CN104843066A - Automatic parking method and system - Google Patents
Automatic parking method and system Download PDFInfo
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- CN104843066A CN104843066A CN201510239392.1A CN201510239392A CN104843066A CN 104843066 A CN104843066 A CN 104843066A CN 201510239392 A CN201510239392 A CN 201510239392A CN 104843066 A CN104843066 A CN 104843066A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000012544 monitoring process Methods 0.000 claims abstract description 55
- 238000001514 detection method Methods 0.000 claims description 14
- 230000004044 response Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 abstract description 24
- 230000006698 induction Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- PLQDLOBGKJCDSZ-UHFFFAOYSA-N Cypromid Chemical compound C1=C(Cl)C(Cl)=CC=C1NC(=O)C1CC1 PLQDLOBGKJCDSZ-UHFFFAOYSA-N 0.000 description 1
- 239000004614 Process Aid Substances 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000003197 gene knockdown Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
Abstract
Provided is an automatic parking method and system. The method includes responding to operation and acquiring induction data of an automobile through an adjustable sensor if monitoring the operation that a user starts an automatic parking function; determining auxiliary parking space and a parking track according to induction data and the current position of the automobile; controlling the automobile to be parked in the auxiliary parking space according to the parking track based on the self-control feedback mode, wherein self-control feedback means monitoring the position relation between the automobile and an obstacle in real time and adjusting the parking track. The adjustable sensor is utilized to acquire induction data of the automobile, the auxiliary parking space of the automobile can be determined quickly and effectively, the position of the automobile can be monitored in real time in the parking process by means of automatic parking based on self-control feedback, and the parking process can be finished quickly and smoothly.
Description
Technical field
The present invention relates to automotive field, particularly relate to a kind of automatic parking method and system.
Background technology
Along with expanding economy automobile pollution all constantly increases every year, the phenomenon ubiquity of automobile parking difficulty, in process of parking, chaufeur needs while observe a surrounding environment of parking and judge, another side will operate automobile parking accurately, and in process of parking, a little erroneous judgement all may cause safety misadventure.Therefore, automobile parking requires chaufeur to possess skilled driving skills and the power that quicks observation.
In the process of routine use automobile; park be always one difficult and hold accident-prone thing; for a lot of driver; parking often can waste a large amount of time and even not can successfully stop to parking stall by car; a lot of inconvenience is brought for driving even life; if use a set of safety automated parking system easily again, then can bring a lot of facility to chaufeur.
But existing automated parking system, sensor is uncontrollable, and sensor is unadjustable has higher requirement by causing to parking stall, and underaction, be difficult to realize automatic parking fast and effectively.
Summary of the invention
In view of this, the invention provides a kind of automatic parking method and system, for solving the unadjustable inconvenience of parking brought of sensor in prior art, the problem that efficiency is not high.
The automatic parking method that the embodiment of the present invention provides, comprising:
The operation that user starts automatic parking function if monitor, then respond described operation, obtained the sensed data of automobile by adjustable sensor;
According to described sensed data and the current location information determination aid parking position of automobile and track of parking;
Mode based on automatic control feedback controls described automobile and moors in described aid parking position according to described track of parking, and described automatic control feedback refers to that the position relationship between the position of automobile described in Real-Time Monitoring and obstacle also adjusts track of parking.
The automated parking system that the embodiment of the present invention provides, comprising:
Response acquisition module, if start the operation of automatic parking function for monitoring user, then responds described operation, is obtained the sensed data of automobile by adjustable sensor;
First determination module, for according to described sensed data and the current location information determination aid parking position of automobile and track of parking;
Park module, the mode for feeding back based on automatic control controls described automobile and moors in described aid parking position according to described track of parking, and described automatic control feedback refers to position relationship between the position of automobile described in Real-Time Monitoring and obstacle and adjusts track of parking.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages:
The operation that user starts automatic parking function if monitor, then respond this operation, the sensed data of automobile is obtained by adjustable sensor, according to this sensed data and the current location information determination aid parking position of automobile and track of parking, mode based on automatic control feedback controls automobile and moors in aid parking position according to track of parking, this automatic control feedback refers to that the position relationship between the position of automobile described in Real-Time Monitoring and obstacle also adjusts track of parking, by the sensed data using adjustable sensor to obtain automobile, the aid parking position of automobile can be determined fast and effectively, and based on the mode of automatic control feedback carry out automatic parking can in the process of parking the position of Real-Time Monitoring automobile, make it possible to complete the process of parking smoothly fast.
For above and other object of the present invention, feature and advantage can be become apparent, preferred embodiment cited below particularly, and coordinate institute's accompanying drawings, be described in detail below.
Accompanying drawing explanation
Fig. 1 is a schematic diagram of the flow process of automatic parking method in the embodiment of the present invention;
Fig. 2 is another schematic diagram of the flow process of automatic parking method in the embodiment of the present invention;
Fig. 3 is the schematic diagram of the mode determining aid parking position in the embodiment of the present invention;
Fig. 4 is a schematic diagram of the structure of automated parking system in the embodiment of the present invention;
Fig. 5 is another schematic diagram of the structure of automated parking system in the embodiment of the present invention.
Detailed description of the invention
For further setting forth the present invention for the technological means that realizes predetermined goal of the invention and take and effect, below in conjunction with accompanying drawing and preferred embodiment, to according to the specific embodiment of the present invention, structure, feature and effect thereof, be described in detail as follows.
In embodiments of the present invention, automated parking system is used on automobile, automobile is installed this automated parking system or installed comprise this automated parking system device after, can fast effectively and realize automatic parking smoothly.
Wherein, automated parking system has been installed adjustable sensor, wherein adjustable sensor refers to the adjustable sensor in induction direction, namely can by the induction direction of adjustment sensor, the data of the automobile in acquisition certain limit and the spacing of obstacle.
Wherein, position and the quantity of adjustable sensor can be set on automobile according to concrete needs, such as, a few adjustable sensor can be mounted to respectively at the head of automobile, left side, right side, afterbody, concrete, automobile head left front, right front and just before position an adjustable sensor is installed respectively, and automobile afterbody left back, right back and just after position an adjustable sensor is installed respectively, and in the centre on the left side of automobile and right side, an adjustable sensor is installed respectively.In actual applications, can need according to concrete position and quantity that adjustable sensor is set, this time not limit.In embodiments of the present invention, be arrange an adjustable sensor for the midway location of the head of automobile, left side, right side, afterbody to be described.
Wherein, adjustable sensor can be specifically the ultrasonic transduter in adjustable induction direction.
In embodiments of the present invention, automatic parking method and system described below are all be described based under the prerequisite of automobile having been installed adjustable sensor.Technical scheme for a better understanding of the present invention in embodiment, refers to Fig. 1, is the embodiment of automatic parking method in the embodiment of the present invention, comprises:
If 101 monitor the operation that user starts automatic parking function, then operation response, obtained the sensed data of automobile by adjustable sensor;
In embodiments of the present invention, automobile is when being in dead ship condition, user if desired carries out automatic parking, the automated parking system on automobile can be started, after system monitoring starts the operation of automatic parking function to user, by this operation of response, and obtained the sensed data of automobile by adjustable sensor.
Wherein, the automated parking system of automotive interior can comprise the button of a physical button, after pressing this button, automobile will start automated parking system, or the display interface of the equipment can installed at automotive interior arranges virtual push button, after user presses this virtual push button, the automated parking system of automobile can be started.
Wherein, automobile is after pressing the entity button or virtual push button starting automated parking system, to generate the parking stall position control signal of automobile, and this parking stall position control signal is sent to adjustable sensor, adjustable sensor will enter sense state after receiving this signal.
In embodiments of the present invention, the adjustable sensor of the head of automobile, left side, right side, afterbody will enter sense state, obtain the sensed data of each adjustable sensor, wherein, sensed data refers in the sensor current location that adjustable sensor sensing arrives and its induction range between obstacle range data and angle-data.
In embodiments of the present invention, when automobile is in dead ship condition, if automated parking system monitors the parking stall position control signal that user starts the generation of automatic parking function, then start mounted adjustable sensor on automobile; And the detection side that can control adjustable sensor is to adjusting, obtain the sensed data that adjustable sensor detects.
Wherein, automated parking system will get the head of automobile, left side, right side, the sensed data that the adjustable sensor of afterbody all directions transmits respectively, and to each orientation detection to sensed data process, automated parking system to each orientation detection to sensed data process, obtain the area size can berthed in each orientation, and determine whether to comprise the region of the resemblance meeting automobile, wherein, meet automobile parking and refer to that zone length and width all meet the specification of parking of automobile, if do not comprise, then the adjustable sensor again to automobile four side is sent parking stall position control signal by automated parking system, the adjustable sensor adjustment of automobile four side is responded to angle and obtains sensed data, or move the current residing position of automobile by chaufeur a little according to the situation of reality, and parking system sends parking stall position control signal to the adjustable sensor of automobile four side again, adjustable sensor adjustment induction angle also obtains sensed data.
In embodiments of the present invention, because of automobile four side what all install is adjustable sensor, make the angle of adjustable sensor carry out the acquisition of sensed data, the acquisition of sensed data is more flexibly and efficiency is higher.
In embodiments of the present invention, if comprise the resemblance meeting automobile in the region that can berth, each orientation, then step 102 is performed.
102, according to sensed data and the current location information determination aid parking position of automobile and track of parking;
In embodiments of the present invention, if comprise the resemblance meeting automobile in the region of the sensed data instruction in four orientation that the adjustable sensor of automobile detects, then determine that the sensed data of the sensor resemblance meeting automobile being detected is the data for determining aid parking position and track of parking, automobile is by according to this sensed data and the current location information determination aid parking position of automobile and track of parking.Concrete: if only have an orientation to comprise the resemblance meeting automobile in the region of the sensed data instruction in four orientation, then utilize the sensed data determination aid parking position in this orientation and track of parking, if have at least two orientation to comprise the resemblance meeting automobile in the region of the sensed data instruction in four orientation, then these at least two orientation are shown on display interface, selected by chaufeur, if the selection operation of chaufeur detected, then determine the sensed data determination aid parking position in the orientation utilizing the region of this selection operation selection corresponding and track of parking.Such as: if automobile both sides are parking stalls, and the parking stall of both sides has most of parking stall stop over automobile all, the adjustable sensor of four sides of automobile detects that there is very large vacant lot at vehicle front and rear, there is one piece of vacant lot on the right side of automobile, the left side of automobile is without vacant lot, then automobile will determine the front of automobile, all there is the vacant lot meeting and stop on rear and right side, and the position residing for position that the position that display can be used for stopping on display interface is current relative to automobile, chaufeur can by carrying out the vacant lot selecting to determine to stop on display interface, namely car right side vacant lot, automated parking system is after receiving the selected zone of chaufeur, aid parking position is divided in the region in vacant lot car right side being detected, and determine track of parking.
103, the mode fed back based on automatic control controls automobile and moors in aid parking position according to track of parking, and automatic control feedback refers to that the position relationship between the position of Real-Time Monitoring automobile and obstacle also adjusts track of parking.
In embodiments of the present invention, automated parking system is after determining aid parking position and track of parking, the mode fed back based on automatic control being controlled automobile dials in aid parking position according to track of parking, wherein, automatic control feedback refers to that the position relationship between the position of Real-Time Monitoring automobile and obstacle also adjusts track of parking.
By the position relationship between the position of Real-Time Monitoring automobile in the process of parking and obstacle, and when needs, adjustment is parked track, makes it possible to carry out adjustment to track of parking in real time and avoids automobile to knock down on obstacle, the automatic parking of effective implemention automobile.
In embodiments of the present invention, the operation that user starts automatic parking function if monitor, then respond this operation, the sensed data of automobile is obtained by adjustable sensor, according to this sensed data and the current location information determination aid parking position of automobile and track of parking, mode based on automatic control feedback controls automobile and moors in aid parking position according to track of parking, this automatic control feedback refers to that the position relationship between the position of automobile described in Real-Time Monitoring and obstacle also adjusts track of parking, by the sensed data using adjustable sensor to obtain automobile, the aid parking position of automobile can be determined fast and effectively, and based on the mode of automatic control feedback carry out automatic parking can in the process of parking the position of Real-Time Monitoring automobile, make it possible to complete the process of parking smoothly fast.
Refer to Fig. 2, be the embodiment of automatic parking method in the embodiment of the present invention, comprise:
201, when automobile is in dead ship condition, the parking stall position control signal that user starts the generation of automatic parking function if monitor, then start mounted adjustable sensor on automobile;
In embodiments of the present invention, automobile is when being in dead ship condition, and user if desired carries out automatic parking, then can start the automated parking system on automobile, and wherein, automobile is in dead ship condition and refers to that automobile does not move in current position.
Wherein, user can by press automobile is arranged start automated parking system for the entity button starting automatic parking function, after pressing this entity button, the parking stall position control signal of automobile will be produced, this signal enters sense state for triggering the adjustable sensor that automobile is installed, and the automated parking system that generation parking stall position control signal describes automobile starts, or, can again automotive interior install equipment display interface on virtual push button is set, user is after pressing this virtual push button, also parking stall position control signal will be produced, the automated parking system starting automobile is described.
In embodiments of the present invention, the adjustable sensor on automobile is responded to the obstacle of motor vehicle environment after entering sense state, determines the angle between distance between obstacle and two distances, to generate sensed data.
It should be noted that, when adjustable sensor is in closed condition, adjustable sensor is the orientation being in reset, the i.e. adjustable sensor emission direction in left side and automotive vertical towards a left side, right sensor downrange and automotive vertical towards right, the downrange of the adjustable sensor of head is parallel with automobile and forward, and the downrange of the adjustable sensor of afterbody is parallel with automobile and backwards.
202, controlling the detection side of adjustable sensor to adjusting, obtaining the sensed data that adjustable sensor detects;
In embodiments of the present invention, after the adjustable sensor on automobile enters sense state, the detection side that automated parking system can control adjustable sensor adjusts to (angle), gets the sensed data that adjustable sensor detects.
203, sensed data is utilized to determine available parking stall;
In embodiments of the present invention, the sensed data of the adjustable sensor utilizing four sides, after the sensed data of adjustable sensor getting four sides, is determined available parking stall by automated parking system.Wherein, available parking stall refers to the vacant lot that the adjustable sensor of four sides detects; Such as: if automobile both sides are parking stalls, and the parking stall of both sides has most of parking stall stop over automobile all, the adjustable sensor of four sides of automobile detects that there is very large vacant lot at vehicle front and rear, there is one piece of vacant lot on the right side of automobile, the left side of automobile is without vacant lot, then automobile is by determining that all there is the vacant lot meeting and stop on the front of automobile, rear and right side, and all can be used as available parking stall.
204, judge whether available parking stall meets the resemblance of automobile, if so, then perform step 205, if not, then return step 202;
In embodiments of the present invention, automated parking system will judge whether the available parking stall determined meets the resemblance of automobile, wherein, the resemblance meeting automobile is that the area size of available parking places is greater than the cross section area of Automobile Maximum and is greater than a predetermined numerical value, such as, 120% can be greater than.
In embodiments of the present invention, if do not comprise the available parking places of the resemblance meeting automobile in available parking stall, then automated parking system returns and performs step 202, concrete: chaufeur first can change the current residing position of automobile, and after changing current residing position, again performing the detection side of the control adjustable sensor in step 202 to adjusting, obtaining the step of the sensed data that adjustable sensor detects.
In embodiments of the present invention, automobile repeatedly can determine an available parking places meeting the resemblance of automobile to sensed data collection.
205, in available parking stall, mark aid parking position, and track of parking is determined in the location information utilizing automobile current, aid parking position;
In embodiments of the present invention, if meet the resemblance of automobile in available parking stall, then using this available parking stall as aid parking position, and track of parking is determined in the location information utilizing automobile current and aid parking position.
Wherein, concrete: if only have an available parking places to meet the resemblance of automobile in the available parking places determined of the sensed data in four orientation, then in this available parking places, determine aid parking position, and utilize aid parking position and the current location information of automobile to determine track of parking, if have at least two available parking places meeting the resemblance of automobile in the available parking places of the sensed data instruction in four orientation, then these at least two available parking places are shown on display interface, selected by chaufeur, if the selection operation of chaufeur detected, this selection is then utilized to operate the available parking places determination aid parking position selected, and utilize aid parking position and the current location information of automobile to determine track of parking.Such as: if automobile both sides are parking stalls, and the parking stall of both sides has most of parking stall stop over automobile all, the adjustable sensor of four sides of automobile detects that there is very large vacant lot at vehicle front and rear, there is one piece of vacant lot on the right side of automobile, the left side of automobile is without vacant lot, then automobile will determine the front of automobile, all there is the vacant lot meeting and stop on rear and right side, for available parking places, and on display interface, show this available parking places, chaufeur can determine an available parking places by carrying out selection on display interface, namely car right side vacant lot, automated parking system is after the selection receiving chaufeur, aid parking position is divided in the region in vacant lot car right side being detected, and utilize this aid parking position and the current location information of automobile to determine track of parking.
Wherein, refer to Fig. 3, for determining the schematic diagram of the mode of aid parking position, wherein, sensor sensing to data comprise L1, L2, L3, L4, and the angle A 3 between angle A 2, L3 and L4 between angle A 1, L2 and L4 between L1 and L2, what these data were formed is available parking stall.
L5 can be obtained by the cosine law, in like manner by L2, L4 by L1, L2 and A1, A2 can obtain L6, can obtain L7, pass through L5 by L1, L4 and A1+A2, L6, L7 can obtain the angle of L5 and L6, i.e. the parking headstock direction of automobile and the angle of now horizontal direction.Just aid parking position can be drawn according to above data.
206, controlling automobile starts mobile according to track of parking, the sensed data that Real-Time Monitoring adjustable sensor detects; And the position relationship between the location information of Real-Time Monitoring automobile and aid parking position;
In embodiments of the present invention, automobile is after determining aid parking position and track of parking, control automobile is started mobile according to track of parking, and by the sensed data that Real-Time Monitoring adjustable sensor detects, and the position relationship between the location information of Real-Time Monitoring automobile and aid parking position.
Wherein, the sensed data that monitoring adjustable sensor detects is in order to avoid automobile clobber in the process of automatic parking, and the position relationship between the position of Real-Time Monitoring automobile and aid parking position is parked to determine whether to complete.
If 207 detect that sensed data meets the condition pre-set, then stop parking, determine according to sensed data track of parking, return and perform step 206;
In embodiments of the present invention, in the process of automated parking system automatic parking, automated parking system is by the sensed data of the adjustable sensor of Real-Time Monitoring four side, if detect, sensed data meets the condition pre-set, then stop parking, track of parking is determined according to sensed data, wherein, track of parking in step 207 is the track of parking be different from step 205, track of parking in step 207 is the track of parking after adjustment, in the process of automated parking system automatic parking, automated parking system can adjust track of parking as required.
Wherein, sensed data meets the condition pre-set and comprises: the distance in sensed data between automobile and obstacle is less than the numerical value pre-set.
Wherein, be specifically as follows automated parking system determine automobile to be moored the track into aid parking position based on current sensed data according to sensed data track of determining to park, and in theory automobile can not with the bar contact of surrounding.
If 208 positions monitoring automobile are within the position of aid parking position, then determine the automatic parking of automobile, stopped parking.
In embodiments of the present invention, in the process of automated parking system automatic parking, automated parking system is also by the position relationship between the location information of Real-Time Monitoring automobile and aid parking position, if and within the position of the position information process aid parking position of automobile, then can determine the automatic parking of automobile, will automatic parking have been stopped.
In embodiments of the present invention, when automobile process dead ship condition, the parking stall positioning signal that user starts function generation of parking if monitor, then start mounted adjustable sensor on automobile, and the detection side controlling adjustable sensor is to adjusting, obtain the sensed data that adjustable sensor detects, utilize this sensed data determination available parking places, judge whether this available parking places meets the resemblance of automobile, if not, then return execution and control the detection side of adjustable sensor to the step of carrying out adjusting, if, then in available parking places, mark aid parking position, and the location information utilizing automobile current, track of parking is determined in aid parking position, controlling automobile starts mobile according to track of parking, the sensed data that Real-Time Monitoring adjustable sensor detects, and the position relationship between the location information of Real-Time Monitoring automobile and aid parking position, if the sensed data detected meets the condition pre-set, then stop parking, track of parking is determined according to sensed data, and continuation control automobile moves according to this track of parking, if the position monitoring automobile is within the position of aid parking position, then determine the automatic parking of automobile, stopping is parked, in embodiments of the present invention, sensed data is obtained by utilizing adjustable sensor, make it possible to the acquisition sensed data that multi-angle is multi-faceted, the acquisition of sensed data is more flexible, and by sensed data that Real-Time Monitoring adjustable sensor in automatic parking process detects, make it possible to effectively avoid automobile and obstacle to bump against, and track of parking can be adjusted in real time, make to park and can carry out more smoothly.
Refer to Fig. 4, be the schematic diagram of the structure of automated parking system in the embodiment of the present invention, comprise:
Response acquisition module 401, if start the operation of automatic parking function for monitoring user, then operation response, obtains the sensed data of automobile by adjustable sensor;
First determination module 402, for according to sensed data and the current location information determination aid parking position of automobile and track of parking;
Park module 403, the mode for feeding back based on automatic control controls automobile and moors in aid parking position according to track of parking, and automatic control feedback refers to position relationship between the position of Real-Time Monitoring automobile and obstacle and adjusts track of parking.
In embodiments of the present invention, if automated parking system monitors the operation that user starts automatic parking function, then respond acquisition module 401 and respond this operation, the sensed data of automobile is obtained by adjustable sensor, then, by the first determination module 402 according to sensed data and the current location information determination aid parking position of automobile and track of parking, module of finally parking 403 controls automobile based on the mode of automatic feedback and moors in aid parking position according to track of parking, automatic control feedback refers to that the position relationship between the position of Real-Time Monitoring automobile and obstacle also adjusts track of parking.
In embodiments of the present invention, the operation that user starts automatic parking function if monitor, then respond this operation, the sensed data of automobile is obtained by adjustable sensor, according to this sensed data and the current location information determination aid parking position of automobile and track of parking, mode based on automatic control feedback controls automobile and moors in aid parking position according to track of parking, this automatic control feedback refers to that the position relationship between the position of automobile described in Real-Time Monitoring and obstacle also adjusts track of parking, by the sensed data using adjustable sensor to obtain automobile, the aid parking position of automobile can be determined fast and effectively, and based on the mode of automatic control feedback carry out automatic parking can in the process of parking the position of Real-Time Monitoring automobile, make it possible to complete the process of parking smoothly fast.
Refer to Fig. 5, be another schematic diagram of the structure of automated parking system in the embodiment of the present invention, comprise: the response acquisition module 401 described in embodiment as shown in Figure 4, first determination module 402, to park module 403, and similar to the content of middle description embodiment illustrated in fig. 4, repeat no more herein.
In embodiments of the present invention, respond acquisition module 401 to comprise:
Start module 501, for when automobile is in dead ship condition, the parking stall position control signal that user starts the generation of automatic parking function if monitor, then start mounted adjustable sensor on automobile;
Controlling acquisition module 502, for controlling the detection side of adjustable sensor to adjusting, obtaining the sensed data that adjustable sensor detects.
In embodiments of the present invention, the first determination module 402 comprises:
Second determination module 503, determines available parking stall for utilizing sensed data;
Judge module 504, for judging whether available parking stall meets the resemblance of automobile;
3rd determination module 505, if determine that available parking stall meets the resemblance of automobile for judge module 504, then divides aid parking position in available parking stall, and track of parking is determined in the location information utilizing automobile current, aid parking position;
Returning module 506, controlling acquisition module 502 for returning to perform.
In embodiments of the present invention, module of parking 403 comprises:
Controlling monitoring modular 507, starting according to track of parking mobile for controlling automobile, the sensed data that Real-Time Monitoring adjustable sensor detects;
Adjusting module 508, if meet for monitoring sensed data the condition pre-set, then stops parking, determines according to sensed data track of parking, and returns to perform to control monitoring modular 507.
Wherein, sensed data meets the condition pre-set and comprises: the distance in sensed data between automobile and obstacle is less than the numerical value pre-set.
In embodiments of the present invention, monitoring modular 507 is controlled also for the position relationship between the position of Real-Time Monitoring automobile and aid parking position;
Then system also comprises:
Complete module 509, if the position for monitoring automobile is within the position of aid parking position, then having determined the automatic parking of automobile, having stopped parking.
In embodiments of the present invention, when automobile process dead ship condition, the parking stall positioning signal that user starts function generation of parking if monitor, then start mounted adjustable sensor on automobile, and the detection side controlling adjustable sensor is to adjusting, obtain the sensed data that adjustable sensor detects, utilize this sensed data determination available parking places, judge whether this available parking places meets the resemblance of automobile, if not, then return execution and control the detection side of adjustable sensor to the step of carrying out adjusting, if, then in available parking places, mark aid parking position, and the location information utilizing automobile current, track of parking is determined in aid parking position, controlling automobile starts mobile according to track of parking, the sensed data that Real-Time Monitoring adjustable sensor detects, and the position relationship between the location information of Real-Time Monitoring automobile and aid parking position, if the sensed data detected meets the condition pre-set, then stop parking, track of parking is determined according to sensed data, and continuation control automobile moves according to this track of parking, if the position monitoring automobile is within the position of aid parking position, then determine the automatic parking of automobile, stopping is parked, in embodiments of the present invention, sensed data is obtained by utilizing adjustable sensor, make it possible to the acquisition sensed data that multi-angle is multi-faceted, the acquisition of sensed data is more flexible, and by sensed data that Real-Time Monitoring adjustable sensor in automatic parking process detects, make it possible to effectively avoid automobile and obstacle to bump against, and track of parking can be adjusted in real time, make to park and can carry out more smoothly.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be do not depart from technical solution of the present invention content, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (12)
1. an automatic parking method, is characterized in that, comprising:
The operation that user starts automatic parking function if monitor, then respond described operation, obtained the sensed data of automobile by adjustable sensor;
According to described sensed data and the current location information determination aid parking position of automobile and track of parking;
Mode based on automatic control feedback controls described automobile and moors in described aid parking position according to described track of parking, and described automatic control feedback refers to that the position relationship between the position of automobile described in Real-Time Monitoring and obstacle also adjusts track of parking.
2. automatic parking method according to claim 1, is characterized in that, monitors the operation starting automatic parking function, then respond described operation if described, obtains the initial sensed data of automobile, comprising by adjustable sensor:
When described automobile is in dead ship condition, the parking stall position control signal that user starts the generation of automatic parking function if monitor, then start mounted adjustable sensor on described automobile;
The detection side controlling described adjustable sensor, to adjusting, obtains the sensed data that described adjustable sensor detects.
3. automatic parking method according to claim 2, is characterized in that, describedly comprises according to described sensed data and the current location information determination aid parking position of automobile and track of parking:
Described sensed data is utilized to determine available parking stall;
Judge whether described available parking stall meets the resemblance of described automobile;
If so, in described available parking stall, divide described aid parking position, and utilize the current location information of described automobile, described aid parking position determine described in park track;
If not, then the detection side returning the described adjustable sensor of the described control of execution, to adjusting, obtains the step that described adjustable sensor detects the sensed data obtained.
4. automatic parking method according to claim 1, is characterized in that, the described mode based on automatic control feedback controls described automobile and moors in described aid parking position according to described track of parking, and comprising:
Controlling described automobile starts mobile according to described track of parking, the sensed data that described in Real-Time Monitoring, adjustable sensor detects;
If monitor described sensed data to meet the condition pre-set, then stop parking, determine according to described sensed data track of parking, return and perform described control automobile starts movement step according to described track of parking.
5. automatic parking method according to claim 4, is characterized in that, described sensed data meets the condition pre-set and comprises: the distance described in described sensed data between automobile and obstacle is less than the numerical value pre-set.
6. automatic parking method according to claim 4, is characterized in that, described method also comprises:
Position relationship between the position of automobile described in Real-Time Monitoring and described aid parking position;
If the position monitoring described automobile is within the position of described aid parking position, then determine the automatic parking of described automobile, stopped parking.
7. an automated parking system, is characterized in that, comprising:
Response acquisition module, if start the operation of automatic parking function for monitoring user, then responds described operation, is obtained the sensed data of automobile by adjustable sensor;
First determination module, for according to described sensed data and the current location information determination aid parking position of automobile and track of parking;
Park module, the mode for feeding back based on automatic control controls described automobile and moors in described aid parking position according to described track of parking, and described automatic control feedback refers to position relationship between the position of automobile described in Real-Time Monitoring and obstacle and adjusts track of parking.
8. automated parking system according to claim 7, is characterized in that, described response acquisition module comprises:
Start module, for when described automobile is in dead ship condition, the parking stall position control signal that user starts the generation of automatic parking function if monitor, then start mounted adjustable sensor on described automobile;
Controlling acquisition module, for controlling the detection side of described adjustable sensor to adjusting, obtaining the sensed data that described adjustable sensor detects.
9. automated parking system according to claim 8, is characterized in that, described first determination module comprises:
Second determination module, determines available parking stall for utilizing described sensed data;
Judge module, for judging whether described available parking stall meets the resemblance of described automobile;
3rd determination module, if determine that described available parking stall meets the resemblance of described automobile for described judge module, then in described available parking stall, divide described aid parking position, and utilize the current location information of described automobile, described aid parking position determine described in park track;
Returning module, performing described control acquisition module for returning.
10. automated parking system according to claim 7, is characterized in that, described in module of parking comprise:
Controlling monitoring modular, starting according to described track of parking mobile for controlling described automobile, the sensed data that described in Real-Time Monitoring, adjustable sensor detects;
Adjusting module, if meet for monitoring described sensed data the condition pre-set, then stops parking, determines track of parking, return and perform described control monitoring modular according to described sensed data.
11. automated parking systems according to claim 10, is characterized in that, described sensed data meets the condition pre-set and comprises: the distance described in described sensed data between automobile and obstacle is less than the numerical value pre-set.
12. automated parking systems according to claim 10, is characterized in that, described control monitoring modular is also for the position relationship between the position of automobile described in Real-Time Monitoring and described aid parking position;
Then described system also comprises:
Complete module, if the position for monitoring described automobile is within the position of described aid parking position, then having determined the automatic parking of described automobile, having stopped parking.
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Denomination of invention: An automatic parking method and system Granted publication date: 20180206 Pledgee: Bank of Beijing Limited by Share Ltd. Shanghai branch Pledgor: VOYAGER TECHNOLOGY Inc. Registration number: Y2024980002174 |