CN105835795B - Parking aid - Google Patents
Parking aid Download PDFInfo
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- CN105835795B CN105835795B CN201610055008.7A CN201610055008A CN105835795B CN 105835795 B CN105835795 B CN 105835795B CN 201610055008 A CN201610055008 A CN 201610055008A CN 105835795 B CN105835795 B CN 105835795B
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- 239000000523 sample Substances 0.000 claims abstract description 25
- 239000000284 extract Substances 0.000 claims description 20
- 238000000605 extraction Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 description 8
- 230000004888 barrier function Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 210000003127 knee Anatomy 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000035278 mandibuloacral dysplasia progeroid syndrome Diseases 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Mathematical Physics (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Image Analysis (AREA)
Abstract
The present invention relates to a kind of parking aid, comprising: ultrasonic wave detecting part is identified the object of vehicle-surroundings by transmitting ultrasonic signal, and mends parking space after exporting first according to the object of identification；Image sensing portion identifies parking line from vehicle-surroundings image, and mends parking space after exporting second according to the parking line of identification；Parking space probe portion mends parking space after parking space and described second and is combined output target parking space to mending after described first；And parking assisted parts, by the steering wheel of control electronic control type by the vehicle parking to the target parking space.Parking aid of the invention can significantly improve parking safety and accuracy.
Description
Technical field
The present invention relates to parking aid more particularly to a kind of detected using ultrasonic sensor and image sensor to stay
The parking aid in vehicle space.
Background technique
Current parking space is gradually reduced with vehicle increasing fast.Driver in order to by vehicle parking to narrow
Parking space and suffer untold misery.Therefore, parking driving trace is calculated after detecting vehicle parking space and utilizes electronic control type
Steering wheel is by vehicle parking to parking space.
But the case where when due to vehicle parking, is not quite similar, and needs to consider the parking feelings of parking vehicle in many cases
Condition.In the case where steering wheel parking using electronic control type, driven it some times happens that colliding etc. with wall or other vehicles
The unexpected accident of the person of sailing.
Therefore, it is necessary to the surrounding enviroment such as a kind of other vehicles for considering parking or wall to detect best parking space simultaneously
The technology of parking.
Summary of the invention
Technical problem
The purpose of the present invention is to provide a kind of barrier using ultrasonic sensor identification vehicle-surroundings and utilize shadow
As sensor identification parking line, and parking space is detected according to barrier and parking line recognition result, it can be than merely with ultrasound
The mode of wave sensor significantly improves the parking aid of safety and accuracy.
The purpose of the present invention is not limited to above-mentioned purpose, and those skilled in the art can be expressly understood that by following record
The other purposes that do not record.
Technical solution
To reach above-mentioned purpose, parking aid according to an embodiment of the present invention includes: ultrasonic wave detecting part, is passed through
Emit the object of ultrasonic signal identification vehicle-surroundings, and mends parking space after exporting first according to the object of identification；Shadow
As detecting part, parking line is identified from vehicle-surroundings image, and empty according to parking is mended after the parking line of identification output second
Between；Parking space probe portion mends parking space after parking space and described second and is combined output to mending after described first
Target parking space；And parking assisted parts, by control electronic control type steering wheel by the vehicle parking arrive described in
Target parking space.
Also, the ultrasonic wave detecting part can calculate the angle of reflection between the object and the vehicle to extract
The edge of object is stated, and mends parking space after exporting described first according to the edge of extraction.
Also, the parking space probe portion can assign scheduled weighted value to the edge of extraction and export the mesh
Mark parking space.
Also, the image sensing portion can identify multiple parking lines from the vehicle-surroundings image, extract identification
Intersection point between the multiple parking line mends parking space after exporting described second according to the intersection point of extraction.
Also, the parking space probe portion can assign scheduled weighted value to the intersection point of extraction and export the mesh
Mark parking space.
Also, the image sensing portion can extract the direction vector for being connected to the parking line of the intersection point, and according to institute
State the slope that parking space is mended after direction vector exports described second.
Also, the starting point of vehicle movement routine can be set as origin by the image sensing portion, and the vehicle is mobile
Path is set as X-axis, the vertical line of the vehicle movement routine Jing Guo the starting point is set as Y-axis, and export the direction
Vector.
The particular content of other embodiments is referring to illustrating and attached drawing.
Technical effect
Parking aid of the invention has one or more following effects:
First, by the parking line recognition result of obstacle recognition result and image sensor to ultrasonic sensor into
Row combined detection goes out parking space, reduces the risk to collide with barriers such as other vehicles of parking；
Second, according between vehicle and barrier angle of reflection extract barrier edge, therefore can detect not with
The parking space of barrier overlapping；
Third judges the shape of parking space according to the slope of the parking line using image sensor identification, therefore can
Detect the parking space of various shapes.
Effect of the invention is not limited to the effect of the above record, and those skilled in the art can be bright by the record of technical solution
Really understand other effects that do not record.
Detailed description of the invention
Fig. 1 is the composition figure for showing parking aid according to an embodiment of the invention；
Fig. 2 is vehicle and other vehicles of the display by benefit parking space after the output of ultrasonic wave detecting part shown in Fig. 1 first
Parked state vehicle figure；
Fig. 3 is that the image sensing portion shown in Fig. 1 that shows extracts the intersection point of parking line and extracts the parking line chart of intersection point vector；
Fig. 4 is that display adds the intersection point imparting at the edge extracted of ultrasonic wave detecting part shown in Fig. 1 and the extraction of image sensing portion
The signal detection figure of the state of weight；
Fig. 5 is the edge extracted to ultrasonic wave detecting part shown in Fig. 1 and the intersection point imparting weighted value that image sensing portion extracts
To export the vehicle parking figure of the state of final parking space.
Description of symbols
100: ultrasonic wave detecting part 200: image sensing portion
300: parking space probe portion 400: vehicle sensed signal output part
500: parking assisted parts
Specific embodiment
Advantages of the present invention, feature and implementation method can be specified referring to the embodiment of attached drawing and detailed description below.But
It is that the present invention is not limited to embodiments disclosed below, but is realized with different variforms, and the present embodiment only makes this
The disclosure of invention is more complete, and general technical staff of the technical field of the invention is made to be readily appreciated that the scope of invention, this hair
It is bright to be defined by the scope of technical solution.Identical appended drawing reference indicates same inscape in specification full text.
Referring to the embodiment of the present invention and illustrate that the present invention is specifically described in the attached drawing of parking aid.
Fig. 1 is the composition figure for showing parking aid according to an embodiment of the invention, and Fig. 2 is that display passes through Fig. 1
The vehicle figure of the vehicle of parking space and the parked state of other vehicles is mended after the shown output of ultrasonic wave detecting part 100 first.
The parking aid of one embodiment of the invention includes ultrasonic wave detecting part 100, image sensing portion 200, parking
Space exploration portion 300 and parking assisted parts 500.
Ultrasonic wave detecting part 100 includes at least one ultrasonic sensor.Ultrasonic wave detecting part 100 passes through supersonic sensing
Device emits the object of ultrasonic signal identification vehicle-surroundings, mends parking space after exporting first according to the object recognized.Ultrasound
Wave detecting part 100 can calculate position, shape, the size etc. of object according to the ultrasonic signal being reflected by the object back.For example,
Ultrasonic wave detecting part 100 according to predetermined way to the ultrasonic signal that ultrasonic sensor obtains carry out processing extrapolate object with
Angle of reflection RD between vehicle, and according to the edge for the angle of reflection RD extraction object extrapolated.Herein, angle of reflection RD can be equal to
The slope of ultrasonic signal.In the case that the bumper face of vehicle is curve shape, the angle of reflection of the output of ultrasonic wave detecting part 100
RD lights the knee of curve of output body from the starting of curve shape.Ultrasonic wave detecting part 100 can will lead to curve of output and turn
The object identification of point is other vehicles.Ultrasonic wave detecting part 100 is total predetermined when identifying other vehicles and curve of output inflection point
Distance value and export the edge UE of object.
The ultrasonic wave detecting part 100 that vehicular sideview is arranged in Fig. 2 can return according to transmitting ultrasonic signal back reflection
Ultrasonic signal, to be located at vehicle-surroundings same object detection go out a variety of distance values.Ultrasonic wave detecting part 100 is calculated to survey
Fixed distance value is the intersection point of each circle of radius.Ultrasonic wave detecting part 100 export angle of reflection RD be connection calculate intersection point and
The angle that the imaginary line of ultrasonic wave detecting part 100 is constituted with the line perpendicular to vehicle running rail.Ultrasonic wave detecting part 100 passes through calculation
The edge UE of other vehicles is extracted in the place of angle of reflection RD close to vehicle running rail out.
Ultrasonic wave detecting part 100 can by measure range transmission the not reflected point of ultrasonic signal length,
Distinguishing periphery object with this is other vehicles or column.Ultrasonic wave detecting part 100 finds out the curve for calculating obtained angle of reflection
Inflection point and output reflection angle RD are close to the place of vehicle running rail.Ultrasonic wave detecting part 100 is in the feelings for detecting other vehicles
The edge UE that preset distance value extracts other vehicles can be added under condition.Ultrasonic wave detecting part 100 is by curve of output inflection point
Object identification is other vehicles in parked state.In the case that ultrasonic wave detecting part 100 detects column, knee of curve with
The edge UE that actual object terminates is consistent, therefore does not need to be additionally carried out compensation.
At least side is arranged in vehicle left side and right side in ultrasonic wave detecting part 100, sequentially or simultaneously detects vehicle-surroundings
At least one object.
Ultrasonic wave detecting part 100 can identify the object on vehicle longitudinal direction and transverse direction and export object information.
Also, ultrasonic wave detecting part 100 can extract vehicle-surroundings according to the information (such as position, shape, size) about object
Parking space is mended after spare area i.e. first.Ultrasonic wave detecting part 100 can by object information, that is, vehicle of output and object it
Between distance value and the vehicle extrapolated edge UE at least any one be sent to parking space probe portion 300, vehicle sense
Survey signal output section 400 and parking assisted parts 500.
Image sensing portion 200 may include at least one camera.Image sensing portion 200 can be obtained using at least one camera
Pick-up surrounding image.Image sensing portion 200 identifies parking line from the vehicle-surroundings image of acquisition, according to the parking line of identification
Parking space is mended after characteristic output second.For example, image sensing portion 200 can identify multiple parking lines from vehicle-surroundings image,
And extract the intersection point AE between the multiple parking lines recognized.Also, image sensing portion 200 is connected with each other the multiple friendships extracted
Point mends parking space after exporting region i.e. second for being greater than vehicle size in the region formed by the intersection point connected.
Image sensing portion 200 can utilize the Extraction of Image characteristic point of top cap filter (Top-hat filter) from acquisition.
Herein, characteristic point can be brightness value with the place more than predefined size changed.It image sensing portion 200 can be with the spy of extraction
The parking line that omnidirection detection identifies connection is carried out on the basis of sign point.Image sensing portion 200 checks the spy of the parking line calculated
It levies the continuity of point and exports parking line.
Image sensing portion 200 can also identify parking line in the vertical view image for overlooking vehicle down from above.Image sensing
Portion 200 carries out gray scale (grey-scale) processing to vehicle-surroundings image.It image sensing portion 200 can be to by gray proces
Image carries out two-value image processing and detects parking line.Image sensing portion 200 also can use Hough transformation (hough
Transform it is mended after) extracting parking line and finally detects parking line from bowl spares after the parking line of extraction.
Image sensing portion 200 can set X-axis and Y axis coordinate on vehicle-surroundings image and export the slope of parking line.
Image sensing portion 200 can have the part of feature from vehicle-surroundings Image detection and calculate the coordinate of parking line, utilize calculating
Coordinate output voltage gradient.
Image sensing portion 200 can be coordinately transformed the vehicle-surroundings image of acquisition.For example, image sensing portion 200
By vehicle-surroundings image from the coordinate system transformation on the basis of vehicle be global coordinate system (global coordinate).Image
The global coordinate system that detecting part 200 utilizes is as shown in Figure 3.Extract the direction vector EV of the intersection point detected in image sensing portion 200
And the slope of parking space is mended after exporting second.The starting point of vehicle movement routine is set as origin SP by image sensing portion 200, will
Vehicle movement routine is set as X-axis, the vertical line of the vehicle movement routine Jing Guo the starting point is set as Y-axis, and export intersection point
Direction vector EV.
Parking space probe portion 300 can intersection point AE to the parking line of extraction assign scheduled weighted value to export target
Parking space.Parking space probe portion 300 according to mend after first mend after parking space and second it is at least any one in parking space
The target parking space of a output vehicle.Parking space probe portion 300 can be stayed to mending after first to mend after parking space and second
Vehicle space, which is combined, extracts target parking space.For example, parking space probe portion 300 mends parking sky after can extracting first
Between with second after mend the equitant overlapping region of parking space, the shape and area of the overlapping region of extraction meet predetermined condition
In the case where (size for being greater than vehicle), target parking space is extracted from the overlapping region of extraction.
Parking space probe portion 300 can at least any one be assigned in the intersection point AE of edge UE and parking line to object
Weighted value is to export target parking space.Parking space probe portion 300 in the edge UE of object and the intersection point AE of parking line extremely
Any one few process for assigning weighted value is then illustrated by Fig. 4.
Vehicle sensed signal output part 400 can export the velocity amplitude of vehicle, yaw velocity value (yaw rate), vehicle
The steering angle value of steering wheel.It is auxiliary that the current location of vehicle can be output to parking according to GPS signal by vehicle sensing signal portion 400
Help portion 500.
Parking assisted parts 500 is by vehicle parking to target parking space.Parking assisted parts 500 can calculate the position of vehicle
It sets.Parking assisted parts 500 calculates the position of target parking space and the driving path of vehicle.The calculating of parking assisted parts 500 is used for
The steering angle of the electronic control steering wheel of vehicle parking.Parking assisted parts 500 may include that electronic control turns to disc system.
Fig. 3 is that the image sensing portion 200 shown in Fig. 1 that shows extracts the intersection point AE of parking line and extracts the direction vector of intersection point AE
The parking line chart of EV.
Vehicle-surroundings video conversion can be gray scale (gray-scale) image by image sensing portion 200.Image sensing portion
200 can use the characteristic point that top cap filter (Top-hat filter) calculates parking line.Image sensing portion 200 can be to stay
The characteristic point that omnidirection detection calculates the parking line of connection is carried out on the basis of the characteristic point of fare.Image sensing portion 200, which checks, closes
In the characteristic point of the parking line of calculating continuity and export parking line.Image sensing portion 200 can extract the multiple of detection and stay
Intersection point AE between fare.
As shown in figure 3, according to the image sensing portion 200 of one embodiment in the case where vehicle is kept straight on, by running rail C
Starting point be set as origin SP.The line of running rail C including vehicle is set as X centered on origin SP by image sensing portion 200
Axis.The vertical line of the running rail C of vehicle is set as Y-axis by image sensing portion 200.Image sensing portion 200 can be examined by extracting
The slope of parking space is mended after the direction vector EV output second of the intersection point AE measured.Coordinate of the image sensing portion 200 in setting
Upper outbound course vector EV.
Image sensing portion 200 can calculate the slope of each parking line by intersection point AE according to direction vector EV.By appointing
In the case that the angle between two parking lines of an intersection point of anticipating not is right angle, image sensing portion 200 can export oblique line and stay
Parking space is mended after being used as second in vehicle region (angled parking slot).
Parking space probe portion 300 according to mend after first mend after parking space and second in parking space at least any one
Export target parking space.
For example, parking space probe portion 300 can intersection point AE to the parking line of extraction assign scheduled weighted value with defeated
Target parking space out.Parking space probe portion 300 in the edge UE of object and the intersection point AE of parking line at least any one
Assign scheduled weighted value output target parking space.
Parking assisted parts 500 includes the steering wheel of electronic control type.Parking assisted parts 500 passes through control electronic control type
Electric power steering (Motor-Driven Power Steering；MDPS) system is by vehicle parking to target parking space.It stays
The velocity amplitude for the vehicle that vehicle assisted parts 500 is exported using vehicle sensed signal output part 400, yaw velocity value, Vehicular turn
At least any one calculates the parking driving trace from the current location of vehicle to target parking space in the steering angle value of disk.It stays
Vehicle assisted parts 500 controls steering wheel according to the parking driving trace of calculating, by vehicle parking to target parking space.
Fig. 4 is the intersection point AE and image for showing parking space probe portion 300 and extracting to ultrasonic wave detecting part shown in Fig. 1 100
The edge UE that detecting part 200 extracts assigns the signal detection figure of the state of weighted value.Fig. 4 shows that ultrasonic wave detecting part 100 exports
Object edge UE and image sensing portion 200 export parking line intersection point AE.Parking space probe portion 300 calculates sensing letter
The standard deviation section SI of number dead-reckoning point and average value, the edge UE exported to ultrasonic wave detecting part 100 and image sensing portion 200
The intersection point AE of output assigns weighted value.Parking space probe portion 300 can calculate weighted value (W) using mathematical expression 1.
[mathematical expression 1]
N: the sum of edge UE and the AE number of intersection point of parking line of the object being collected into,
xi: the edge UE for the multiple objects being collected into,
yi: the intersection point AE for the multiple parking lines being collected into,
SIx: the standard deviation of the edge UE of object,
SIy: the standard deviation of the intersection point AE of parking line,
The intersection point AE that Fig. 5 is the edge UE exported to ultrasonic wave detecting part shown in Fig. 1 100 and image sensing portion 200 exports
Weighted value (W) is assigned to export the vehicle parking figure of the state of target parking space.
(a) shows the edge UE that ultrasonic wave detecting part 100 the detects and intersection point AE that image sensing portion 200 extracts in Fig. 5.Its
In the case that his vehicle crosses the parking line parking of the identification of image sensing portion 200, if parking assisted parts 500 is with image sensing portion
The intersection point AE that parking space is mended after the second of 200 outputs is benchmark parking, may cause between vehicle and crashes at this time.
The parking space probe portion 300 of parking aid according to an embodiment of the invention considers when detecting target parking space
The edge UE of parking space is mended after the first of the extraction of ultrasonic wave detecting part 100.
The vehicle that the intersection point AE of parking space is mended after (b) display considers image sensing portion 200 extracts second in Fig. 5 is stayed
Vehicle region.And show the vehicle parking that the edge UE of parking space is mended after considering ultrasonic wave detecting part 100 extracts first
Region.
(c) shows the not mesh Chong Die with the region of other vehicles parking that parking space probe portion 300 exports in Fig. 5
Mark parking space.For ease of understanding, target parking space is indicated with oblique line.Parking space probe portion 300 is to assign weighted value (W)
And target parking space is exported on the basis of the edge and intersection point exported.Parking space probe portion 300 is defeated to ultrasonic wave detecting part 100
Parking space, which is mended, after mending parking space is exported with image sensing portion 200 second after first out is combined output target parking
Space.Such as shown, target parking space can be including mending benefit parking space weight after parking space and second after first
The space in folded region.
Parking assisted parts 500 by vehicle parking to output target parking space.Parking assisted parts 500 is sensed using vehicle
The velocity amplitude of vehicle that signal output section 400 exports, yaw velocity value, automobile turning wheel steering angle value in it is at least any one
A parking driving trace for calculating vehicle.Parking assisted parts 500 controls steering wheel according to the parking driving trace of calculating, by vehicle
Parking is to target parking space.
The preferred embodiment of the present invention illustrated above is simultaneously illustrated, but the present invention is not limited to above-mentioned particular implementations
Example, general technical staff of the technical field of the invention can do various deformation reality under the premise of not departing from technical proposal scope
It applies, these deformation implementations should be regarded as not departing from technical idea or prospect of the invention.
Claims (4)
1. a kind of parking aid characterized by comprising
Ultrasonic wave detecting part identifies the object of vehicle-surroundings by transmitting ultrasonic signal, and according to the object of identification
Parking space is mended after output first；
Image sensing portion identifies parking line from vehicle-surroundings image, and mends after exporting second according to the parking line of identification
Parking space；
Parking space probe portion mends parking space after parking space and described second and is combined output to mending after described first
Target parking space；And
Parking assisted parts, by the steering wheel of control electronic control type by the vehicle parking to the target parking space,
The ultrasonic wave detecting part calculate the angle of reflection between the object and the vehicle to extract the edge of the object,
And according to the edge of extraction output described first after mend parking space,
The image sensing portion identifies multiple parking lines from the vehicle-surroundings image, extracts the multiple parking line of identification
Between intersection point, according to the intersection point of extraction output described second after mend parking space,
The image sensing portion extracts the direction vector for being connected to the parking line of the intersection point, and is exported according to the direction vector
The slope of parking space is mended after described second.
2. parking aid according to claim 1, it is characterised in that:
The parking space probe portion assigns scheduled weighted value to the edge of extraction and exports the target parking space.
3. parking aid according to claim 1, it is characterised in that:
The parking space probe portion assigns scheduled weighted value to the intersection point of extraction and exports the target parking space.
4. parking aid according to claim 1, it is characterised in that:
The starting point of vehicle movement routine is set as origin by the image sensing portion, and the vehicle movement routine is set as X-axis, will
The vertical line of the vehicle movement routine by the starting point is set as Y-axis, and exports the direction vector.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150015245A KR102289477B1 (en) | 2015-01-30 | 2015-01-30 | Apparatus for Parking assistance |
| KR10-2015-0015245 | 2015-01-30 |
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| Publication Number | Publication Date |
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| CN105835795A CN105835795A (en) | 2016-08-10 |
| CN105835795B true CN105835795B (en) | 2019-06-18 |
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| CN201610055008.7A Active CN105835795B (en) | 2015-01-30 | 2016-01-27 | Parking aid |
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| CN108609011B (en) * | 2016-12-13 | 2021-04-06 | 奥迪股份公司 | Prevent blocking parking device and have vehicle of preventing blocking parking device |
| CN111994081A (en) * | 2020-08-26 | 2020-11-27 | 安徽江淮汽车集团股份有限公司 | Parking space detection method, equipment, storage medium and device |
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| CN1713099A (en) * | 2004-06-23 | 2005-12-28 | 株式会社电装 | Parking assistance system |
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| JP3645196B2 (en) * | 2001-02-09 | 2005-05-11 | 松下電器産業株式会社 | Image synthesizer |
| EP1291668B1 (en) * | 2001-09-07 | 2005-11-30 | Matsushita Electric Industrial Co., Ltd. | Vehicle surroundings display device and image providing system |
| KR20140030531A (en) * | 2012-08-31 | 2014-03-12 | 한국전자통신연구원 | Automatic parking apparatus and method using avm sensor |
| JP5786833B2 (en) * | 2012-09-12 | 2015-09-30 | 株式会社デンソー | Parking assistance device |
| JP6015314B2 (en) * | 2012-09-28 | 2016-10-26 | アイシン精機株式会社 | Device for calculating parking target position, method and program for calculating parking target position |
| JP5965276B2 (en) * | 2012-10-09 | 2016-08-03 | 株式会社日本自動車部品総合研究所 | Object detection device |
| KR102062923B1 (en) * | 2013-06-12 | 2020-01-06 | 현대모비스 주식회사 | Parking assistance system |
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- 2015-01-30 KR KR1020150015245A patent/KR102289477B1/en active IP Right Grant
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1713099A (en) * | 2004-06-23 | 2005-12-28 | 株式会社电装 | Parking assistance system |
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| Publication number | Publication date |
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| CN105835795A (en) | 2016-08-10 |
| KR20160094100A (en) | 2016-08-09 |
| KR102289477B1 (en) | 2021-08-13 |
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