve the best parking reference position 14, and coordinate the path of lead track 15 to indicate, after the driver can be forwarded to parking reference position 14, the rear carriage return that directly bearing circle fought to the finish enters predetermined parking space and puts in 12, and then completes by once the action of stopping.Again with reference to figure 6 and Fig. 7, if run in the limited situation of rotary space, electronic-controlled installation 60 is still 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 first advance to a parking reference position 14, then follows least radius of gyration R _inreversing is to predetermined parking space, putting 12 another parking reference positions 14 ' that generally are a straight line, the reference position of finally just the stopping thus 14 ' warehouse-in that stops; And two parking reference positions 14,14 ' and least radius of gyration R _inthe formula of asking for mean as follows:

$R_{\mathrm{in}}=L\×\cot \left(\frac{{\mathrm{\φ}}_{\max }}{N_s}\right)-\frac{W}{2}$

$R_{\mathrm{out}}=\sqrt{{(R_{\mathrm{in}}+W)}^2+L^2}$

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 the picture situation that display screen 10 when this driving pattern shows, 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 coordinate the path indication of the lead track 15 that moves ahead, vehicle is driven on 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 current Vehicular turn track 16 at display screen 10, controlling bearing circle in order to the driver aims at reversing lead track 15 by 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 ', namely Fig. 8 d schemes the shown situation at display screen 10, represent that vehicle body and predetermined parking space put 12 and be located along the same line, now the driver can directly drive predetermined parking space into and put 12.In addition, if the reversing swing away is from enough, just as Fig. 9 mean, also can adopt reversing warehouse-in mode directly to sail predetermined parking space into and put among 12, its parking reference position 14 deduction mathematical expressions just as under:

$R_{\mathrm{in}}=L\×\cot \left(\frac{{\mathrm{\φ}}_{\max }}{N_s}\right)-\frac{W}{2}$

n＝R _in-b1

$m\≥m_{\min }=R_{\mathrm{in}}-\sqrt{{R_{\mathrm{in}}}^2-n^2}$

Moreover, please coordinate with reference to Figure 10, the vehicle movement model while according to the distance in parking precalculated position 12 and orientation, coordinating following Formula reversing 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 axle distance, 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:

$x_{\mathrm{rL}\_\mathrm{tip}}\left(t\right)=(l\·\cot \mathrm{\φ}-\frac{W}{2})\·\sin \frac{v\·\sin \mathrm{\φ}}{l}t-d\·\cos \frac{v\·\sin \mathrm{\φ}}{l}t$

$y_{\mathrm{rL}\_\mathrm{tip}}\left(t\right)=(l\·\cot \mathrm{\φ}-\frac{W}{2})\·\cos \frac{v\·\sin \mathrm{\φ}}{l}t+l\·\cot \mathrm{\φ}-d\·\sin \frac{v\·\sin \mathrm{\φ}}{l}t$

Being calculated as follows of the travel track of vehicle right rear end:

$x_{\mathrm{rR}\_\mathrm{tip}}\left(t\right)=(l\·\cot \mathrm{\φ}-\frac{W}{2})\·\sin \frac{v\·\sin \mathrm{\φ}}{l}t-d\·\cos \frac{v\·\sin \mathrm{\φ}}{l}t$

$y_{\mathrm{rR}\_\mathrm{tip}}\left(t\right)=(l\·\cot \mathrm{\φ}-\frac{W}{2})\·\cos \frac{v\·\sin \mathrm{\φ}}{l}t+l\·\cot \mathrm{\φ}-d\·\sin \frac{v\·\sin \mathrm{\φ}}{l}t$

Again, reversing warehouse-in enters predetermined parking space and puts 12 planning and be illustrated in display screen 10 as Figure 11 a and b.In addition, if predetermined parking space is put while being parallel to the vehicle travel path, be also that vehicle will carry out the parallel parking in roadside, just as Figure 12, show, be to utilize following mathematics calculation formula:

$H=\sqrt{L^2+2R_{\mathrm{out}}(D-b_0)-{(D-b_0)}^2}$

${\mathrm{\φ}}_{\mathrm{in}}=N_s\×{\cot }^{-1}\left\{\frac{\sqrt{{\left(\frac{{[H+n+b_1)}^2-2R_{\mathrm{out}}(m+D-b_0)+{(m+D-b_0)}^2}{2(m+D-b_0)}\right]}^2-c^2}+\frac{W}{2}}{l}\right\}$

Coordinate with reference to figure 13a, Figure 13 b and Figure 13 c, the space width D that we are considered as H and parking by the space length of parking spot nargin b1, parking in this side lists consideration in the lump in, after making the driver can be parked in parking reference position 14, can move backward and directly return predetermined parking space and put 12, be also 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, therefore, effectively save and expend time in, simultaneously because can guide predetermined parking space to put, drive the problem that need to can't heavily not come behind the fear missing parking stall, 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 rely on technology improvement of the present invention to be present in the described disappearance in background technology.

Above explanation is just illustrative for the purpose of the present invention; and nonrestrictive, those of ordinary skills understand, in the situation that do not break away from the spirit and scope that claim limits; can make many modifications, variation or equivalence, but within all will falling into protection scope of the present invention.

Claims (22)

1. a parking guiding system, be located on a vehicle, it is characterized in that: described parking guiding system comprises:

One display screen, be located in described vehicle and watch for the driver;

At least one image sensor, be located at described vehicle front, to capture described vehicle front area image;

At least one speed of a motor vehicle perceptron, 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 coordinate 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 again a parking reference position, and indicate the move ahead lead track of described present position between described parking reference position to described predetermined parking space is put to guide the driver directly to stop on described display screen, perhaps on described display screen, indicate described present position to the lead track that moves ahead of described parking reference position with the guiding driver to best reversing section start,

Parking that described electronic-controlled installation provides headstock first to enter warehouse-in pattern, described electronic-controlled installation is set described parking reference position via any one of following formula;

Condition one:

$R_{\mathrm{in}}=L\×\cot \left(\frac{{\mathrm{\φ}}_{\max }}{N_s}\right)-\frac{W}{2};$

$R_{\mathrm{out}}=\sqrt{{(R_{\mathrm{in}}+W)}^2+L^2};$

N=R _in-b1; And

$m\≥m_{\min }=R_{\mathrm{in}}-\sqrt{{R_{\mathrm{in}}}^2-n^2}$

And condition two:

$R_{\mathrm{in}}=L\×\cot \left(\frac{{\mathrm{\φ}}_{\max }}{N_s}\right)-\frac{W}{2};$

$R_{\mathrm{out}}=\sqrt{{(R_{\mathrm{in}}+W)}^2+L^2};$

N=R _in-b1; And

m≥m _min=R _out-R _in-W

Being calculated as follows of the travel track of the left back end of vehicle:

$X_{\mathrm{rL}\_\mathrm{tip}}\left(t\right)=(l\·\cot \mathrm{\φ}-\frac{W}{2})\·\sin \frac{v\·\sin \mathrm{\φ}}{l}t-d\·\cos \frac{v\·\sin \mathrm{\φ}}{l}t$

$y_{\mathrm{rL}\_\mathrm{tip}}\left(t\right)=(l\·\cot \mathrm{\φ}-\frac{W}{2})\·\cos \frac{v\·\sin \mathrm{\φ}}{l}t+l\·\cot \mathrm{\φ}-d\·\sin \frac{v\·\sin \mathrm{\φ}}{l}t$

Being calculated as follows of the travel track of vehicle right rear end:

$X_{\mathrm{rR}\_\mathrm{tip}}\left(t\right)=(l\·\cot \mathrm{\φ}-\frac{W}{2})\·\sin \frac{v\·\sin \mathrm{\φ}}{l}t-d\·\cos \frac{v\·\sin \mathrm{\φ}}{l}t$

$y_{\mathrm{rR}\_\mathrm{tip}}\left(t\right)=(l\·\cot \mathrm{\φ}-\frac{W}{2})\·\cos \frac{v\·\sin \mathrm{\φ}}{l}t+l\·\cot \mathrm{\φ}-d\·\sin \frac{v\·\sin \mathrm{\φ}}{l}t$

Predetermined parking space is put being calculated as follows while being parallel to the vehicle travel path:

$H=\sqrt{L^2+2R_{\mathrm{out}}(D-b_0)-{(D-b_0)}^2}$

${\mathrm{\φ}}_{\mathrm{in}}=N_s\×{\cot }^{-1}\left\{\frac{\sqrt{{\left[\frac{{(H+n+b_1)}^2-2R_{\mathrm{out}}(m+D-b_0)+{(m+D-b_0)}^2}{2(m+D-b_0)}\right]}^2-c^2}+\frac{W}{2}}{l}\right\}$

Wherein, R _inrepresent the minimum carriage return radius of described vehicle, R _outrepresent maximum carriage return radius, L represents that vehicle body is long, and W represents that vehicle body is wide, and b0, b1 represent parking spot nargin, and φ represents bearing circle rotation angle, N _srepresent the ratio of bearing circle rotation angle and wheel steering angle, n represents that a virtual storing cycle is when the parking reference position, the value of longitudinal pitch-b1 that trailing wheel and predetermined parking space are put, m represents the horizontal spacing that parking reference position and predetermined parking space are put, the v representative reversing speed of a motor vehicle, l represents axle distance, 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.

2. parking guiding system according to claim 1, it is characterized in that: at described rear view of vehicle, more be provided with a described image sensor, with acquisition rear view of vehicle area image, when described vehicle marches to described parking reference position, prepare while being stopped 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 by means of a parking spot choice box, to select to demarcate that described predetermined parking space is put, and, after completing demarcation, described parking spot choice box can be set up 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: the selection timing signal that is carrying out described predetermined parking space and put, described electronic-controlled installation carries out the locus detecting to selected described parking spot choice box position by image,, if but the stand space is more than or equal to described parking spot choice box, is about to it and is set as described predetermined parking space and puts.

5. parking guiding system according to claim 4, it is characterized in that: described parking spot choice box is open space to be carried out setting up on their own after position detecting by image by described electronic-controlled installation.

6. parking guiding system according to claim 1, is characterized in that: the parking warehouse-in pattern that described electronic-controlled installation also provides parallel car-parking model and the tailstock first to enter.

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 in advance each car-parking model, 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 1, it is characterized in that: more include a steering sensing device, to provide described vehicle shift angle to described electronic-controlled installation, described electronic-controlled installation shows and to provide the driver to control bearing circle, makes described Vehicular turn track follow the described lead track that moves ahead to advance by a Vehicular turn track according to the resulting vehicle shift angle estimation of steering sensing device.

9. parking guiding system according to claim 1, is characterized in that: more comprise that at least one ultrasonic perceptron links described electronic-controlled installation, is used for carrying out the barrier detection of described vehicle-surroundings.

10. parking guiding system according to claim 1, it is characterized in that: described electronic-controlled installation is to estimate described parking reference position according to the minimum carriage return radius of vehicle.

11. parking guiding system according to claim 1 is characterized in that: described parking reference position is to be roughly parallel to road.

12. a parking guidance method, to guide a vehicle parking, is characterized in that, comprises the following steps:

(A) capture the road speed of described vehicle front area image and described vehicle;

(B), after judging described image and described road speed, indicate a predetermined parking space and put on a display screen; And

(C) obtain the relative coordinate that a present position and described predetermined parking space are put, estimate a parking reference position simultaneously, and on described display screen, indicate described present position through described parking reference position to described predetermined parking space the lead track that moves ahead between putting with the guiding driver, directly stop, or on described display screen, indicate described present position to the lead track that moves ahead of described parking reference position with the guiding driver to best reversing section start;

Wherein, parking that step (C) provides headstock first to enter warehouse-in pattern, it sets described parking reference position via any one of following formula;

Condition one:

$R_{\mathrm{in}}=L\×\cot \left(\frac{{\mathrm{\φ}}_{\max }}{N_s}\right)-\frac{W}{2};$

$R_{\mathrm{out}}=\sqrt{{(R_{\mathrm{in}}+W)}^2+L^2};$

N=R _in-b1; And

$m\≥m_{\min }=R_{\mathrm{in}}-\sqrt{{R_{\mathrm{in}}}^2-n^2}$

And condition two:

$R_{\mathrm{in}}=L\×\cot \left(\frac{{\mathrm{\φ}}_{\max }}{N_s}\right)-\frac{W}{2};$

$R_{\mathrm{out}}=\sqrt{{(R_{\mathrm{in}}+W)}^2+L^2};$

N=R _in-b1; And

m≥m _min=R _out-R _in-W

Being calculated as follows of the travel track of the left back end of vehicle:

$X_{\mathrm{rL}\_\mathrm{tip}}\left(t\right)=(l\·\cot \mathrm{\φ}-\frac{W}{2})\·\sin \frac{v\·\sin \mathrm{\φ}}{l}t-d\·\cos \frac{v\·\sin \mathrm{\φ}}{l}t$

$y_{\mathrm{rL}\_\mathrm{tip}}\left(t\right)=(l\·\cot \mathrm{\φ}-\frac{W}{2})\·\cos \frac{v\·\sin \mathrm{\φ}}{l}t+l\·\cot \mathrm{\φ}-d\·\sin \frac{v\·\sin \mathrm{\φ}}{l}t$

Being calculated as follows of the travel track of vehicle right rear end:

$X_{\mathrm{rR}\_\mathrm{tip}}\left(t\right)=(l\·\cot \mathrm{\φ}-\frac{W}{2})\·\sin \frac{v\·\sin \mathrm{\φ}}{l}t-d\·\cos \frac{v\·\sin \mathrm{\φ}}{l}t$

$y_{\mathrm{rR}\_\mathrm{tip}}\left(t\right)=(l\·\cot \mathrm{\φ}-\frac{W}{2})\·\cos \frac{v\·\sin \mathrm{\φ}}{l}t+l\·\cot \mathrm{\φ}-d\·\sin \frac{v\·\sin \mathrm{\φ}}{l}t$

Predetermined parking space is put being calculated as follows while being parallel to the vehicle travel path:

$H=\sqrt{L^2+2R_{\mathrm{out}}(D-b_0)-{(D-b_0)}^2}$

${\mathrm{\φ}}_{\mathrm{in}}=N_s\×{\cot }^{-1}\left\{\frac{\sqrt{{\left[\frac{{(H+n+b_1)}^2-2R_{\mathrm{out}}(m+D-b_0)+{(m+D-b_0)}^2}{2(m+D-b_0)}\right]}^2-c^2}+\frac{W}{2}}{l}\right\}$

Wherein, R _inrepresent the minimum carriage return radius of described vehicle, R _outrepresent maximum carriage return radius, L represents that vehicle body is long, and W represents that vehicle body is wide, and b0, b1 represent parking spot nargin, and φ represents bearing circle rotation angle, N _srepresent the ratio of bearing circle rotation angle and wheel steering angle, n represents that a virtual storing cycle is when the parking reference position, the value of longitudinal pitch-b1 that trailing wheel and predetermined parking space are put, m represents the horizontal spacing that parking reference position and predetermined parking space are put, the v representative reversing speed of a motor vehicle, l represents axle distance, 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.

13. parking guidance method according to claim 12, 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 described parking reference position to described predetermined parking space the reversing lead track between putting for driver's reference.

14. parking guidance method according to claim 12, it is characterized in that: among step (B), it is by means of a parking spot choice box, to select to demarcate that described predetermined parking space is put, and, after completing demarcation, described parking spot choice box can be set up in the described predetermined parking space of described display screen and continue to show.

15. parking guidance method according to claim 14, it is characterized in that: after carrying out selection that described predetermined parking space puts and demarcating, carry out space by image and detect described parking spot choice box position,, if but the stand space is more than or equal to described parking spot choice box, is set as described predetermined parking space and puts.

16. parking guidance method according to claim 15, it is characterized in that: step (B) is, by image, open space is carried out to the position Auto-Sensing, but calibrate the parking space that is more than or equal to described parking spot choice box, as described predetermined parking space, puts.

17. parking guidance method according to claim 12 is characterized in that: the parking warehouse-in pattern that step (C) also provides parallel car-parking model and the tailstock first to enter.

18. parking guidance method according to claim 17, it is characterized in that: be the described parking reference position that first estimates each car-parking model, 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.

19. parking guidance method according to claim 12, it is characterized in that: in step (C), more capture described vehicle shift angle to demonstrate a Vehicular turn track, to provide the driver to control wheel steering, make described Vehicular turn track follow the described lead track that moves ahead to advance.

20. parking guidance method according to claim 12 is characterized in that: in step (C), and do barrier detection by least one ultrasonic perceptron.

21. parking guidance method according to claim 12 is characterized in that: step (C) is to estimate described parking reference position according to the minimum carriage return radius of vehicle.

22. parking guidance method according to claim 12 is characterized in that: the described parking reference position of step (C) is to be roughly parallel to road.

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