CN107235077A - Parking assistance method, system and the vehicle of vehicle - Google Patents
Parking assistance method, system and the vehicle of vehicle Download PDFInfo
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- CN107235077A CN107235077A CN201610185960.9A CN201610185960A CN107235077A CN 107235077 A CN107235077 A CN 107235077A CN 201610185960 A CN201610185960 A CN 201610185960A CN 107235077 A CN107235077 A CN 107235077A
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- vehicle
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- information
- panoramic picture
- angle information
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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
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
-
- 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
- B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
Abstract
The invention provides a kind of parking assistance method of vehicle, comprise the following steps：Panoramic picture around collection vehicle, and receive the type signal of park mode；The auxiliary information of parking of vehicle is obtained according to the type signal of park mode and panoramic picture, wherein, steering wheel angle information and vehicle traveling direction configured information when auxiliary information of parking includes initial position, one or more centre positions and the final position of vehicle, and vehicle in each position；Guiding in real time information of parking is generated according to panoramic picture, the current steering angle information of vehicle and auxiliary information of parking, to guide vehicle to complete to park.This method can complete to park by guiding in real time information guidance vehicle of parking, realize planning parking path to aid in driver to park, improve the intelligent level of vehicle, simplify parking manoeuvres, customers' perception is improved, the safety and reliability of vehicle is better ensured that.The invention also discloses a kind of parking assisting system of vehicle and vehicle.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of parking assistance method of vehicle, system and vehicle.
Background technology
With the fast development of automotive engineering, auxiliary system of the vehicle-surroundings without dead angle image information can be provided for driver
System --- 360 ° of panoramic looking-around systems are gradually popularized in recent years, and system will be by that will be installed on vehicle front and rear part and left and right outside rear-view mirror
On the image that is collected into of camera carry out stitching algorithm processing and be fused to single image output, can provide to overlook from roof and imitate
The real-time video output of fruit, enables a driver to be apparent from the actual scene of vehicle body surrounding, to vehicle body periphery blind area scope
The particular location of interior barrier provides accurate reference, but is due to that system hardware composition is large number of, and cost is higher, and
And the process of parking is a sufficiently complex operating process, although existing 360 ° of panoramic looking-around systems can enable driver
It is apparent from the scene of vehicle body surrounding, but still needs driver and empirically go parking, and can still runs into and park
The problem of mistake.
It is excessively complicated although auxiliary of parking can be realized by being parked based on the auxiliary for getting a bird's eye view drawing system in correlation technique,
Although using three-stage path policy, the starting point for action of parking is fixed, and vehicle must be parallel with parking space, has
It is to be modified.
The content of the invention
In view of this, the present invention is directed to propose a kind of parking assistance method of vehicle, this method can simplify parking manoeuvres,
And lift customers' perception.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of parking assistance method of vehicle, comprises the following steps：Panoramic picture around collection vehicle, and receive pool
The type signal of car pattern；The auxiliary letter of parking of vehicle is obtained according to the type signal of the park mode and the panoramic picture
Breath, wherein, the auxiliary information of parking includes initial position, one or more centre positions and the final position of vehicle, and
Vehicle is in steering wheel angle information and vehicle traveling direction configured information during each position；And according to the panorama sketch
Picture, the current steering angle information of the vehicle generate guiding in real time information of parking with the auxiliary information of parking, described to guide
Vehicle completes to park.
Further, it is described according to the panoramic picture, the current steering angle information of the vehicle and the auxiliary of parking
Information generates guiding in real time information of parking, and further comprises：If the current steering angle information is in current location with vehicle
Steering wheel angle information it is consistent, then direction tray icon shows the first color in the panoramic picture；If described work as front steering
Angle information and the steering wheel angle information that the vehicle is in current location are inconsistent, then direction tray icon in the panoramic picture
Show the second color.
Alternatively, the park mode can include horizontal park mode and vertical park mode.
Further, the parking assistance method of the vehicle also includes：With reference to it is described park guiding in real time information with it is described
Panoramic picture carries out voice and/or picture cues.
Alternatively, the panoramic picture of vehicle periphery described in panoramic looking-around system or birds-eye view system acquisition is passed through.
Relative to prior art, the parking assistance method of vehicle of the present invention has the advantage that：
The parking assistance method of vehicle of the present invention, auxiliary information of parking is obtained by panoramic picture, so that according to
Panoramic picture, the current steering angle information of vehicle and auxiliary information of parking generate guiding in real time information of parking, to pass through reality of parking
When guidance information guiding vehicle complete park, realize planning parking path to aid in driver to park, improve the intelligence of vehicle
Level can be changed, simplify parking manoeuvres, improve customers' perception, efficiently solve the worry that driver parks, better ensure that car
Safety and reliability.
It is another object of the present invention to propose a kind of parking assisting system of vehicle, the system can simplify the behaviour that parks
Make, and lift customers' perception.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of parking assisting system of vehicle, including：Acquisition module, for the panoramic picture around collection vehicle；Receive
Module, the type signal for receiving park mode；Acquisition module, for the type signal according to the park mode with it is described
Panoramic picture obtains the auxiliary information of parking of vehicle, wherein, the initial position of the auxiliary information including vehicle of parking, one or
Multiple centre positions and final position, and vehicle be in each position when steering wheel angle information and vehicle traveling direction refer to
Show information；And guiding module, for according to the panoramic picture, the current steering angle information of the vehicle with it is described park it is auxiliary
Supplementary information generates guiding in real time information of parking, to guide the vehicle to complete to park.
Further, the guiding module is additionally operable to：Current location is in the current steering angle information and vehicle
When steering wheel angle information is consistent, direction tray icon in the panoramic picture is controlled to show the first color；Work as front steering when described
When angle information and the inconsistent steering wheel angle information that the vehicle is in current location, steering wheel in the panoramic picture is controlled
Icon shows the second color.
Alternatively, the park mode can include horizontal park mode and vertical park mode.
Further, the parking assisting system of the vehicle also includes：Reminding module, for drawing in real time with reference to described park
Lead information and carry out voice and/or picture cues with the panoramic picture.
The auxiliary of the auxiliary parking system of described vehicle and above-mentioned vehicle method of parking is had relative to prior art
Some Dominant Facies are same, will not be repeated here.
Another object of the present invention is to propose a kind of vehicle, and the vehicle can simplify parking manoeuvres, and lift Gu
Visitor perceives.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of vehicle, is provided with the parking assisting system of vehicle as described above.
The parking assisting system of described vehicle and above-mentioned vehicle has Dominant Facies together relative to prior art, herein
Do not repeat specifically.
Brief description of the drawings
The accompanying drawing for constituting the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the vehicle movement track schematic diagram described in the embodiment of the present invention；
Fig. 2 is the flow chart of the parking assistance method of the vehicle described in the embodiment of the present invention
Fig. 3 is the vertical auxiliary schematic diagram of parking described in the embodiment of the present invention；
Fig. 4 is the flow chart of the vertical auxiliary of parking described in the embodiment of the present invention；
Fig. 5 is that the level described in the embodiment of the present invention is parked auxiliary schematic diagram；
Fig. 6 is that level described in the embodiment of the present invention is parked the flow chart of auxiliary；
Fig. 7 is the structured flowchart of the parking assisting system of the vehicle described in the embodiment of the present invention；
Fig. 8 is another structured flowchart of the parking assisting system of the vehicle described in the embodiment of the present invention；And
Fig. 9 is another structured flowchart of the parking assisting system of the vehicle described in the embodiment of the present invention.
Description of reference numerals：
The parking assisting system of 10- vehicles, 100- acquisition modules, 200- receiving modules, 300- acquisition modules, 400- guiding
Module, 500- reminding modules, many cameras of 600-, 700- vehicle body networks information unit, 800- panoramic looking-around ECU, 900- people
Machine interactive unit, 901- display screens, 902- loudspeakers.
Embodiment
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.
The operation principle of the auxiliary of parking of the embodiment of the present invention is briefly described first, it is specific as follows：
Parking space can be horizontal parking stall or vertical parking stall, but either which kind of parking stall form, and process of parking typically is united
One is carried out in three steps：
Step S1：Search out suitable horizontally or vertically parking stall；
Step S2：When parking stall is suitable, vehicle is set to reach appropriate reversing starting point, wherein, each starting point correspondence one
The parking path that rules and regulations are pulled；
Step S3：According to the whole voice guidance driver control in the path (combinations of i.e. some circular arcs and straightway) planned
Vehicle processed is retreated and turned to, so that VEHICLES MUST PARK WITHIN THE MARKED BAY.
It should be noted that system supports algorithm principle (kinematics model based on Ackermann steering geometry) such as Fig. 1 institutes
Show, in low speed and situation without considering to break away, the movement locus at automobile body any point is all referring to the same center of circle
Circle, and it is only relevant with steering angle, it is unrelated with speed.According to such characteristics of motion, vehicle running orbit can regard as by
Multistage standard circular arc constitutes track sets.In figure, (xf,yf) it is front axle center point coordinates；(xr,yr) it is rear shaft center's point coordinates；
(xrL, yrL) be left rear wheel central point coordinate, (xrR, yrR) be off hind wheel central point coordinate；V refers to the speed of front axle center point；
hmFor wheelbase；trFor rear tread；Φ is front axle center point steering angle；θ is course angle, refers to autocentre axle and the folder of reference direction
Angle, it is horizontal direction generally to take reference direction.
Further, in secondary path planning algorithm of parking, the position of vehicle refers to certain moment vehicle in plane of movement
On position, including coordinate position, course angle and steering angle.Park and exactly expect the route of automobile desirably, this
Path is exactly the location track of auxiliary programming path of parking, i.e. automobile.
In addition, the size on parking stall and the width being open to traffic have conclusive influence, different parking stall rings on the mode of parking
Border is applicable different methods of parking, and the common method of parking is that level is parked and vertically parked.Road is narrower, leaves curb parking for
Parking stall space it is not abundant, typically divide about 1.5~2 times of vehicle commanders space, it is allowed to level is parked；The parking stall in garage is typically designed
Obtain more narrow and deep, so that single can accommodate more automobiles, then using vertical method of parking.
The present invention is based on above-mentioned principle, and proposes a kind of parking assistance method of vehicle, system and vehicle.
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 2 is the flow chart of the parking assistance method of vehicle according to embodiments of the present invention.
As shown in Fig. 2 the parking assistance method of vehicle according to embodiments of the present invention, comprises the following steps：
Step S201：Panoramic picture around collection vehicle, and receive the type signal of park mode.
Alternatively, in one embodiment of the invention, the mode of the panoramic picture around collection vehicle has many kinds, example
Such as by panoramic looking-around system or the panoramic picture of birds-eye view system acquisition vehicle periphery, it is not specifically limited herein.The present invention
The method of embodiment be based on panoramic looking-around system or get a bird's eye view drawing system realize planning parking path auxiliary driver park so that
More functions expanding demands can be realized, turn into the requirement more rationalized to lift vehicle technology sense and intellectuality, effectively
The worry that driver parks is solved, the intelligent level of vehicle is improved.
Further, in one embodiment of the invention, park mode can include horizontal park mode and vertical pool
Car pattern, it will be understood by those skilled in the art that horizontal park mode and vertical park mode are only illustrative,
The present invention is not limited in both park modes.
Step S202：The auxiliary information of parking of vehicle is obtained according to the type signal of park mode and panoramic picture, wherein,
Auxiliary information of parking includes initial position, one or more centre positions and the final position of vehicle, and vehicle is in each
Steering wheel angle information and vehicle traveling direction configured information during position.
It is to be understood that it is determined that after park mode, secondary path of either vertically parking planning or level are parked
Secondary path planning can be thought to be divided into three sections of paths, as long as so as to determine the switching point in three sections of paths：A points, B points, C points,
Then the movement locus of vehicle is it was determined that obtain initial position, centre position and the final position of vehicle, and in initial bit
Turn of the steering angle of steering wheel when putting, the wheel steering angle at centre position and the steering wheel at final position
To angle.It should be noted that B points in centre position can be one or more, for the ease of understanding and due to most of for three
Section path, is repeated with a centre position below.
Step S203：Parked in real time according to panoramic picture, the current steering angle information of vehicle and auxiliary information generation of parking
Guidance information, to guide vehicle to complete to park.
Further, guiding in real time information of parking is generated according to the current steering angle information of vehicle and auxiliary information of parking,
Further comprise：If current steering angle information is consistent with the steering wheel angle information that vehicle is in current location, panorama sketch
Direction tray icon shows the first color as in；If the steering wheel angle that current steering angle information is in current location with vehicle is believed
Breath is inconsistent, then direction tray icon shows the second color in panoramic picture.
That is, after guiding in real time information is parked in generation, according to parking, guiding in real time information is carried out to driver
Remind, such as vehicle is reached after initial position, meeting steering wheel rotation when driver is parked according to panoramic picture, according to side
Current steering angle information can be obtained to the rotation of disk, if the steering angle of the steering wheel of current steering angle information and initial position
Degree is consistent, then direction tray icon can show green, represents to turn to correctly, so that driver can enter next step, otherwise
Direction tray icon display is red, represents that steering is incorrect, points out driver to enter next step.
Further, the parking assistance method of vehicle also includes：With reference to parking, guiding in real time information is carried out with panoramic picture
Voice and/or picture cues.
Carried out in many ways with panoramic picture that is, the method for the embodiment of the present invention can combine guiding in real time information of parking
Face is pointed out, and carries out real-time icon prompting by display direction disk color of image on display screen as described above, or by raising one's voice
Device carries out real-time voice prompting, simple and convenient, is not specifically limited herein.
The operation principle vertically parked and level is parked is described in detail below, in order to those skilled in the art
Member more fully understands.
Vertical park is described in detail first, it is specific as follows：
As shown in figure 3, switching point A, B, the C of the core of vertical secondary path planning of parking for three sections of paths of determination.Once
Three switching points are determined, and the movement locus of vehicle is also determined that, i.e.,：
A) when vehicle is before A transfer points, car will do straight ahead motion；
B) after vehicle reaches A switching points, vehicle does the circular motion advanced under certain steering angle along circular arc AB, until
Reach switching point B；
C) after vehicle reaches B switching points, change circular motion Vehicular turn angle and being done along circular arc BC moved backward until to
Up to switching point C；
D) after vehicle backing is to C switching points, vehicle continues to do straight line car-backing and moves to terminal parking.
Wherein, switching point A, B, C position is equivalent to initial position, centre position and final position, its one side and car
Kinematics it is relevant, on the other hand in order to improve the continuity for the process of parking and reduce whole parking space, so as far as possible
Reduction circular motion radius.
Specifically, it was known that parameter：P1=(x1, y1), P2=(x2, y2), Start=(xstart, ystart)), vehicle center away from
From parking stall principal direction distance d0；Wheelbase L；Overall width W；The angle, θ of parking stall principal direction；Safe distance δ1；brFor rear axis
To the distance of the car most tailstock.The coordinate of switching point is calculated can be as follows：
1. switching point C coordinates (xc, yc) calculating
Switching point C selection condition be vehicle just from the point with min. turning radius outbound, and do not touch the right parking stall
With entrance P1 points, and meet safe distance limitation, i.e. δ1Radius be more than zero, according to the center O of second segment circular arc in Fig. 32With P1
Point relation has：
Further, the relation between radius of turn and wheelbase is understood according to the kinematics model of Ackermann steering geometry：
Wherein, the Vehicular turn angle of steering wheel is made when Φ max are min. turning radius；δ1For safe distance radius；D is
Reflect the parameter of switching point C coordinates.
And then, switching point C coordinate is calculated as follows：
2. switching point B coordinates (xb, yb) calculating
In the reverse motion of BC sections of vehicles of circular arc, the most left rear corner of vehicle body be possible to the left side boundary line on more parking stall, be
It is secondary to need to δ1Safe distance radius verified and corrected.The track of automobile body arbitrfary point is understood all by kinematics model
Be directed to the circular arc in the same center of circle, therefore the constraint equation for the radius of turn that vehicle body most left rear corner goes out can be obtained be：
Switching point B position and vehicle i.e. parameter d relevant relative to the empty parking stall that detects0。
Further, choosing min. turning radius can obtain for circular arc AB min. turning radius：
And then, switching point B coordinate is calculated as follows：
3. switching point A coordinates (xa, ya) calculating
The central coordinate of circle of first paragraph circular arc is designated as (xo1, yol)：
And then, switching point A coordinate is calculated as follows：
Fig. 4 is the flow chart of the vertical auxiliary of parking of the embodiment of the present invention.As shown in figure 4, vertical secondary path step of parking
Suddenly comprise the following steps：
Step 1：Vehicle or parking stall icon are adjusted, makes parking stall icon and parking stall overlapping margins.After coincidence, mould of parking is selected
Formula.That is, determining parking place and park mode (vertical park mode).
Step 2：Adjustment vehicle is until guide line aligns with parking stall front end.Say, determine that vehicle reaches path planning initial
Position A points.
Step 3：Direction rotates steering wheel as indicated, to direction tray icon greening.
Step 4：This direction is kept to advance, until guide line and parking stall border are tangent.Say, determine that vehicle reaches interposition
Put B points.
Step 5：Opposite direction rotates steering wheel, to direction tray icon greening.
Step 6：This direction is kept to move backward, into parking stall.Say, reach and enter parking stall after target point final position C points.
Secondly level is parked and be described in detail, it is specific as follows：
As shown in figure 5, level, which is parked also, three switching points, respectively A, B, C, therefore the motion planning mistake that level is parked
Journey can also be divided into three sections of paths, i.e.,：
A) when vehicle is before A transfer points, car will do straight ahead motion；
B) after vehicle reaches A switching points, vehicle done under certain steering angle along circular arc AB the circular motion moved backward until
Reach switching point B；
C) after vehicle, which reaches B, to be switched to, change circular motion Vehicular turn angle and being done along circular arc BC moved backward it is straight until
Up to switching point C；
Specifically, it was known that parameter：P1=(x1, y1), P2=(x2, y2), Start=(xstart, ystart)), vehicle center away from
From parking stall principal direction distance d0；Wheelbase L；Overall width W；The angle, θ of parking stall principal direction；Safe distance δ1；bfFor front-wheel axle center
To the distance of headstock.The coordinate of switching point is calculated can be as follows：
1. switching point C coordinates (xc, yc) calculating
Switching point C selection condition be vehicle be just put in storage to optimum position, i.e. vehicle tail and left side stop line away from
From being minimum safe distance D, switching point C coordinate is calculated as follows：
2. switching point B coordinates (xb, yb) calculating
The central coordinate of circle of second segment circular arc is designated as (xo2, yo2)：
Switching point B coordinate is calculated as follows：
3. switching point A coordinates (xa, ya) calculating
The central coordinate of circle of first paragraph circular arc is designated as (xo1, yo1)：
And then, switching point A coordinate is calculated as follows：
Fig. 6 parks the flow chart of auxiliary for the level of the embodiment of the present invention.As shown in fig. 6, level is parked, secondary path is walked
Suddenly comprise the following steps：
Step 1：Vehicle or parking stall icon are adjusted, makes parking stall icon and parking stall overlapping margins.After coincidence, mould of parking is selected
Formula.That is, determining parking place and park mode (horizontal park mode).
Step 2：Adjustment vehicle is until guide line aligns with parking stall front end.Say, determine that vehicle reaches path planning initial
Position A points.
Step 3：Direction rotates steering wheel as indicated, to direction tray icon greening.
Step 4：This direction is kept to move backward, until icon and parking stall overlapping margins.Say, determine that vehicle reaches centre position
B points.
Step 5：Opposite direction rotates steering wheel, to direction tray icon greening.
Step 6：This direction is kept to move backward, until one of icon and parking stall overlapping margins.Say, reach target point most
Final position puts C points.
Step 7：Opposite direction rotates steering wheel, to direction tray icon greening.
Step 8：This direction is kept to advance, until icon and parking stall overlapping margins, equivalent to parking stall fine setting.
Step 9：Vehicle is adjusted, vehicle is occupy in the middle part of parking position.
The parking assistance method of vehicle of the present invention, auxiliary information of parking is obtained by panoramic picture, so that according to
Panoramic picture, the current steering angle information of vehicle and auxiliary information of parking generate guiding in real time information of parking, to pass through reality of parking
When guidance information combination panoramic picture carry out voice and picture cues, to guide vehicle to complete to park, realize planning and park road
Footpath improves the intelligent level of vehicle to aid in driver to park, and simplifies parking manoeuvres, improves customers' perception, effectively solution
The worry that the driver that determined parks, better ensures that the safety and reliability of vehicle.
Fig. 7 is the structured flowchart of the parking assisting system of the vehicle described in the embodiment of the present invention.
Further, as shown in fig. 7, embodiment of the invention discloses that a kind of parking assisting system 10 of vehicle, it is wrapped
Include：Acquisition module 100, receiving module 200, acquisition module 300 and guiding module 400.
Specifically, as shown in fig. 7, the panoramic picture that acquisition module 100 is used for around collection vehicle.Receiving module 200
Type signal for receiving park mode.Acquisition module 300 is used to be obtained with panoramic picture according to the type signal of park mode
To the auxiliary information of parking of vehicle, wherein, the initial position of auxiliary information of parking including vehicle, one or more centre positions and
Final position, and vehicle be in each position when steering wheel angle information and vehicle traveling direction configured information.Guide mould
Block 400 is used to generate guiding in real time information of parking according to panoramic picture, the current steering angle information of vehicle and auxiliary information of parking,
To guide vehicle to complete to park.The parking assisting system 10 of the embodiment of the present invention can pass through guiding in real time information guidance car of parking
Completion is parked, and realizes planning parking path to aid in driver to park, and improves the intelligent level of vehicle, and simplification is parked
Operation, improves customers' perception, better ensures that the safety and reliability of vehicle.
Further, in one embodiment of the invention, guiding module 400 is additionally operable to：Current steering angle information with
When steering wheel angle information of the vehicle in current location is consistent, direction tray icon shows the first color in control panoramic picture；
When the steering wheel angle information that current steering angle information and vehicle are in current location is inconsistent, direction in control panoramic picture
Tray icon shows the second color.
For example, that is to say, that after guiding in real time information is parked in generation, according to guiding in real time information of parking to driving
The person of sailing is reminded, and such as vehicle is reached after initial position, can rotation direction when driver is parked according to panoramic picture
Disk, current steering angle information can be obtained according to the rotation of steering wheel, if the direction of current steering angle information and initial position
Always, then direction tray icon can show green to the steering angle of disk, represent to turn to correctly, so that driver can enter next
Step, otherwise tray icon display in direction is red, represents that steering is incorrect, points out driver to enter next step.
Alternatively, in one embodiment of the invention, park mode can include horizontal park mode and vertically park
Pattern, it will be appreciated that those skilled in the art that horizontal park mode and vertical park mode are only illustrative, this hair
It is bright to be not limited in both park modes.
Further, in one embodiment of the invention, as shown in figure 8, the parking assisting system 10 of vehicle also includes：
Reminding module 500.Wherein, reminding module 500 is used to combine park guiding in real time information and panoramic picture progress voice and/or figure
As prompting.
Carried out in many ways with panoramic picture that is, the method for the embodiment of the present invention can combine guiding in real time information of parking
Face is pointed out, and carries out real-time icon prompting by display direction disk color of image on display screen as described above, or by raising one's voice
Device carries out real-time voice prompting, simple and convenient, is not specifically limited herein.
For example, as shown in figure 9, the parking assisting system 10 of the vehicle of the embodiment of the present invention includes：Multiple cameras
600 (equivalent to acquisition modules 100), vehicle body network information unit 700 (equivalent to receiving module 200), panoramic looking-around ECU
(Electronic Control Unit, electronic control unit) 800 (equivalent to guiding module 400 and acquisition module 300) and people
Machine interactive unit 900 (equivalent to reminding module 500).
Wherein, vehicle body network information unit 700 is used to obtain vehicle body network information, and vehicle body network information mainly includes direction
Disk turns to angle information, system open and close instruction etc..Camera can be respectively arranged in vehicle all around, by panoramic looking-around
ECU 800 is driven and the image information being collected into is sent into panoramic looking-around ECU 800.Man-machine interaction unit 900 it is main by
Display screen 901 and loudspeaker 902 are constituted, wherein, display screen 901 can be touching display screen, and it is responsible for panoramic looking-around ECU
The birds-eye view of 800 outputs is shown, and can be sent to panoramic looking-around ECU 800 by receiving touch command, collects driver
Intent information, while showing dependent instruction icon；Loudspeaker 902 is mainly as sound prompt device, by panoramic looking-around ECU 800
The instruction of output is converted to auditory tone cues and exported to driver.
It should be noted that the specific implementation and the pool of vehicle of the parking assisting system of the vehicle of the embodiment of the present invention
The specific implementation of car householder method is similar, in order to reduce redundancy, does not repeat herein.
The parking assisting system of vehicle of the present invention, auxiliary information of parking is obtained by panoramic picture, so that according to
Panoramic picture, the current steering angle information of vehicle and auxiliary information of parking generate guiding in real time information of parking, to pass through reality of parking
When guidance information combination panoramic picture carry out voice and picture cues, to guide vehicle to complete to park, realize planning and park road
Footpath improves the intelligent level of vehicle to aid in driver to park, and simplifies parking manoeuvres, improves customers' perception, effectively solution
The worry that the driver that determined parks, better ensures that the safety and reliability of vehicle.
In addition, the invention also provides a kind of vehicle, the vehicle includes the parking assisting system of above-mentioned vehicle.The vehicle
Auxiliary information of parking can be obtained by panoramic picture, so as to according to panoramic picture, the current steering angle information of vehicle and park
Auxiliary information generates guiding in real time information of parking, and voice and image are carried out to pass through guiding in real time information combination panoramic picture of parking
Prompting, to guide vehicle to complete to park, realizes planning parking path to aid in driver to park, improves the intellectuality of vehicle
Level, simplifies parking manoeuvres, improves customers' perception, efficiently solve the worry that driver parks, better ensure that vehicle
Safety and reliability.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of parking assistance method of vehicle, it is characterised in that comprise the following steps：
Panoramic picture around collection vehicle, and receive the type signal of park mode；
The auxiliary information of parking of vehicle is obtained according to the type signal of the park mode and the panoramic picture, wherein, it is described
Auxiliary information of parking includes initial position, one or more centre positions and the final position of vehicle, and vehicle is in each
Steering wheel angle information and vehicle traveling direction configured information during position；And
Parked and drawn in real time with the auxiliary information generation of parking according to the panoramic picture, the current steering angle information of the vehicle
Information is led, to guide the vehicle to complete to park.
2. the parking assistance method of vehicle as claimed in claim 1, it is characterised in that described according to the panoramic picture, institute
The current steering angle information and the auxiliary information of parking for stating vehicle generate guiding in real time information of parking, and further comprise：
If the current steering angle information is consistent with the steering wheel angle information that vehicle is in current location, the panorama sketch
Direction tray icon shows the first color as in；
If the current steering angle information and the steering wheel angle information that the vehicle is in current location are inconsistent, described
Direction tray icon shows the second color in panoramic picture.
3. the parking assistance method of vehicle as claimed in claim 1, it is characterised in that the park mode is parked including level
Pattern and vertical park mode.
4. the parking assistance method of vehicle as claimed in claim 1, it is characterised in that also include：
With reference to the guiding in real time information of parking voice and/or picture cues are carried out with the panoramic picture.
5. the parking assistance method of vehicle as claimed in claim 1, it is characterised in that pass through panoramic looking-around system or birds-eye view
The panoramic picture of vehicle periphery described in system acquisition.
6. a kind of parking assisting system of vehicle, it is characterised in that including：
Acquisition module, for the panoramic picture around collection vehicle；
Receiving module, the type signal for receiving park mode；
Acquisition module, the auxiliary letter of parking of vehicle is obtained for the type signal according to the park mode and the panoramic picture
Breath, wherein, the auxiliary information of parking includes initial position, one or more centre positions and the final position of vehicle, and
Vehicle is in steering wheel angle information and vehicle traveling direction configured information during each position；And
Guiding module, for according to the panoramic picture, the current steering angle information of the vehicle and the auxiliary information of parking
Guiding in real time information of parking is generated, to guide the vehicle to complete to park.
7. the parking assisting system of vehicle as claimed in claim 6, it is characterised in that the guiding module is additionally operable to：
When the current steering angle information is consistent with the steering wheel angle information that vehicle is in current location, the panorama is controlled
Direction tray icon shows the first color in image；
When the steering wheel angle information that the current steering angle information and the vehicle are in current location is inconsistent, institute is controlled
State direction tray icon in panoramic picture and show the second color.
8. the parking assisting system of vehicle as claimed in claim 6, it is characterised in that the park mode is parked including level
Pattern and vertical park mode.
9. the parking assisting system of vehicle as claimed in claim 6, it is characterised in that also include：
Reminding module, for carrying out voice and/or picture cues with the panoramic picture with reference to the guiding in real time information of parking.
10. a kind of vehicle, it is characterised in that including：The parking assisting system of vehicle as described in claim 6-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610185960.9A CN107235077A (en) | 2016-03-29 | 2016-03-29 | Parking assistance method, system and the vehicle of vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610185960.9A CN107235077A (en) | 2016-03-29 | 2016-03-29 | Parking assistance method, system and the vehicle of vehicle |
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| CN107235077A true CN107235077A (en) | 2017-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610185960.9A Pending CN107235077A (en) | 2016-03-29 | 2016-03-29 | Parking assistance method, system and the vehicle of vehicle |
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| CN108407804A (en) * | 2018-02-07 | 2018-08-17 | 维森软件技术（上海）有限公司 | A kind of multi-path presentation method of aid parking |
| CN109177970A (en) * | 2018-11-07 | 2019-01-11 | 江苏罗思韦尔电气有限公司 | A kind of method of automatic parking |
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| CN109733384B (en) * | 2018-12-25 | 2021-04-30 | 科大讯飞股份有限公司 | Parking path setting method and system |
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| CN109754639B (en) * | 2019-02-28 | 2020-12-25 | 北京智行者科技有限公司 | Parking garage entry method and device |
| CN109754639A (en) * | 2019-02-28 | 2019-05-14 | 北京智行者科技有限公司 | It parks storage method and device |
| CN110271539B (en) * | 2019-07-22 | 2020-12-04 | 重庆长安汽车股份有限公司 | Automatic vertical parking control system |
| CN110271539A (en) * | 2019-07-22 | 2019-09-24 | 重庆长安汽车股份有限公司 | A kind of automatic vertical is parked control system |
| CN110379178B (en) * | 2019-07-25 | 2021-11-02 | 电子科技大学 | Intelligent unmanned automobile parking method based on millimeter wave radar imaging |
| CN110379178A (en) * | 2019-07-25 | 2019-10-25 | 电子科技大学 | Pilotless automobile intelligent parking method based on millimetre-wave radar imaging |
| CN110539695A (en) * | 2019-08-14 | 2019-12-06 | 东风商用车有限公司 | vehicle-mounted information display screen driving auxiliary video display system and method |
| CN112829740A (en) * | 2019-11-25 | 2021-05-25 | 湖北亿咖通科技有限公司 | Vehicle control method and device for autonomous parking and vehicle |
| CN111731270A (en) * | 2020-06-04 | 2020-10-02 | 重庆长安汽车股份有限公司 | Parking method and system for 1D forward running of automatic parking system and vehicle |
| CN111731270B (en) * | 2020-06-04 | 2022-05-17 | 重庆长安汽车股份有限公司 | Parking method and system for 1D forward running of automatic parking system and vehicle |
| CN112141091A (en) * | 2020-09-16 | 2020-12-29 | 重庆长安汽车股份有限公司 | Secondary parking method and system for solving parking space deviation and positioning deviation and vehicle |
| CN112249005A (en) * | 2020-10-23 | 2021-01-22 | 广州小鹏汽车科技有限公司 | Interaction method and device for automatic parking of vehicle |
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