CN102303603B - Method for assisting in parking and terminal equipment - Google Patents
Method for assisting in parking and terminal equipment Download PDFInfo
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- CN102303603B CN102303603B CN201110124403.3A CN201110124403A CN102303603B CN 102303603 B CN102303603 B CN 102303603B CN 201110124403 A CN201110124403 A CN 201110124403A CN 102303603 B CN102303603 B CN 102303603B
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Abstract
The embodiment of the invention discloses a method for assisting in parking and terminal equipment. In the method provided by the embodiment of the invention, displacement track data of a motor vehicle is calculated according to acquired angular velocity and accelerated velocity of the motor vehicle, a movement route of the motor vehicle is stimulated according to displacement track data and a driver can intuitively see the driving condition and the driving route of the motor vehicle according to the movement route and the preset reference driving route for reference of the driver, so that parking is easier and safer.
Description
Technical field
The present invention relates to electronic applications, particularly relate to a kind of method for assisting in parking and final terminal.
Background technology
The warehouse-in that stops is the thing of a headache for the poor driver of driving technique, if do not have other people to instruct, may all stop back and forth bad car, not only loses time, and is also prone to accidents.
Prior art has the method for a lot of assisting car backings, for example, utilization is provided with the final terminal of range cells and tests the distance between motor vehicle tail and obstacle, to send to driver apart from converting voice signal to again, the method can allow does not have the driver of parking assist system in installation car can utilize this final terminal to realize assisting car backing yet, but the method just can allow that driver understand in real time the distance between motor vehicle tail and obstacle, directly perceived not for the poor driver of driving technique, help very micro-.
The key of warehouse-in of stopping is to control well angle and the speed that automobile is advanced, but due to factor impacts such as blind area, visual angle and proficiencys, make chaufeur be difficult to accurately judge automobile position and make correct action, special in the poor driver of driving technique, stop warehouse-in time, if do not have other people to give directions or the route of moveing backward very intuitively, be difficult to control well direction, still be not easy very much to have stopped car, and be prone to accidents.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of method for assisting in parking and final terminal, can assist driver to stop, and makes to stop more convenient safer.
A kind of method for assisting in parking, comprising:
Repeatedly obtain cireular frequency and the acceleration/accel of self-propelled vehicle;
The cireular frequency at every turn obtaining and acceleration/accel are carried out respectively the time integration correspondence to obtain car body rotational angle data and range data;
Obtain the line segment of a respective angles and length according to the car body rotational angle obtaining and distance at every turn, and according to the priority of time, many line segments are connected successively, to obtain the mobile alignment of self-propelled vehicle;
Overlapping display mobile alignment and the standard course, the parking scene that set in advance, so that user understands the mobile alignment of self-propelled vehicle the standard course that contrast shows in real time, stop self-propelled vehicle into garage by car along institute's standard course.
Further, the method also comprises:
According to the deformation trace data of self-propelled vehicle, driver's operation is carried out to voice message.
A kind of final terminal, comprising:
Acquisition module, for repeatedly obtaining cireular frequency and the acceleration/accel of self-propelled vehicle;
Computing module, comprises car body rotational angle calculating unit and metrics calculation unit, and car body rotational angle calculating unit is for carrying out the time integration to obtain car body rotational angle data to the cireular frequency obtaining at every turn; Metrics calculation unit is used for the acceleration/accel at every turn obtaining to carry out the time integration to obtain speed, then speed is carried out the time integration to obtain range data;
Analog module, comprises line segment acquiring unit and mobile alignment acquiring unit, and the car body rotational angle that line segment acquiring unit calculates for basis at every turn and distance obtain the line segment of a respective angles and length; Mobile alignment acquiring unit is used for many segment links that line segment acquiring unit obtained according to the priority of time, obtains the mobile alignment of self-propelled vehicle;
Display module, for the mobile alignment of Overlapping display analog module simulation and standard course, the parking scene setting in advance, so that user understands the mobile alignment of self-propelled vehicle the standard course that contrast shows in real time, self-propelled vehicle is stopped car into garage along standard course.
Further, this equipment also comprises:
Voice module, for according to the deformation trace data of self-propelled vehicle, carries out voice message to driver's operation.
The invention has the beneficial effects as follows: the situation that is different from prior art, the present invention calculates the deformation trace data of self-propelled vehicle according to the cireular frequency of the self-propelled vehicle obtaining and accelerometer, again according to the mobile alignment of this deformation trace digital simulation self-propelled vehicle, then according to this mobile alignment and the standard travel way for driver reference that sets in advance, driver is stopped and assisted, make driver can see very intuitively travel situations and the travel way of self-propelled vehicle, make to stop easier, safer.
Accompanying drawing explanation
Fig. 1 is the diagram of circuit of method for assisting in parking in the embodiment of the present invention one;
Fig. 2 is the diagram of circuit of method for assisting in parking in the embodiment of the present invention two;
Fig. 3 is the schematic diagram that shows mobile alignment and standard course in the embodiment of the present invention two method for assisting in parkings;
Fig. 4 is the logical schematic of final terminal in the embodiment of the present invention three;
Fig. 5 is the logical schematic of final terminal in the embodiment of the present invention four.
The specific embodiment
Embodiment mono-:
Consult Fig. 1, a kind of method for assisting in parking of the embodiment of the present invention specifically has the following steps:
101, obtain cireular frequency and the acceleration/accel of self-propelled vehicle;
Final terminal obtains respectively cireular frequency and the acceleration/accel of self-propelled vehicle by integrated gyroscope inductor and acceleration induction device;
102, calculate the deformation trace data of self-propelled vehicle according to cireular frequency and accelerometer;
Deformation trace data comprise car body rotational angle and distance, calculate car body rotational angle according to the turn meter obtaining in step 101, and calculate distance according to the accelerometer obtaining in step 101;
103, according to the mobile alignment of deformation trace digital simulation self-propelled vehicle;
According to the deformation trace data of calculating in step 102, car body rotational angle and corresponding range simulation go out the mobile alignment of self-propelled vehicle;
104, show mobile alignment and the standard course setting in advance;
On final terminal, set in advance parking scene and the standard course selected for user, user can select most suitable parking scene and standard course according to actual conditions, final terminal shows this parking scene and column criterion route line, and in showing this parking scene and standard course, the mobile alignment of simulation in Overlapping display step 103, be that user can see in real time the displacement situation of self-propelled vehicle in current parking scene on display screen, user can understand the motion track of self-propelled vehicle in real time, the standard course that contrast shows, self-propelled vehicle is stopped car into garage along this standard course,
In the present embodiment, calculate the deformation trace data of self-propelled vehicle according to the cireular frequency of the self-propelled vehicle obtaining and accelerometer, again according to the mobile alignment of this deformation trace digital simulation self-propelled vehicle, then according to this mobile alignment and the standard travel way for driver reference that sets in advance, driver is stopped and assisted, make driver can see very intuitively travel situations and the travel way of self-propelled vehicle, make to stop easier, safer.
Embodiment bis-:
Refer to Fig. 2, a kind of method for assisting in parking of the embodiment of the present invention comprises the steps:
Gyroscope inductor has utilized coriolis force principle, i.e. rotating object suffered tangential force in the time having radial motion, for the cireular frequency of sensing rotation motion; Acceleration due to gravity inductor is for detection of the acceleration/accel of motion of translation;
201, obtain cireular frequency and the acceleration/accel of self-propelled vehicle;
Final terminal is by integrated gyroscope inductor and acceleration induction device, and according to predefined cireular frequency and the acceleration/accel that obtains frequency acquisition self-propelled vehicle, for example can arrange every 0.1 second and obtain a secondary data, arranging of this frequency can arrange according to needed precision, do not limit herein;
202, the cireular frequency at every turn obtaining is carried out the time integration to obtain car body rotational angle;
The cireular frequency obtaining according to step 201, carries out the time integral operation to obtain car body rotational angle to the cireular frequency obtaining at every turn;
203, the acceleration/accel at every turn obtaining is carried out the time integration to obtain speed, then speed is carried out the time integration to obtain distance;
The cireular frequency obtaining according to step 201, carries out the time integral operation to obtain speed to the acceleration/accel obtaining at every turn, then this speed of obtaining is carried out the time integral operation to obtain the value of distance;
204, according to the car body rotational angle calculating at every turn with apart from the line segment that obtains a respective angles and length;
The car body rotational angle at every turn calculating and distance can obtain a line segment with corresponding angle and length, and the angle of this line segment is identical with car body rotational angle, and length is identical with distance;
205,, from the initial initial point of self-propelled vehicle, by segment link, obtain the mobile alignment of self-propelled vehicle according to the priority of time;
Initial from self-propelled vehicle, according to the priority of time, joins end to end the line segment obtaining in step 204 to connect, and can obtain a mobile route, and this mobile route is exactly the mobile alignment of self-propelled vehicle;
206, show mobile alignment and the standard course setting in advance;
On final terminal, set in advance parking scene and the standard course selected for user, user can select most suitable parking scene and standard course according to actual conditions, final terminal shows this parking scene and standard course, and in showing this parking scene and standard course, the mobile alignment of simulation in Overlapping display step 205, be that user can see in real time the displacement situation of self-propelled vehicle in current parking scene on display screen, user can understand the motion track of self-propelled vehicle in real time, the standard course that contrast shows, self-propelled vehicle is stopped car into garage along this standard course,
Further, can be in final terminal integrated speech prompt facility, make system carrying out in the process of aid parking, can carry out voice message to driver's operation according to the deformation trace data of self-propelled vehicle, for example, while starting to move backward, automobile is from static startup, after acceleration induction device detects that pickup changes, be judged as and " start reversing, need to make direction to the right ", voice message " starts reversing, please make direction to the right ", in the time advancing to certain position coordinate and car body rotational angle, be judged as and " continue reversing, need back Nogata to ", voice message " please return Nogata to, continue reversing " until last judgement " parking completes ", voice message for " please return Nogata to, parking completes ", wherein, concrete decision content can draw by a large amount of simulated experiments, this sound prompt function, just as a coach next to the skin, makes driver's driving more convenient,
In the present embodiment, calculate the deformation trace data of self-propelled vehicle according to the cireular frequency of the self-propelled vehicle obtaining and accelerometer, again according to the mobile alignment of this deformation trace digital simulation self-propelled vehicle, then according to this mobile alignment and the standard travel way for driver reference that sets in advance, driver is stopped and assisted, make driver can see very intuitively travel situations and the travel way of self-propelled vehicle, make to stop easier, safer.
Embodiment tri-:
Referring to Fig. 3, is below the concrete application examples of a kind of method for assisting in parking of the present invention:
Final terminal is integrated with gyroscope inductor and acceleration due to gravity inductor; Gyroscope inductor utilizes coriolis force---and rotating object suffered tangential force in the time having radial motion, is used to the cireular frequency of sensing rotation motion; Acceleration due to gravity inductor is for detection of the acceleration/accel of linear velocity motion;
When user need to be stopped, the parking assisting function on opening terminal apparatus, selects and on-the-spot immediate parking scene and course, and one end of course is vehicle reference position, and the other end is stop position, as shown in Figure 3;
Car is reached vehicle reference position by user, corresponding with the parking scene showing on final terminal; Final terminal is lain on Auto Instrument desk, then by the gyroscope inductor of menu opening terminal apparatus and the measuring ability of acceleration due to gravity inductor, and start reversing, or move ahead, car is stopped to desired location;
After the measuring ability of gyroscope and acceleration due to gravity inductor starts, mobile phone base band chip is communicated by letter with gyroscope inductor and Real-time Obtaining rotational angle data by control port (as IC interface), communicate by letter with acceleration induction device simultaneously, Real-time Obtaining acceleration change data, angular velocity data can be exchanged into car body rotational angle, cireular frequency and acceleration information are passed through to certain mathematical algorithm, can calculate the deformation trace data of car, obtain after car body rotational angle and deformation trace data, the travel condition of display automobile on terminal display screen is concrete:
The frequency that cireular frequency and acceleration/accel are obtained in setting is to obtain once for every 0.1 second, and wherein this frequency can be revised according to accuracy requirement, base band is obtained current acceleration and angular velocity data from acceleration induction device and gyroscope inductor, because time gap is less, think in this time period, it is constant that acceleration/accel and cireular frequency keep, so according to mathematical formulae, acceleration/accel is through obtaining speed to the time integration, speed is again through obtaining distance to the time integration, an integration in same cireular frequency elapsed time can obtain the anglec of rotation, obtain after distance and angle, just can draw the line segment of a respective angles and length, from the initial initial point of automobile, the starting point of every line segment is the terminal of a upper line segment, so continuous drawing just can obtain a deformation trace line.On display screen, show this deformation trace line, be exactly that actual distance is converted through certain proportion, such as dwindling 100 times (can convert according to the approximate ratio of the parking stall length showing on display screen and actual parking stall length), follow according within every 0.1 second, obtaining the value of changing distance and angle, on display screen, show corresponding line segment, show continuously and form trace image, can be by car body synchronizing of image in track, headstock angle is synchronizeed with current angle value; User can judge and corresponding actions with reference to the location information that shows screen display, until stopped.
Further, can be at final terminal, integrated speech prompt facility in should the mobile phone of use-case, make system carrying out in the process of aid parking, can carry out voice message to driver's operation according to the deformation trace data of self-propelled vehicle, for example, while starting to move backward, automobile is from static startup, after acceleration induction device detects that pickup changes, be judged as and " start reversing, need to make direction to the right ", voice message " starts reversing, please make direction to the right ", in the time advancing to certain position coordinate and car body angle, be judged as and " continue reversing, need back Nogata to ", voice message " please return Nogata to, continue reversing " until last judgement " parking completes ", voice message for " please return Nogata to, parking completes ", wherein, concrete decision content can draw by a large amount of simulated experiments, this sound prompt function, just as a coach next to the skin, makes driver's driving more convenient,
In the present embodiment, the cireular frequency of the self-propelled vehicle obtaining by basis and accelerometer calculate the deformation trace data of self-propelled vehicle, again according to the mobile alignment of this deformation trace digital simulation self-propelled vehicle, then according to this mobile alignment and the standard travel way for driver reference that sets in advance, driver is stopped and assisted, make driver can see very intuitively travel situations and the travel way of self-propelled vehicle, make to stop easier, safer.
Embodiment tetra-:
Refer to Fig. 4, a kind of final terminal of the embodiment of the present invention comprises:
In the present embodiment, the cireular frequency of the self-propelled vehicle obtaining by basis and accelerometer calculate the deformation trace data of self-propelled vehicle, again according to the mobile alignment of this deformation trace digital simulation self-propelled vehicle, then according to this mobile alignment and the standard travel way for driver reference that sets in advance, driver is stopped and assisted, make driver can see very intuitively travel situations and the travel way of self-propelled vehicle, make to stop easier, safer.
Embodiment five:
Refer to Fig. 5, a kind of final terminal of the embodiment of the present invention comprises:
Further, computing module 502 comprises:
Car body rotational angle calculating unit 5021, obtains car body rotational angle data for the cireular frequency obtaining is carried out at every turn to the time integration;
Further, analog module 503 comprises:
Line segment acquiring unit 5031, the car body rotational angle data that at every turn calculate for basis and range data obtain the line segment of a respective angles and length;
Mobile alignment acquiring unit 5032, for from the initial initial point of self-propelled vehicle, segment link line segment acquiring unit being obtained according to the priority of time, obtains the mobile alignment of self-propelled vehicle;
Further, final terminal also comprises voice module, and this module, for the process at aid parking, is carried out voice message according to the deformation trace data of self-propelled vehicle to driver's operation; This voice module, just as a coach next to the skin, makes driver's driving more convenient;
In the present embodiment, the cireular frequency of the self-propelled vehicle obtaining by basis and accelerometer calculate the deformation trace data of self-propelled vehicle, again according to the mobile alignment of this deformation trace digital simulation self-propelled vehicle, then according to this mobile alignment and the standard travel way for driver reference that sets in advance, driver is stopped and assisted, make driver can see very intuitively travel situations and the travel way of self-propelled vehicle, make to stop easier, safer.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes specification sheets of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (4)
1. a method for assisting in parking, is characterized in that, comprising:
Repeatedly obtain cireular frequency and the acceleration/accel of self-propelled vehicle;
The described cireular frequency at every turn obtaining and acceleration/accel are carried out respectively the time integration correspondence to obtain car body rotational angle data and range data;
Obtain the line segment of a respective angles and length according to the described car body rotational angle obtaining and distance at every turn, and according to the priority of time, many described line segments are connected successively, to obtain the mobile alignment of self-propelled vehicle;
Mobile alignment and the standard course, the parking scene that set in advance described in Overlapping display, so that user understands the mobile alignment of self-propelled vehicle the standard course that contrast shows in real time, stop self-propelled vehicle into garage by car along described standard course.
2. method according to claim 1, is characterized in that, described method also comprises:
According to the deformation trace data of described self-propelled vehicle, driver's operation is carried out to voice message.
3. a final terminal, is characterized in that, comprising:
Acquisition module, for repeatedly obtaining cireular frequency and the acceleration/accel of self-propelled vehicle;
Computing module, comprises car body rotational angle calculating unit and metrics calculation unit, and described car body rotational angle calculating unit is for carrying out the time integration to obtain car body rotational angle data to the cireular frequency obtaining at every turn; Described metrics calculation unit is used for the acceleration/accel at every turn obtaining to carry out the time integration to obtain speed, more described speed is carried out the time integration to obtain range data;
Analog module, comprises line segment acquiring unit and mobile alignment acquiring unit, and the car body rotational angle that described line segment acquiring unit calculates for basis at every turn and distance obtain the line segment of a respective angles and length; Described mobile alignment acquiring unit is used for many described segment links that line segment acquiring unit obtained according to the priority of time, obtains the mobile alignment of self-propelled vehicle;
Display module, for the mobile alignment of Overlapping display analog module simulation and standard course, the parking scene setting in advance, so that user understands the mobile alignment of self-propelled vehicle the standard course that contrast shows in real time, self-propelled vehicle is stopped car into garage along described standard course.
4. equipment according to claim 3, is characterized in that, described equipment also comprises:
Voice module, for according to the deformation trace data of described self-propelled vehicle, carries out voice message to driver's operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110124403.3A CN102303603B (en) | 2011-05-13 | 2011-05-13 | Method for assisting in parking and terminal equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110124403.3A CN102303603B (en) | 2011-05-13 | 2011-05-13 | Method for assisting in parking and terminal equipment |
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| CN102303603A CN102303603A (en) | 2012-01-04 |
| CN102303603B true CN102303603B (en) | 2014-05-14 |
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| CN201110124403.3A Active CN102303603B (en) | 2011-05-13 | 2011-05-13 | Method for assisting in parking and terminal equipment |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6022517B2 (en) * | 2014-09-12 | 2016-11-09 | アイシン精機株式会社 | Vehicle control device |
| CN107571862A (en) * | 2016-07-05 | 2018-01-12 | 奥迪股份公司 | Park auxiliary equipment and method |
| CN108166825B (en) * | 2017-12-20 | 2019-07-09 | 三峡大学 | A kind of auxiliary parking system and parking method |
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| CN101228054A (en) * | 2005-07-28 | 2008-07-23 | 株式会社爱德克斯 | Rarking assist controller and parking assist control system |
| EP2050640A2 (en) * | 2007-10-17 | 2009-04-22 | Robert Bosch Gmbh | Control device and method for assisting parking |
| CN101535115A (en) * | 2006-11-08 | 2009-09-16 | 大众汽车有限公司 | Parking steering assistant with improved transverse parking function |
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2011
- 2011-05-13 CN CN201110124403.3A patent/CN102303603B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1521056A (en) * | 2003-01-27 | 2004-08-18 | ��ʽ�����װ | Vehicle behavior detector, in-vehicle processing system, detection information calibrator, and in-vehicle processor |
| CN101228054A (en) * | 2005-07-28 | 2008-07-23 | 株式会社爱德克斯 | Rarking assist controller and parking assist control system |
| CN101535115A (en) * | 2006-11-08 | 2009-09-16 | 大众汽车有限公司 | Parking steering assistant with improved transverse parking function |
| EP2050640A2 (en) * | 2007-10-17 | 2009-04-22 | Robert Bosch Gmbh | Control device and method for assisting parking |
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| CN102303603A (en) | 2012-01-04 |
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