CN104843066B - A kind of automatic parking method and system - Google Patents
A kind of automatic parking method and system Download PDFInfo
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- CN104843066B CN104843066B CN201510239392.1A CN201510239392A CN104843066B CN 104843066 B CN104843066 B CN 104843066B CN 201510239392 A CN201510239392 A CN 201510239392A CN 104843066 B CN104843066 B CN 104843066B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 230000004044 response Effects 0.000 claims abstract description 8
- 230000006698 induction Effects 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 abstract description 18
- 230000004888 barrier function Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000026676 system process Effects 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
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
A kind of automatic parking method and system, this method include：If monitoring, user starts the operation of automatic parking function, response operation, by the sensed data that can adjust sensor acquisition automobile；Aid parking position is determined according to the current positional information of sensed data and automobile and track of parking；Mode based on automatic control feedback controls automobile to be moored according to track of parking in aid parking position, automatic control feedback refers to the position relationship between the position of monitoring automobile and barrier in real time and adjustment is parked track, the sensed data of automobile is obtained by using adjustable sensor, the aid parking position of automobile can fast and effectively be determined, and the mode based on automatic control feedback carries out automatic parking and can monitor the position of automobile in real time during parking, enabling quickly smoothly completes process of parking.
Description
Technical Field
The invention relates to the field of automobiles, in particular to an automatic parking method and system.
Background
With the economic development that the automobile holding amount is continuously increased every year, the phenomenon that the automobile is difficult to park generally exists, a driver needs to observe and judge the environment around a parking point at one side in the parking process, the driver needs to accurately operate the automobile to park at the other side, and safety accidents can be caused by a small misjudgment in the parking process. Therefore, parking the car requires the driver to have skilled driving skills and a sharp observation.
In the process of daily use of automobiles, parking is always a difficult and easy accident, for many drivers, parking often wastes a lot of time, even the drivers cannot successfully park the automobiles in parking spaces at all, inconvenience is brought to driving and even life, and if a set of safe and convenient automatic parking system is used, great convenience is brought to the drivers.
However, in the existing automatic parking system, the sensor is not adjustable, which causes high requirements on parking spaces, and is not flexible enough, so that quick and effective automatic parking is difficult to realize.
Disclosure of Invention
In view of this, the invention provides an automatic parking method and system, which are used for solving the problems of inconvenience in parking and low efficiency caused by the fact that a sensor is not adjustable in the prior art.
The automatic parking method provided by the embodiment of the invention comprises the following steps:
if the operation that a user starts the automatic parking function is monitored, responding to the operation, and acquiring sensing data of the automobile through an adjustable sensor;
determining an auxiliary parking space and a parking track according to the induction data and the current position information of the automobile;
and controlling the automobile to park in the auxiliary parking space according to the parking track based on a self-control feedback mode, wherein the self-control feedback means monitoring the position relation between the position of the automobile and the obstacle in real time and adjusting the parking track.
The automatic parking system provided by the embodiment of the invention comprises:
the response acquisition module is used for responding to the operation if the operation that the user starts the automatic parking function is monitored, and acquiring the sensing data of the automobile through the adjustable sensor;
the first determining module is used for determining an auxiliary parking space and a parking track according to the sensing data and the current position information of the automobile;
and the parking module is used for controlling the automobile to be parked into the auxiliary parking space according to the parking track in a self-control feedback mode, wherein the self-control feedback mode is to monitor the position relation between the position of the automobile and the obstacle in real time and adjust the parking track.
According to the technical scheme, the embodiment of the invention has the following advantages:
if the operation that a user starts an automatic parking function is monitored, the operation is responded, induction data of an automobile is obtained through an adjustable sensor, an auxiliary parking space and a parking track are determined according to the induction data and current position information of the automobile, the automobile is controlled to be parked into the auxiliary parking space according to the parking track in a self-control feedback mode, the self-control feedback mode is that the position relation between the position of the automobile and an obstacle is monitored in real time, the parking track is adjusted, the induction data of the automobile is obtained through the adjustable sensor, the auxiliary parking space of the automobile can be determined quickly and effectively, automatic parking is conducted on the basis of the self-control feedback mode, the position of the automobile can be monitored in real time in the parking process, and the parking process can be completed quickly and.
In order to make the aforementioned and other objects, features and advantages of the invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a schematic view of a flow of an automatic parking method according to an embodiment of the present invention;
FIG. 2 is another schematic diagram illustrating a flow of an automatic parking method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a method for determining an auxiliary parking space according to an embodiment of the present invention;
fig. 4 is a schematic view showing the construction of an automatic parking system according to an embodiment of the present invention;
fig. 5 is another schematic diagram of the structure of the automatic parking system in the embodiment of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
In the embodiment of the invention, the automatic parking system is used on the automobile, and after the automatic parking system or a device comprising the automatic parking system is installed on the automobile, automatic parking can be quickly, effectively and smoothly realized.
The automatic parking system is provided with an adjustable sensor, wherein the adjustable sensor is a sensor with adjustable sensing direction, namely, the data of the distance between the automobile and the obstacle in a certain range can be obtained by adjusting the sensing direction of the sensor.
The position and the number of the adjustable sensors can be set on the automobile according to specific requirements, for example, at least one adjustable sensor can be respectively installed at the head, the left side, the right side and the tail of the automobile, specifically, one adjustable sensor is respectively installed at the front left position, the front right position and the front right position of the head of the automobile, one adjustable sensor is respectively installed at the rear left position, the rear right position and the rear right position of the tail of the automobile, and one adjustable sensor is respectively installed in the middle of the left side and the right side of the automobile. In practical applications, the positions and the number of the adjustable sensors can be set according to specific needs, which is not limited herein. In the embodiment of the present invention, it is described that an adjustable sensor is disposed at a middle position of a head, a left side, a right side, and a tail of an automobile.
The adjustable sensor may be an ultrasonic sensor with adjustable sensing direction.
In the embodiment of the present invention, the following automatic parking method and system are explained based on the premise that an adjustable sensor is installed on a car. For better understanding of the technical solution in the embodiment of the present invention, please refer to fig. 1, which is an embodiment of an automatic parking method in the embodiment of the present invention, including:
101. if the operation that the user starts the automatic parking function is monitored, responding to the operation, and acquiring the sensing data of the automobile through an adjustable sensor;
in the embodiment of the invention, when the automobile is in a parking state, if a user needs to perform automatic parking, an automatic parking system on the automobile can be started, and after the system monitors that the user starts the automatic parking function, the system responds to the operation and acquires the sensing data of the automobile through the adjustable sensor.
The automatic parking system in the automobile may include a button of an entity button, and the automobile starts the automatic parking system when the button is pressed, or a virtual button may be provided on a display interface of a device installed in the automobile, and the user may start the automatic parking system of the automobile when the virtual button is pressed.
After an entity button or a virtual button for starting the automatic parking system is pressed down, a parking space positioning control signal of the automobile is generated and sent to an adjustable sensor, and the adjustable sensor enters a sensing state after receiving the signal.
In the embodiment of the invention, the adjustable sensors at the head, the left side, the right side and the tail of the automobile enter sensing states to acquire sensing data of each adjustable sensor, wherein the sensing data refers to distance data and angle data between the current position of the sensor sensed by the adjustable sensor and an obstacle in the sensing range of the sensor.
In the embodiment of the invention, when the automobile is in a parking state, if the automatic parking system monitors a parking space positioning control signal generated by starting the automatic parking function by a user, an adjustable sensor installed on the automobile is started; and the detection direction of the adjustable sensor can be controlled to be adjusted, and the induction data detected by the adjustable sensor can be obtained.
Wherein, the automatic parking system acquires the sensing data respectively transmitted by the adjustable sensors in the head, left, right and tail directions of the automobile and processes the sensing data detected in each direction, the automatic parking system processes the sensing data detected in each direction to obtain the size of the area which can be parked in each direction and determines whether the area conforms to the appearance characteristics of the automobile, wherein, the length and the width of the area which are met when the automobile is parked are in accordance with the parking specification of the automobile, if the area is not met, the automatic parking system sends parking space positioning control signals to the adjustable sensors on the four sides of the automobile again, the adjustable sensors on the four sides of the automobile adjust the sensing angles and acquire the sensing data, or a driver slightly moves the current position of the automobile according to the actual situation, and the parking system sends parking space positioning control signals to the adjustable sensors on the four sides of the automobile again, the sensor can be adjusted to adjust the sensing angle and obtain sensing data.
In the embodiment of the invention, the adjustable sensors are arranged on four sides of the automobile, so that the angle of the sensors can be adjusted to acquire the sensing data, and the acquisition of the sensing data is more flexible and has higher efficiency.
In the embodiment of the present invention, if the parking-enabled areas include the exterior features conforming to the vehicle, step 102 is performed.
102. Determining an auxiliary parking space and a parking track according to the induction data and the current position information of the automobile;
in the embodiment of the invention, if the areas indicated by the sensing data of the four directions detected by the adjustable sensors of the automobile contain the appearance characteristics conforming to the automobile, the sensing data of the sensors which detect the appearance characteristics conforming to the automobile are determined to be the data for determining the auxiliary parking space and the parking track, and the automobile determines the auxiliary parking space and the parking track according to the sensing data and the current position information of the automobile. Specifically, the method comprises the following steps: if only one of the areas indicated by the sensing data in the four directions contains the appearance features conforming to the automobile, determining the auxiliary parking space and the parking track by using the sensing data in the direction, if at least two of the areas indicated by the sensing data in the four directions contain the appearance features conforming to the automobile, displaying the at least two directions on a display interface, selecting by a driver, and if the selection operation of the driver is detected, determining the auxiliary parking space and the parking track by using the sensing data in the direction corresponding to the area selected by the selection operation. For example: if parking spaces are arranged on two sides of the automobile and most of the parking spaces on the two sides of the automobile are already parked, the adjustable sensors on the four sides of the automobile detect that large empty spaces exist in the front and the rear of the automobile, an empty space exists on the right side of the automobile and no empty space exists on the left side of the automobile, the automobile determines that the empty spaces which meet parking requirements exist in the front, the rear and the right side of the automobile, the position of the position which can be used for parking relative to the current position of the automobile is displayed on a display interface, a driver can determine the available empty space for parking, namely the empty space on the right side of the automobile through selection on the display interface, and after receiving a selection area of the driver, the automatic parking system divides auxiliary parking spaces in the area where the empty spaces on the right side of the automobile are detected and determines a.
103. And controlling the automobile to park in the auxiliary parking space according to the parking track based on a self-control feedback mode, wherein the self-control feedback mode is to monitor the position relation between the position of the automobile and the obstacle in real time and adjust the parking track.
In the embodiment of the invention, after the auxiliary parking space and the parking track are determined, the automatic parking system controls the automobile to be dialed into the auxiliary parking space according to the parking track in a self-control feedback mode, wherein the self-control feedback means that the position relation between the position of the automobile and an obstacle is monitored in real time and the parking track is adjusted.
The position relation between the position of the automobile and the barrier is monitored in real time in the parking process, and the parking track is adjusted when needed, so that the parking track can be adjusted in real time to avoid the automobile from colliding the barrier, and the automatic parking of the automobile is efficiently realized.
In the embodiment of the invention, if the operation that a user starts the automatic parking function is monitored, the operation is responded, the induction data of the automobile is obtained through the adjustable sensor, the auxiliary parking space and the parking track are determined according to the induction data and the current position information of the automobile, the automobile is controlled to park in the auxiliary parking space according to the parking track in a self-control feedback mode, the self-control feedback mode is to monitor the position relation between the position of the automobile and an obstacle in real time and adjust the parking track, the induction data of the automobile is obtained through the adjustable sensor, the auxiliary parking space of the automobile can be rapidly and effectively determined, automatic parking is carried out in the self-control feedback mode, the position of the automobile can be monitored in real time in the parking process, and the parking process can be rapidly and smoothly completed.
Referring to fig. 2, an embodiment of an automatic parking method according to an embodiment of the present invention includes:
201. when the automobile is in a parking state, if a parking space positioning control signal generated by starting an automatic parking function by a user is monitored, starting an adjustable sensor installed on the automobile;
in the embodiment of the invention, when the automobile is in a parking state, if a user needs to perform automatic parking, an automatic parking system on the automobile can be started, wherein the automobile in the parking state means that the automobile is not moved at the current position.
The user can start the automatic parking system by pressing an entity button arranged on the automobile and used for starting the automatic parking function, after the entity button is pressed, a parking space positioning control signal of the automobile is generated and used for triggering an adjustable sensor arranged on the automobile to enter a sensing state, and the generated parking space positioning control signal indicates that the automatic parking system of the automobile is started, or a virtual button can be arranged on a display interface of equipment arranged in the automobile, and after the virtual button is pressed, the user also generates a parking space positioning control signal and indicates that the automatic parking system of the automobile is started.
In the embodiment of the invention, after the adjustable sensor on the automobile enters the sensing state, the obstacle around the automobile is sensed, and the distance between the adjustable sensor and the obstacle and the angle between the two distances are determined to generate sensing data.
It should be noted that, when the adjustable sensor is in the off state, the adjustable sensor is in the reset position, that is, the emitting direction of the adjustable sensor on the left side is perpendicular to the automobile and faces to the left, the emitting direction of the sensor on the right side is perpendicular to the automobile and faces to the right, the emitting direction of the adjustable sensor on the head is parallel to the automobile and faces forward, and the emitting direction of the adjustable sensor on the tail is parallel to the automobile and faces backward.
202. Controlling the detection direction of the adjustable sensor to adjust, and acquiring sensing data detected by the adjustable sensor;
in the embodiment of the invention, after the adjustable sensor on the automobile enters the sensing state, the automatic parking system can control the detection direction (angle) of the adjustable sensor to adjust, and the sensing data detected by the adjustable sensor is obtained.
203. Determining available parking spaces using the sensed data;
in the embodiment of the invention, after the sensing data of the adjustable sensors on the four sides is acquired, the automatic parking system determines the available parking spaces by using the sensing data of the adjustable sensors on the four sides. Wherein, the available parking spaces refer to the empty spaces detected by the adjustable sensors on the four sides; for example: if parking spaces are formed in two sides of the automobile, most of the parking spaces on the two sides of the automobile are already parked, the adjustable sensors on the four sides of the automobile detect that large empty spaces exist in the front and the rear of the automobile, an empty space exists on the right side of the automobile, and no empty space exists on the left side of the automobile, the automobile can determine that the empty spaces which meet the requirement of parking exist in the front, the rear and the right side of the automobile, and can be used as available parking spaces.
204. Judging whether the available parking spaces conform to the appearance characteristics of the automobile, if so, executing the step 205, otherwise, returning to the step 202;
in an embodiment of the present invention, the automatic parking system determines whether the determined available parking space corresponds to the external shape of the car, wherein the external shape of the car is that the size of the area of the available parking space is larger than the area of the maximum cross section of the car and is larger than a predetermined value, for example, larger than 120%.
In the embodiment of the present invention, if the available parking spaces do not include available parking spaces that conform to the external shape of the automobile, the automatic parking system returns to step 202, specifically: the driver may change the current position of the vehicle, and after changing the current position, the driver may perform the step of controlling the detection direction of the adjustable sensor to adjust in step 202 again to obtain the sensing data detected by the adjustable sensor.
In the embodiment of the invention, the automobile can acquire the induction data for multiple times to determine an available parking space which accords with the appearance characteristics of the automobile.
205. Marking out an auxiliary parking space in an available parking space, and determining a parking track by using the current position information of the automobile and the auxiliary parking space;
in the embodiment of the invention, if the available parking space conforms to the appearance characteristics of the automobile, the available parking space is used as an auxiliary parking space, and the parking track is determined by using the current position information of the automobile and the auxiliary parking space.
Wherein, concretely: if only one available parking space in available parking spaces determined by the sensing data of the four directions accords with the appearance characteristics of the automobile, determining an auxiliary parking space in the available parking space, and determining a parking track by utilizing the auxiliary parking space and the current position information of the automobile, if at least two available parking spaces which accord with the appearance characteristics of the automobile exist in the available parking spaces indicated by the sensing data of the four directions, displaying the at least two available parking spaces on a display interface, selecting by a driver, and if the selection operation of the driver is detected, determining the auxiliary parking space by utilizing the available parking space selected by the selection operation, and determining the parking track by utilizing the auxiliary parking space and the current position information of the automobile. For example: if parking spaces are formed in two sides of the automobile, most of the parking spaces on the two sides of the automobile are already parked, the adjustable sensors on the four sides of the automobile detect that large empty spaces exist in the front and the rear of the automobile, an empty space exists in the right side of the automobile, and no empty space exists in the left side of the automobile, the automobile determines that the empty spaces meeting parking exist in the front, the rear and the right side of the automobile are available parking spaces and displays the available parking spaces on a display interface, a driver can determine one available parking space through selection on the display interface, namely the empty space on the right side of the automobile, after the automatic parking system receives the selection of the driver, auxiliary parking spaces are divided in an area where the empty space on the right side of the automobile is detected, and parking tracks are determined by the auxiliary parking spaces and the current position information of the automobile.
Please refer to fig. 3, which is a schematic diagram illustrating a method for determining auxiliary parking spaces, wherein data sensed by sensors include L1, L2, L3, L4, an angle a1 between L1 and L2, an angle a2 between L2 and L4, and an angle A3 between L3 and L4, and the data form available parking spaces.
L5 can be obtained through L1, L2 and A1 and the cosine theorem, L6 can be obtained through L2, L4 and A2, L7 can be obtained through L1, L4 and A1+ A2, and the included angle between L5 and L6, namely the angle between the direction of the parking head of the automobile and the horizontal direction at the moment, can be obtained through L5, L6 and L7. According to the data, the auxiliary parking space can be drawn.
206. Controlling the automobile to start moving according to the parking track, and monitoring the sensing data detected by the adjustable sensor in real time; monitoring the position relation between the position information of the automobile and the auxiliary parking space in real time;
in the embodiment of the invention, after the auxiliary parking space and the parking track are determined, the automobile is controlled to start moving according to the parking track, the sensing data detected by the adjustable sensor is monitored in real time, and the position relation between the position information of the automobile and the auxiliary parking space is monitored in real time.
The sensing data detected by the adjustable sensor is monitored to avoid the automobile from colliding with obstacles in the automatic parking process, and the position relation between the position of the automobile and the auxiliary parking space is monitored in real time to determine whether the parking is finished.
207. If the sensing data meet the preset conditions, stopping parking, determining a parking track according to the sensing data, and returning to execute the step 206;
in the embodiment of the invention, in the automatic parking process of the automatic parking system, the automatic parking system monitors the sensing data of the adjustable sensors on the four sides in real time, stops parking if the sensing data meet the preset conditions, and determines the parking track according to the sensing data, wherein the parking track in step 207 is different from the parking track in step 205, the parking track in step 207 is the parking track after adjustment, and the automatic parking system can adjust the parking track as required in the automatic parking process of the automatic parking system.
Wherein, the condition that the sensing data satisfies the presetting includes: the distance between the automobile and the obstacle in the sensing data is smaller than a preset value.
The determination of the parking trajectory according to the sensing data may specifically be a determination of a trajectory by which the automatic parking system can park the vehicle into the auxiliary parking space based on the current sensing data, and in theory, the vehicle does not contact surrounding obstacles.
208. And if the position of the automobile is monitored to be in the position of the auxiliary parking space, determining that the automatic parking of the automobile is finished, and stopping the parking.
In the embodiment of the invention, in the automatic parking process of the automatic parking system, the automatic parking system also monitors the position relationship between the position information of the automobile and the auxiliary parking space in real time, and if the position information of the automobile is processed in the position of the auxiliary parking space, the automatic parking of the automobile can be determined to be finished, and the automatic parking is stopped.
In the embodiment of the invention, when the automobile processes a parking state, if a parking space positioning signal generated by a parking function started by a user is monitored, an adjustable sensor installed on the automobile is started, the detection direction of the adjustable sensor is controlled to adjust, sensing data detected by the adjustable sensor is obtained, an available parking space is determined by using the sensing data, whether the available parking space accords with the appearance characteristics of the automobile is judged, if not, the step of controlling the detection direction of the adjustable sensor to adjust is returned, if yes, an auxiliary parking space is marked out from the available parking space, a parking track is determined by using the current position information of the automobile and the auxiliary parking space, the automobile is controlled to start moving according to the parking track, the sensing data detected by the adjustable sensor is monitored in real time, and the position relation between the position information of the automobile and the auxiliary parking space is monitored in real time, if the detected induction data meet the preset conditions, stopping parking, determining a parking track according to the induction data, continuously controlling the automobile to move according to the parking track, and if the position of the automobile is monitored to be within the position of the auxiliary parking space, determining that automatic parking of the automobile is finished and stopping parking.
Referring to fig. 4, a schematic diagram of a structure of an automatic parking system according to an embodiment of the present invention includes:
a response obtaining module 401, configured to, if an operation that the user starts an automatic parking function is monitored, respond to the operation, and obtain sensing data of the automobile through an adjustable sensor;
a first determining module 402, configured to determine an auxiliary parking space and a parking track according to the sensing data and the current position information of the vehicle;
and a parking module 403, configured to control the vehicle to park in the auxiliary parking space according to a parking trajectory based on an automatic feedback mode, where the automatic feedback mode is to monitor a positional relationship between the position of the vehicle and an obstacle in real time and adjust the parking trajectory.
In the embodiment of the present invention, if the automatic parking system monitors an operation of starting an automatic parking function by a user, the response obtaining module 401 responds to the operation, obtains sensing data of an automobile through an adjustable sensor, then determines an auxiliary parking space and a parking track according to the sensing data and current position information of the automobile by the first determining module 402, and finally controls the automobile to park in the auxiliary parking space according to the parking track by the parking module 403 based on an automatic feedback mode, where the automatic feedback refers to monitoring a position relationship between the position of the automobile and an obstacle in real time and adjusting the parking track.
In the embodiment of the invention, if the operation that a user starts the automatic parking function is monitored, the operation is responded, the induction data of the automobile is obtained through the adjustable sensor, the auxiliary parking space and the parking track are determined according to the induction data and the current position information of the automobile, the automobile is controlled to park in the auxiliary parking space according to the parking track in a self-control feedback mode, the self-control feedback mode is to monitor the position relation between the position of the automobile and an obstacle in real time and adjust the parking track, the induction data of the automobile is obtained through the adjustable sensor, the auxiliary parking space of the automobile can be rapidly and effectively determined, automatic parking is carried out in the self-control feedback mode, the position of the automobile can be monitored in real time in the parking process, and the parking process can be rapidly and smoothly completed.
Referring to fig. 5, another schematic diagram of the structure of the automatic parking system in the embodiment of the present invention includes: the response obtaining module 401, the first determining module 402, and the parking module 403 in the embodiment shown in fig. 4 are similar to those in the embodiment shown in fig. 4, and are not described again here.
In this embodiment of the present invention, the response obtaining module 401 includes:
the starting module 501 is configured to, when the automobile is in a parking state, start an adjustable sensor installed on the automobile if a parking space positioning control signal generated by starting an automatic parking function by a user is monitored;
the control obtaining module 502 is configured to control the detection direction of the adjustable sensor to be adjusted, and obtain sensing data detected by the adjustable sensor.
In an embodiment of the present invention, the first determining module 402 includes:
a second determining module 503, configured to determine an available parking space using the sensed data;
a judging module 504, configured to judge whether an available parking space meets an appearance characteristic of an automobile;
a third determining module 505, configured to divide an auxiliary parking space in an available parking space if the determining module 504 determines that the available parking space meets the external shape characteristics of the automobile, and determine a parking track by using the current position information of the automobile and the auxiliary parking space;
a returning module 506, configured to return to the execution control acquiring module 502.
In the embodiment of the present invention, parking module 403 includes:
the control monitoring module 507 is used for controlling the automobile to start moving according to the parking track and monitoring the sensing data detected by the adjustable sensor in real time;
and the adjusting module 508 is configured to stop parking if it is monitored that the sensing data meets a preset condition, determine a parking trajectory according to the sensing data, and return to the execution control monitoring module 507.
Wherein, the condition that the sensing data satisfies the presetting includes: the distance between the automobile and the obstacle in the sensing data is smaller than a preset value.
In the embodiment of the present invention, the control monitoring module 507 is further configured to monitor a position relationship between a position of the vehicle and the auxiliary parking space in real time;
the system further comprises:
a completing module 509, configured to determine that automatic parking of the vehicle is completed and stop parking if the position of the vehicle is monitored to be within the position of the auxiliary parking space.
In the embodiment of the invention, when the automobile processes a parking state, if a parking space positioning signal generated by a parking function started by a user is monitored, an adjustable sensor installed on the automobile is started, the detection direction of the adjustable sensor is controlled to adjust, sensing data detected by the adjustable sensor is obtained, an available parking space is determined by using the sensing data, whether the available parking space accords with the appearance characteristics of the automobile is judged, if not, the step of controlling the detection direction of the adjustable sensor to adjust is returned, if yes, an auxiliary parking space is marked out from the available parking space, a parking track is determined by using the current position information of the automobile and the auxiliary parking space, the automobile is controlled to start moving according to the parking track, the sensing data detected by the adjustable sensor is monitored in real time, and the position relation between the position information of the automobile and the auxiliary parking space is monitored in real time, if the detected induction data meet the preset conditions, stopping parking, determining a parking track according to the induction data, continuously controlling the automobile to move according to the parking track, and if the position of the automobile is monitored to be within the position of the auxiliary parking space, determining that automatic parking of the automobile is finished and stopping parking.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. An automatic parking method, comprising:
if the operation that a user starts the automatic parking function is monitored, responding to the operation, and acquiring sensing data of the automobile through the adjustable sensor, wherein the sensing data refers to distance data and angle data between the current position of the sensor sensed by the adjustable sensor and an obstacle in the sensing range of the sensor;
determining an auxiliary parking space and a parking track according to the induction data and the current position information of the automobile;
controlling the automobile to park in the auxiliary parking space according to the parking track based on a self-control feedback mode, wherein the self-control feedback means monitoring the position relation between the position of the automobile and the obstacle in real time and adjusting the parking track; wherein,
if the operation of starting the automatic parking function is monitored, the operation is responded, and the initial sensing data of the automobile is obtained through the adjustable sensor, and the method comprises the following steps:
when the automobile is in a parking state, if a parking space positioning control signal generated by starting an automatic parking function by a user is monitored, starting an adjustable sensor installed on the automobile;
controlling the detection direction of the adjustable sensor to adjust, and acquiring sensing data detected by the adjustable sensor;
the determining the auxiliary parking space and the parking track according to the sensing data and the current position information of the automobile comprises the following steps:
determining available parking spaces using the sensed data;
judging whether the available parking space conforms to the appearance characteristics of the automobile, wherein the appearance characteristics of the automobile are that the size of the area of the available parking space is larger than the area of the maximum cross section of the automobile and is larger than a preset value;
if so, dividing the auxiliary parking spaces in the available parking spaces, and determining the parking tracks by using the current position information of the automobile and the auxiliary parking spaces;
if not, returning to the step of controlling the detection direction of the adjustable sensor to adjust and acquiring the induction data detected by the adjustable sensor.
2. The automatic parking method according to claim 1, wherein the controlling the automobile to park in the auxiliary parking space according to the parking trajectory based on the autonomous feedback includes:
controlling the automobile to start moving according to the parking track, and monitoring the sensing data detected by the adjustable sensor in real time;
and if the sensing data are monitored to meet the preset conditions, stopping parking, determining a parking track according to the sensing data, and returning to execute the step of controlling the automobile to start moving according to the parking track.
3. The automatic parking method according to claim 2, wherein the sensing data satisfying a preset condition includes: and the distance between the automobile and the obstacle in the induction data is smaller than a preset value.
4. The automatic parking method according to claim 2, further comprising:
monitoring the position relation between the position of the automobile and the auxiliary parking space in real time;
and if the position of the automobile is monitored to be within the position of the auxiliary parking space, determining that the automatic parking of the automobile is finished, and stopping the parking.
5. An automatic parking system, comprising:
the response acquisition module is used for responding to the operation if the operation that the user starts the automatic parking function is monitored, and acquiring the sensing data of the automobile through the adjustable sensor, wherein the sensing data refers to the distance data and the angle data between the current position of the sensor sensed by the adjustable sensor and the obstacle in the sensing range of the sensor;
the first determining module is used for determining an auxiliary parking space and a parking track according to the sensing data and the current position information of the automobile;
the parking module is used for controlling the automobile to park in the auxiliary parking space according to the parking track based on a self-control feedback mode, wherein the self-control feedback mode is used for monitoring the position relation between the position of the automobile and an obstacle in real time and adjusting the parking track; wherein,
the response acquisition module comprises:
the system comprises a starting module, a judging module and a control module, wherein the starting module is used for starting an adjustable sensor installed on the automobile if a parking space positioning control signal generated by starting an automatic parking function by a user is monitored when the automobile is in a parking state;
the control acquisition module is used for controlling the detection direction of the adjustable sensor to be adjusted and acquiring the induction data detected by the adjustable sensor;
the first determining module includes:
the second determination module is used for determining available parking spaces by utilizing the sensing data;
the judging module is used for judging whether the available parking space conforms to the appearance characteristics of the automobile, wherein the appearance characteristics of the automobile are met, namely the size of the area of the available parking space is larger than the area of the maximum cross section of the automobile and is larger than a preset numerical value;
a third determining module, configured to divide the auxiliary parking space in the available parking space if the determining module determines that the available parking space meets the external shape feature of the vehicle, and determine the parking trajectory by using the current position information of the vehicle and the auxiliary parking space;
and the return module is used for returning and executing the control acquisition module.
6. The automated parking system of claim 5 wherein the parking module comprises:
the control monitoring module is used for controlling the automobile to start moving according to the parking track and monitoring the sensing data detected by the adjustable sensor in real time;
and the adjusting module is used for stopping parking if the sensing data are monitored to meet the preset conditions, determining a parking track according to the sensing data, and returning to execute the control monitoring module.
7. The automatic parking system according to claim 6, wherein the sensing data satisfying a preset condition includes: and the distance between the automobile and the obstacle in the induction data is smaller than a preset value.
8. The automatic parking system according to claim 6, wherein the control monitoring module is further configured to monitor a positional relationship between the position of the automobile and the auxiliary parking space in real time;
the system further comprises:
and the completion module is used for determining that the automatic parking of the automobile is completed and stopping the parking if the position of the automobile is monitored to be within the position of the auxiliary parking space.
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| CN105774655B (en) * | 2016-03-11 | 2018-04-17 | 江苏大学 | One kind tilts parking stall detection device and method |
| CN106627565B (en) * | 2016-11-21 | 2019-10-01 | 深圳市元征软件开发有限公司 | One kind is parked method and mobile unit |
| DE102017203904A1 (en) | 2017-03-09 | 2018-09-13 | Audi Ag | Method for operating a motor vehicle, motor vehicle and transmitting device |
| CN108437981B (en) | 2018-03-01 | 2020-02-21 | 东软集团股份有限公司 | Automatic reversing method and device |
| CN108556840B (en) * | 2018-04-27 | 2021-07-02 | 榛硕（武汉）智能科技有限公司 | Full-automatic parking system and method |
| US11066067B2 (en) * | 2018-06-29 | 2021-07-20 | Baidu Usa Llc | Planning parking trajectory for self-driving vehicles |
| CN109606354B (en) * | 2018-10-18 | 2020-07-28 | 同济大学 | Automatic parking method and auxiliary system based on hierarchical planning |
| CN109649379B (en) * | 2018-12-21 | 2020-09-04 | 北京汽车集团有限公司 | Automatic parking control method and device |
| US11402842B2 (en) * | 2019-01-18 | 2022-08-02 | Baidu Usa Llc | Method to define safe drivable area for automated driving system |
| CN110281917A (en) * | 2019-05-31 | 2019-09-27 | 惠州市德赛西威汽车电子股份有限公司 | A kind of autonomous parking control method |
| CN113119923B (en) * | 2019-12-31 | 2023-03-28 | 国创移动能源创新中心(江苏)有限公司 | Positioning parking system and method |
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