CN105584478B - For automatically selecting the parking assistance method and system of shut-down operation - Google Patents
For automatically selecting the parking assistance method and system of shut-down operation Download PDFInfo
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- CN105584478B CN105584478B CN201410577112.3A CN201410577112A CN105584478B CN 105584478 B CN105584478 B CN 105584478B CN 201410577112 A CN201410577112 A CN 201410577112A CN 105584478 B CN105584478 B CN 105584478B
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Abstract
It is a kind of for automatically selecting the parking assistance method of shut-down operation for the vehicle parked to target parking position, comprising: find the target parking position for vehicle；Detect the length of the objects in front parked in front of target parking position along vehicle traveling direction along the length of vehicle traveling direction and the rear object parked along vehicle traveling direction at target parking position rear along vehicle traveling direction；Shut-down operation mode is determined with according to the length of objects in front and the length of rear object.A kind of parking assistance system is additionally provided, for executing the above method.
Description
Technical field
The present invention relates to for automatically selecting the parking assistance method of shut-down operation for vehicle, and execute the party with a kind of
The parking assistance system of method.
Background technique
In existing parking ancillary technique, usually pressed the operation button by driver to select shut-down operation mode, with
Order parking assistance system carries out shut-down operation, and shut-down operation mode described here is, for example, horizontal shut-down operation mode and hangs down
Straight shut-down operation mode.
In self-stopping situation, in one case, in docking process, two objects for defining parking stall need to be considered
The distance between body, which is used to determine that parking stall is suitble to be parallel to the mode of parking of vehicle traveling direction, or is suitble to hang down
Directly in the mode of parking of vehicle traveling direction.In addition the depth to parking stall it is also contemplated that.Smaller depth and biggish length
It is indicated generally at parallel parking stall, and lesser length, it is, for example, less than 3.5 meters and biggish depth, such as usually more than vehicle is long
Degree, is indicated generally at vertical parking stall.
Such as in another case, vehicle is advanced through a parking stall and defines vehicle or barrier, and is intended to be parked in
Its front, then vehicle is defined on the parking stall or the width along vehicle traveling direction of barrier is used for determining shut-down operation mould
Formula.If the width is less than or equal to predetermined reference length, reversing and vertical shut-down operation are executed.If the width is greater than
Predetermined reference length then executes parallel shut-down operation.
But in above-mentioned automatic stopping supporting process, the intervention of driver is also needed in many cases, is thus reduced
The comfort that user experience and user experience, in some instances it may even be possible to cause maloperation.
Summary of the invention
The present invention provides a kind of parking for automatically selecting shut-down operation for the vehicle parked to target parking position is auxiliary
Aid method, comprising: find the target parking position for vehicle；What detection was parked in front of target parking position along vehicle traveling direction
Objects in front is along the length of vehicle traveling direction and along the rear object edge that vehicle traveling direction is parked at target parking position rear
The length of vehicle traveling direction；Shut-down operation mode is determined with according to the length of objects in front and the length of rear object.
Determine that shut-down operation mode includes: when the length of objects in front is in Vehicle length threshold range and rear object
Length when being not in vehicle width threshold range, execute parallel shut-down operation mode.
When the length of objects in front is in Vehicle length threshold range and the length of rear object is not at vehicle width
When condition in threshold range is unsatisfactory for, the method also includes: when the length of objects in front is in vehicle width threshold range
When interior and rear object length is not in Vehicle length threshold range, vertical shut-down operation mode is executed.
When the length of objects in front is in vehicle width threshold range and the length of rear object is not at Vehicle length
When condition in threshold range is unsatisfactory for, the method also includes: when the length of objects in front had both been not at Vehicle length threshold value
When in range not also in vehicle width threshold range, the length of rear object is judged: when the length of rear object is in vehicle
When within the scope of length threshold, parallel shut-down operation mode is executed；When the length of rear object is in vehicle width threshold range
When interior, vertical shut-down operation mode is executed；When the length of objects in front be both not in Vehicle length threshold range not also in
In vehicle width threshold range and the length of rear object had both been not in Vehicle length threshold range not also in vehicle width
When in threshold range, driver is notified to manually select shut-down operation mode.
When the length of objects in front had both been not in Vehicle length threshold range not also in vehicle width threshold range
Condition when being unsatisfactory for, the method also includes: when the length of objects in front be in vehicle width threshold range and after square object
When the length of body is in Vehicle length threshold range, judge along vehicle traveling direction rear object rear object along vehicle
The length of direction of travel: when the length of the object at rear object rear is in Vehicle length threshold range, selection stops in parallel
Vehicle operation mode；Otherwise, driver is notified to manually select shut-down operation mode.
When the length of objects in front is in vehicle width threshold range and the length of rear object is in Vehicle length threshold
When condition within the scope of value is unsatisfactory for, the method also includes:
When the length of objects in front is in Vehicle length threshold range and the length of rear object is in vehicle width threshold
Be worth range in when, judge along vehicle traveling direction rear object rear object along vehicle traveling direction length: when after
The length of the object at square object body rear is in vehicle width threshold range, selects vertical shut-down operation mode；Otherwise, notice is driven
The person of sailing manually selects shut-down operation mode.
Vehicle width threshold range is 1.6 to 2.0 meters of range and/or Vehicle length threshold range is 3.5 to 5.5 meters
Range.
The present invention also provides a kind of for automatically selecting the parking of shut-down operation for the vehicle parked to target parking position
Auxiliary system, including detection module and execution module.Detection module is used for: finding the target parking position for vehicle, and detection
The objects in front parked in front of target parking position along vehicle traveling direction is advanced along the length of vehicle traveling direction and along vehicle
Length of the rear object that direction is parked at target parking position rear along vehicle traveling direction.Execution module is for receiving by detecting
The information that module is sent, wherein the information includes the length of objects in front and the length of rear object；Wherein, the execution
Module determines shut-down operation mode according to the length of objects in front and the length of rear object.
The length of current square object is in Vehicle length threshold range and the length of rear object is not at vehicle width threshold
When being worth in range, the execution module executes parallel shut-down operation mode.
When the length of objects in front is in vehicle width threshold range and the length of rear object is not at Vehicle length
When in threshold range, the execution module executes vertical shut-down operation mode.
When the length of objects in front had both been not in Vehicle length threshold range not also in vehicle width threshold range
When, the execution module judges the length of rear object: when the length of rear object is in Vehicle length threshold range, institute
It states execution module and executes parallel shut-down operation mode；It is described when the length of rear object is in vehicle width threshold range
Execution module executes vertical shut-down operation mode；When the length of objects in front had both been not in Vehicle length threshold range or was not located
In in vehicle width threshold range and the length of rear object be both not at it is wide not also in vehicle in Vehicle length threshold range
When spending in threshold range, the execution module notifies driver to manually select shut-down operation mode.
When the length of objects in front is in vehicle width threshold range and the length of rear object is in Vehicle length threshold
Be worth range in when, the execution module judge along vehicle traveling direction rear object rear object along vehicle traveling direction
Length: when the length of the object at rear object rear is in Vehicle length threshold range, the execution module selection is parallel
Shut-down operation mode；Otherwise, the execution module notifies driver to manually select shut-down operation mode.
When the length of objects in front is in Vehicle length threshold range and the length of rear object is in vehicle width threshold
Be worth range in when, the execution module judge along vehicle traveling direction rear object rear object along vehicle traveling direction
Length: when the length of the object at rear object rear is in vehicle width threshold range, the execution module selection is vertical
Shut-down operation mode；Otherwise, the execution module notifies driver to manually select shut-down operation mode.
Vehicle width threshold range is 1.6 to 2.0 meters of range and/or Vehicle length threshold range is 3.5 to 5.5 meters
Range.
It is according to the present invention to reduce use for automatically selecting the parking assistance method of shut-down operation and system for vehicle
Interference of the family to parking supporting process, and a possibility that reduce user misoperation, so that the user experience is improved and comfortable
Property.Moreover, parking assistance system according to the present invention has the intelligence significantly improved.
Detailed description of the invention
By following attached drawing, those skilled in the art will present invention may be better understood, and more can clearly body
Reveal advantages of the present invention.Attached drawing described herein is only for illustrating the purpose of embodiment, rather than all possible embodiment party
Formula, and be intended to not limit the scope of the invention.
Fig. 1 to 4 is the schematic diagram according to the present invention that shut-down operation mode is selected for vehicle, wherein along vehicle traveling side
There is object in target parking position front and back；
Figures 5 and 6 are the another schematic diagrames according to the present invention that shut-down operation mode is selected for vehicle, wherein are stopped in target
There is also an objects after the object at parking stall rear；
Fig. 7 is to show the flow chart of the parking assistance method according to the present invention for being used to automatically select shut-down operation.
Specific embodiment
Preferred embodiment in accordance with the present invention is described in detail below with reference to attached drawing.By attached drawing and accordingly
Explanatory note, it will be understood to those of skill in the art that the features of the present invention and advantage.
In the present specification, shut-down operation mode is divided into two kinds, and statement " parallel parking " operation mode refers to completion of parking
Afterwards, the direction of vehicle is roughly parallel to the original direction of travel of vehicle；Statement " vertical parking " operation mode refers to completion of parking
Afterwards, the direction of vehicle is approximately perpendicular to the original direction of travel of vehicle.
Fig. 1 to 4 shows the schematic diagram that shut-down operation mode is automatically selected for vehicle 100.By Fig. 1-4 as it can be seen that vehicle 100
The target parking position P that M is travelled through along direction.Vehicle 100 may include parking assistance system 110, which uses
In automatically selecting shut-down operation for the vehicle 100.The parking assistance system 110 may include detection module 111 and execution module
112.Detection module 111 may include the sensor being arranged on vehicle body, and such as ultrasonic sensor, infrared sensor, radar pass
Sensor etc. can be for example arranged on vehicle body periphery or bumper, can be used for finding the target parking position P of vehicle 100.Such as Fig. 1
Shown in 2, along the direction of travel M of vehicle 100, there are an objects 200 in front of target parking position P, hereon referred to as objects in front
200.The objects in front 200 is, for example, parked vehicle, can define target parking position P, still, objects in front 200
It can be other objects, such as barrier etc..Also as illustrated in fig. 1 and 2, the direction of travel M along vehicle 100 is in target parking position P
There are an objects 300 at rear, hereon referred to as objects in front 300.Detection module 111 can be also used to detect above-mentioned objects in front 200
Along the direction of travel M of vehicle 100 length LF and rear object 300 along the direction of travel M of vehicle 100 length LR.
Detection module 111 can be communicated with execution module 112, the data detected, such as objects in front 200
Length LF and the length LR of rear object 300 be sent to execution module 112.
Execution module 112 receives the data for carrying out self-detection module 111 (such as each sensor), specifically, objects in front 200
Length LF and rear object 300 length LR, and shut-down operation mode is automatically selected according to them.The execution module
112 such as may include the microprocessor being mounted in vehicle 100 or microcontroller (not shown).
Specifically, as shown in Figure 1, the length LF when objects in front 200 (such as, parked vehicle 200) is located at vehicle
When within the scope of length threshold, for example, objects in front 200 length LF be in 3.5 meters to 5.5 meters in the range of when, and when after square object
When the length LR of body 300 is not in Vehicle length threshold range, for example, schematically shown in Figure 1, rear object
300 length LR is greater than 5.5 meters, and execution module 112 is for example it is believed that at objects in front 200 (such as parked vehicle 200)
In the case where paralleling parking, then execution module 200 executes parallel shut-down operation mode.The Vehicle length threshold range is, for example,
3.5 meters to 5.5 meters.
As shown in Fig. 2, the length LF when objects in front 200 (such as, parked vehicle 200) is located at vehicle width threshold value
When in range, for example, objects in front 200 length LF be in 1.6 meters to 2.0 meters in the range of when, and when rear object 300
When length LR is not in Vehicle length threshold range, for example, schematically shown in Figure 2, the length of rear object 300
LR is greater than 5.5 meters, and execution module 112 is for example believed that objects in front 200 (such as parked vehicle 200) is in and vertically parks
In the case where, then execution module 200 executes vertical shut-down operation mode.The vehicle width threshold range is, for example, 1.6 meters to 2.0
Rice.
The length LF that Fig. 3-4 schematically shows objects in front 200 be both not in Vehicle length threshold range or
Situation about being not in vehicle width threshold range.In this case, execution module 112 is according to the length of rear object 300
LR determines shut-down operation mode.
Specifically, as shown in figure 3, at this point, the length LF of objects in front 200 had both been not at 3.5 meters to 5.5 meters of range
It is interior, in the range of 1.6 meters to 2.0 meters.And the length LR of rear object 300 is in Vehicle length threshold range,
Such as in the range of 3.5 meters to 5.5 meters, rear object 300 can be for example parked vehicle 300, at this point, execution module
112 it is believed that the vehicle 300 at rear has been paralleled parking, then parallel shut-down operation mode can be performed in execution module 112.
As shown in figure 4, similarly with Fig. 3, the length LF of objects in front 200 had both been not at 3.5 meters to 5.5 meters of range
It is interior, in the range of 1.6 meters to 2.0 meters.And the length LR of rear object 300 is in vehicle width threshold range,
Such as in the range of 1.6 meters to 2.0 meters, rear object 300 can be for example parked vehicle 300, at this point, execution module
112 it is believed that the vehicle 300 at rear is vertically parked, then vertical shut-down operation mode can be performed in execution module 112.
Vehicle width threshold had both been not in Vehicle length threshold range or had been not in the length LF of objects in front 200
It is worth in range, and the length LR of rear object 300 had also both been not in Vehicle length threshold range or had been not at vehicle
In the case where within the scope of width threshold value, execution module 112 can notify driver to manually select shut-down operation mode.
Fig. 5 schematically shows a kind of situation, wherein the length LF of objects in front 200 is located at vehicle width threshold value model
In enclosing, and the length LR of rear object 300 is located in Vehicle length threshold range, for example, objects in front 200 is vertically to have stopped
The vehicle put, rear object 300 are the vehicles paralleled parking, then execution module 112 can also judge the traveling along vehicle 100
Length LRR of the object 400 that direction M is parked at the rear of rear object 300 along vehicle traveling direction M.
As shown in figure 5, when the length LRR of object 400 is located in Vehicle length threshold range, such as object 400 is
Vehicle through paralleling parking, then execution module 112 is believed that vehicle 300,400 is paralleled parking, and can hold thereby executing module 112
The parallel shut-down operation mode of row.If the length LRR of object 400 is not in Vehicle length threshold range at this time, execute
Module 112 can notify driver to manually select shut-down operation mode.
Fig. 6 shows another situation, wherein and the length LF of objects in front 200 is located in Vehicle length threshold range, and
The length LR of rear object 300 is located in vehicle width threshold range, for example, objects in front 200 is the vehicle paralleled parking
, rear object 300 is vertical parked vehicle, then execution module 112 can also judge the direction of travel M along vehicle 100
In the object 400 that the rear of rear object 300 is parked along the length LRR of vehicle traveling direction M.
As shown in fig. 6, when the length LRR of object 400 is located in vehicle width threshold range, such as object 400 is
Through vertical parked vehicle, then execution module 112 is it is believed that vehicle 300,400 is vertically parked, then execution module 112 is executable
Vertical shut-down operation mode.If the length LRR of object 400 is not in Vehicle length threshold range at this time, mould is executed
Block 112 can notify driver to manually select shut-down operation mode.
During driver manually selects shut-down operation mode, parallel shut-down operation mode can choose, or vertically stop
Vehicle operation mode.If driver does not select, execution module can manually select parking behaviour with ongoing notification driver
Operation mode.
The foregoing describe a kind of parking assistance system, which is used to park to the vehicle of target parking position P
100 automatically select shut-down operation.Below with reference to Fig. 7 and combine Fig. 1-6 description for being to park to the vehicle of target parking position P
100 methods for automatically selecting shut-down operation.
As shown in fig. 7, method starts from step 1100, the target parking position P quilt in step 1100, for vehicle 100
It finds, and also as shown in Fig. 1 to 4, along the direction of travel M of vehicle 100, there are an objects in front in front of target parking position P
200, e.g. parked vehicle 200 or other objects, such as barrier；Direction of travel M along vehicle 100 is in target
There are a rear objects 300 at the parking stall rear P.In step 1100,200 edge of object in front of the P of parking stall can be also detected
The length LF of direction of travel M, and positioned at the parking stall rear P object 200 along direction of travel M length LR.
Method marches to step 1500.In step 1500, as shown in Figure 1, when (such as, method determines objects in front 200
Parked vehicle 200) length LF be located in Vehicle length threshold range, such as objects in front 200 length LF be in 3.5
Rice is in the range of 5.5 meters, and when the length LR of rear object 300 is not in Vehicle length threshold range, for example, as schemed
Shown schematically in 1, the length LR of rear object 300 is greater than 5.5 meters, then method is believed that objects in front 200 (such as has stopped
The vehicle 200 put) in the case where parallel parking, method marches to step 4200, in step 4200, parallel shut-down operation
Mode is performed.Otherwise, method marches to step 1600.In this example embodiment, the Vehicle length threshold range be, for example, 3.5 meters extremely
5.5 rice.
In step 1600, as shown in Fig. 2, if the method determine that objects in front 200 (such as, parked vehicle 200)
Length LF be located in vehicle width threshold range, such as the length LF of objects in front 200 is in 1.6 meters to 2.0 meters of range
It is interior, and the length LR of rear object 300 is not in Vehicle length threshold range, for example, schematically shown in Figure 2,
The length LR of rear object 300 is greater than 5.5 meters, and method is believed that objects in front 200 (such as parked vehicle 200) is in and hangs down
In the case where directly parking, method marches to step 4100, and in step 4100, vertical shut-down operation mode is performed.Otherwise, side
Method marches to step 1700.The vehicle width threshold range is, for example, 1.6 meters to 2.0 meters.
In step 1700, at this point, the length LF of objects in front 200 had both been not in Vehicle length threshold range or had not had
Have and is located in vehicle width threshold range.In this case, method determines shut-down operation mould according to the length LR of rear object 300
Formula.
Specifically, in step 1700, and as shown in figure 3, if the method determine that the length LR of rear object 300 is in vehicle
Within the scope of length threshold, such as in the range of 3.5 meters to 5.5 meters, it is believed that rear object 300 (such as vehicle 300) is
Through paralleling parking, then method marches to step 4200, and in step 4200, parallel shut-down operation mode is performed.Otherwise, step
March to step 1800.
If method determines that the length LR of rear object 300 is in vehicle width threshold range, example in step 1800
Such as in the range of 1.6 meters to 2.0 meters, it is believed that rear object 300 (such as vehicle) is vertically parked, then method marches to
Step 4100, in step 4100, vertical shut-down operation mode is performed.Otherwise, method marches to step 1900.
In step 1900, method determines whether present case is that the length LF of objects in front 200 is both not at vehicle
It is also not in vehicle width threshold range within the scope of length threshold, and the length LR of rear object 300 is also both without position
In being also not in vehicle width threshold range in Vehicle length threshold range.If it is, method marches to step 2600,
In step 2600, driver can be notified to manually select shut-down operation mode.Otherwise, method marches to step 2000.
In step 2000, method determine whether the length LF of objects in front 200 be located in vehicle width threshold range and
The length LR of rear object 300 is located in Vehicle length threshold range, for example, objects in front 200 is the vehicle vertically parked
, rear object 300 is the vehicle paralleled parking, if it is, method marches to step 2300, otherwise method is marched to
Step 2100.In step 2300, method can also judge that the direction of travel M along vehicle 100 is parked at the rear of rear object 300
Object 400 along vehicle traveling direction M length LRR.
In step 2300, as shown in figure 5, if the method determine that the length LRR of object 400 is located at Vehicle length threshold value model
In enclosing, such as object 400 is the vehicle paralleled parking, then method is believed that vehicle 300,400 is paralleled parking, then method
Step 4200 is marched to, in step 4200, parallel shut-down operation mode is performed.Otherwise, method marches to step 2600,
In step 2600, driver can be notified to manually select shut-down operation mode.
In step 2100, if the method determine that the length LF of objects in front 200 is located in Vehicle length threshold range, and
The length LR of rear object 300 is located in vehicle width threshold range, for example, objects in front 200 is the vehicle paralleled parking
, rear object 300 is vertical parked vehicle, then method marches to step 2200.Otherwise, method marches to step
2600.In step 2200, method can also judge the object that the direction of travel M along vehicle 100 is parked at the rear of rear object 300
Length LRR of the body 400 along vehicle traveling direction M.
In step 2200, as shown in fig. 6, if the method determine that the length LRR of object 400 is located at vehicle width threshold value model
In enclosing, such as object 400 is that vertical parked vehicle, method have been believed that vehicle 300,400 is vertically parked, then method row
Step 4100 is proceeded to, in step 4100, vertical shut-down operation mode is performed.Otherwise, method marches to step 2600, in step
In rapid 2600, driver can be notified to manually select shut-down operation mode.
Particularly, in step 2600, driver manually selects shut-down operation mode.Method marches to step 2700,
In step 2700, if driver's selection is parallel shut-down operation mode, method marches to step 4200, wherein stopping in parallel
Vehicle operation mode will be performed.Otherwise method marches to step 2800.In step 2800, if driver's selection is vertical
Shut-down operation mode, then method marches to step 4100, wherein vertical shut-down operation mode will be performed.Otherwise, method returns
To step 2600.
Although better model of the invention to execution has carried out detailed description, those skilled in the art can be obtained
Know within the scope of the appended claims be used to implement many alternative designs and embodiments of the invention.
Claims (8)
1. one kind is used to park to the vehicle of target parking position (P) (100) parking assistance method for automatically selecting shut-down operation,
Include:
Find the target parking position (P) for vehicle (100)；
The objects in front (200) parked in front of the target parking position (P) along vehicle (100) direction of travel is detected along vehicle (100)
The length (LF) of direction of travel, the rear object (300) parked along vehicle (100) direction of travel at the rear target parking position (P)
Object along the length (LR) of vehicle (100) direction of travel and along vehicle (100) direction of travel at rear object (300) rear
(400) along the length (LRR) of vehicle (100) direction of travel；With
According to the length (LF) of objects in front (200), the length (LR) of rear object (300) and rear object (300) rear
The length (LRR) of object (400) determines shut-down operation mode.
2. according to the method described in claim 1, wherein,
When the length (LF) of objects in front (200) is in vehicle width threshold range and the length (LR) of rear object (300)
When in Vehicle length threshold range, the object along vehicle (100) direction of travel at rear object (300) rear is judged
(400) along the length (LRR) of vehicle (100) direction of travel:
When the length (LRR) of the object (400) at rear object (300) rear is in Vehicle length threshold range, selection is flat
Row shut-down operation mode；
Otherwise, driver is notified to manually select shut-down operation mode.
3. according to the method described in claim 1, wherein, when the length (LF) of objects in front (200) is in vehicle width threshold value
In range and when condition that the length (LR) of rear object (300) is in Vehicle length threshold range is unsatisfactory for, the method
Further include:
When the length (LF) of objects in front (200) is in Vehicle length threshold range and the length (LR) of rear object (300)
When in vehicle width threshold range, the object along vehicle (100) direction of travel at rear object (300) rear is judged
(400) along the length (LRR) of vehicle (100) direction of travel:
When the length (LRR) of the object (400) at rear object (300) rear is in vehicle width threshold range, selection is hung down
Straight shut-down operation mode；
Otherwise, driver is notified to manually select shut-down operation mode.
4. method according to any one of claim 1-3, wherein vehicle width threshold range is 1.6 to 2.0 meters of model
It encloses and/or Vehicle length threshold range is 3.5 to 5.5 meters of range.
5. one kind is used to park to the vehicle of target parking position (P) (100) parking assistance system for automatically selecting shut-down operation,
Including
Detection module is used for:
The target parking position (P) for vehicle (100) is found, and
The objects in front (200) parked in front of the target parking position (P) along vehicle (100) direction of travel is detected along vehicle (100)
The length (LF) of direction of travel, the rear object (300) parked along vehicle (100) direction of travel at the rear target parking position (P)
Object along the length (LR) of vehicle (100) direction of travel and along vehicle (100) direction of travel at rear object (300) rear
(400) along the length (LRR) of vehicle (100) direction of travel；With
Execution module, for receiving the information sent by detection module, wherein the information includes the length of objects in front (200)
Spend the length (LRR) of the object (400) of (LF), the length (LR) of rear object (300) and rear object (300) rear；
Wherein, the execution module according to the length (LF) of objects in front (200), the length (LR) of rear object (300) and after
The length (LRR) of the object (400) at square object body (300) rear determines shut-down operation mode.
6. parking assistance system according to claim 5, wherein when the length (LF) of objects in front (200) is in vehicle
Within the scope of width threshold value and when the length (LR) of rear object (300) is in Vehicle length threshold range, the execution module
Judge along vehicle (100) direction of travel rear object (300) rear object (400) along vehicle (100) direction of travel length
It spends (LRR):
It is described to hold when the length (LRR) of the object (400) at rear object (300) rear is in Vehicle length threshold range
Row module selects parallel shut-down operation mode；
Otherwise, the execution module notifies driver to manually select shut-down operation mode.
7. parking assistance system according to claim 5, wherein when the length (LF) of objects in front (200) is in vehicle
Within the scope of length threshold and when the length (LR) of rear object (300) is in vehicle width threshold range, the execution module
Judge along vehicle (100) direction of travel rear object (300) rear object along vehicle (100) direction of travel length
(LRR):
When the length (LRR) of the object at rear object (300) rear is in vehicle width threshold range, the execution module
Select vertical shut-down operation mode；
Otherwise, the execution module notifies driver to manually select shut-down operation mode.
8. according to the described in any item parking assistance systems of 5-7 in claim, wherein vehicle width threshold range be 1.6 to
2.0 meters of range and/or Vehicle length threshold range are 3.5 to 5.5 meters of ranges.
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| CN201410577112.3A CN105584478B (en) | 2014-10-24 | 2014-10-24 | For automatically selecting the parking assistance method and system of shut-down operation |
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| CN108275147A (en) * | 2018-01-25 | 2018-07-13 | 浙江吉利汽车研究院有限公司 | A kind of control method and its control system for vehicle parking |
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| KR20130098597A (en) * | 2012-02-28 | 2013-09-05 | 주식회사 만도 | Method and apparatus for decision on parking mode |
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| CN101535115A (en) * | 2006-11-08 | 2009-09-16 | 大众汽车有限公司 | Parking steering assistant with improved transverse parking function |
| KR20120046583A (en) * | 2010-11-02 | 2012-05-10 | 현대자동차주식회사 | Automatic parking system and method for in wheel type vehicle |
| KR20130013983A (en) * | 2011-07-29 | 2013-02-06 | 현대모비스 주식회사 | Parking assistance apparatus provided with automatic parking mode selection and method thereof |
| KR20130098597A (en) * | 2012-02-28 | 2013-09-05 | 주식회사 만도 | Method and apparatus for decision on parking mode |
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